diff --git a/.gitattributes b/.gitattributes
index 80a2b45869c3ddd9eac0041aa3b3dc08b949966f..a49f8c12303ea9865e125acc2f1a343fbfd55def 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4770,3 +4770,45 @@ Obstacle_avoidance/ball_PLA_12.5/position_06/depth_04/fem_node.csv filter=lfs di
 Obstacle_avoidance/ball_PLA_12.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Obstacle_avoidance/ball_PLA_12.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Obstacle_avoidance/ball_PLA_12.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..529cfd8aff3400ffa40f690cb760a2134252bfb1
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_02/simulation_data.csv
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d7c87e07bec5b5da3cab6ff7e133152c3219ac5
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1d0a5ea35fe26e10649090fe8df807d278c736460adc2d5417bcc0bde68ce86
+size 25417013
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c172f3d3617865cdea1e080831293005a7d8706
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,402 @@
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+18,0.300000000,BASELINE,765.448466196,744,715.448466196,680,659,634.551533804,879.551533804,785,810.551533804,652,629,652.551533804,0.400959722466,-0.01537386749,0.0698166331628,0.999999932521,0.000223559718574,-0.000291377006867,8.85818328424e-06,1793248743302263552
+19,0.316666667,BASELINE,766,744,716,680,658.974582091,634.025417909,878.974582091,785.025417909,810,651.974582091,629,652.025417909,0.400959655891,-0.01537236432,0.069816712403,0.999999932062,0.000225697852137,-0.000291304459603,8.80957032458e-06,1793248743318930176
+20,0.333333333,BASELINE,766,744,716,680,658.401762993,634.598237007,878.401762993,785.598237007,810,651.401762993,629,652.598237007,0.400959157181,-0.0153735871779,0.0698164947049,0.999999932588,0.000224037665577,-0.000290781992637,8.75108008353e-06,1793248743335597568
+21,0.350000000,BASELINE,766,744,716,680,658.17553547,634.82446453,878.17553547,786,810.17553547,651.17553547,629,652.82446453,0.400958885982,-0.0153743399332,0.0698162554917,0.999999932875,0.000222885584075,-0.000290681783878,8.70314886356e-06,1793248743352264704
+22,0.366666667,BASELINE,766,744,716,680,658.763354628,634.236645372,878.763354628,786,810.763354628,651.763354628,629,652.236645372,0.400959149144,-0.0153739885485,0.0698159657452,0.999999932607,0.000222926899366,-0.000291573341533,8.68001783694e-06,1793248743368930816
+23,0.383333333,BASELINE,765.652047341,744,716,679.652047341,659,634,879,785.652047341,810.652047341,652,629,652.347952659,0.400958513605,-0.0153737808197,0.0698157194791,0.999999932308,0.000223710306431,-0.00029199660425,8.67897886784e-06,1793248743385597184
+24,0.400000000,BASELINE,765.069619872,744,716,679.069619872,659,634,879,785.069619872,810.069619872,652,629,652.930380128,0.40095727246,-0.0153736698963,0.069815502513,0.999999931989,0.000224993786782,-0.00029210429721,8.69282706821e-06,1793248743402263808
+25,0.416666667,BASELINE,765.505534481,744,716,679.505534481,659,634,879,785,810,651.494465519,629,653,0.400957721319,-0.0153737707551,0.0698157787861,0.999999932108,0.000224167814796,-0.000292330089224,8.73674930924e-06,1793248743418930688
+26,0.433333333,BASELINE,765.919993423,744,716,679.919993423,658.919993423,634,879,785,810,651,628.919993423,652.919993423,0.400958466196,-0.0153739946512,0.0698162164904,0.999999932358,0.000223069284689,-0.000292311971462,8.79376289823e-06,1793248743435597056
+27,0.450000000,BASELINE,765.34362789,744,716,679.34362789,658.34362789,634,879,785,810,651,628.34362789,652.34362789,0.400959624127,-0.0153748034921,0.0698172402722,0.999999933058,0.000222056528439,-0.000290681172468,8.90666460495e-06,1793248743452263680
+28,0.466666667,BASELINE,765.238751969,744,716,679,658.238751969,634,878.761248031,785,810,651,628.238751969,652.238751969,0.400959909382,-0.0153750228118,0.0698177570327,0.999999933331,0.000221677327018,-0.00029003249298,8.89892671724e-06,1793248743468930304
+29,0.483333333,BASELINE,765.830011707,744,716,679,658.830011707,634,878.169988293,785,810,651,628.830011707,652.830011707,0.400958906166,-0.015374371727,0.0698175251966,0.999999932976,0.000222233544116,-0.000290833873908,8.71306926843e-06,1793248743485596928
+30,0.500000000,BASELINE,765.587823887,744,715.587823887,679.412176113,659,634.412176113,878,785,810.412176113,651.412176113,629.412176113,652.587823887,0.400958332985,-0.0153747232055,0.0698173983796,0.999999932985,0.000222085751186,-0.000290913096026,8.85656740529e-06,1793248743502263808
+31,0.516666667,BASELINE,765.009329574,744,715.009329574,679.990670426,659,634.990670426,878,785,810.990670426,651.990670426,629.990670426,652.009329574,0.400957933328,-0.0153754792309,0.0698173139391,0.99999993314,0.000221653881423,-0.000290700918041,9.13296463054e-06,1793248743518930432
+32,0.533333333,BASELINE,765.565703166,744,715.565703166,680,659,634.434296834,878,785,810.434296834,652,629.434296834,652.565703166,0.400958250418,-0.0153740567053,0.0698175351526,0.999999932734,0.000224265831677,-0.000290097372224,8.93787282875e-06,1793248743535597568
+33,0.550000000,BASELINE,766,744,715.856047443,679.856047443,659,634,878.143952557,785,810,652,629,653,0.400958623987,-0.0153731212311,0.0698177380314,0.999999932599,0.000225635388189,-0.000289507579841,8.75597709493e-06,1793248743552264448
+34,0.566666667,BASELINE,766,744,715.267692729,679.267692729,659,634,878.732307271,785,810,652,629,653,0.400959135645,-0.0153737995969,0.0698178688416,0.99999993334,0.000223015468834,-0.000288980050978,8.63867854935e-06,1793248743568931072
+35,0.583333333,BASELINE,765.68424412,744,715.31575588,679.31575588,659,634,879,785.31575588,810,651.68424412,629,652.68424412,0.40095983074,-0.0153738433167,0.0698181477169,0.999999933701,0.000222331052737,-0.000288256533071,8.62945560432e-06,1793248743585597440
+36,0.600000000,BASELINE,765.104891127,744,715.895108873,679.895108873,659,634,879,785.895108873,810,651.104891127,629,652.104891127,0.400960678972,-0.0153733572257,0.069818550199,0.999999933748,0.000223262419634,-0.000287369400904,8.71045556272e-06,1793248743602264064
+37,0.616666667,BASELINE,765.471939407,744,716,680,658.528060593,634,879,785.528060593,810,651.471939407,629,652,0.400959777148,-0.0153742907093,0.0698180110529,0.99999993361,0.000222462575042,-0.000288471562524,8.68575879406e-06,1793248743618930688
+38,0.633333333,BASELINE,766,744,716,680,658.048058543,634,878.951941457,785.048058543,810,652,629,652.048058543,0.400958507949,-0.0153753693937,0.0698172967312,0.999999933444,0.000221294236204,-0.00028994400424,8.61578796821e-06,1793248743635597056
+39,0.650000000,BASELINE,766,744,716,680,658.622494122,634,878.377505878,785.622494122,810,652,629,652.622494122,0.400957452506,-0.0153746011038,0.0698169437845,0.999999933463,0.000220281770634,-0.000290655216575,8.30587049924e-06,1793248743652263680
+40,0.666666667,BASELINE,766,744,715.797350695,680,658.797350695,634.202649305,878,785.797350695,810,652,629,653,0.40095704466,-0.0153743140432,0.0698165474799,0.999999933346,0.000220183226058,-0.000291137037501,8.17406811038e-06,1793248743668930560
+41,0.683333333,BASELINE,766,744,715.206231311,680,658.206231311,634.793768689,878,785.206231311,810,652,629,653,0.40095787823,-0.0153749494784,0.0698160680599,0.999999932966,0.000221836629133,-0.00029117912483,8.38370475579e-06,1793248743685597440
+42,0.700000000,BASELINE,766,744.377062905,715.377062905,680,658.377062905,635,878.377062905,785,810,652,629,653,0.400958732661,-0.0153745668208,0.069816724776,0.999999932893,0.000223482481113,-0.000290167503274,8.5536684232e-06,1793248743702264320
+43,0.716666667,BASELINE,766,744.95616421,715.95616421,680,658.95616421,635,878.95616421,785,810,652,629,653,0.400959598269,-0.0153736386472,0.0698179902583,0.999999932979,0.000225124286998,-0.000288591281872,8.70237445054e-06,1793248743718930944
+44,0.733333333,BASELINE,765.469855678,744.469855678,715.469855678,680,659,634.469855678,878.469855678,785,810,652,628.469855678,652.469855678,0.400958058576,-0.0153743819277,0.0698173369542,0.999999933054,0.000223120511698,-0.000289878363855,8.96075434766e-06,1793248743735597568
+45,0.750000000,BASELINE,765.103871248,744.103871248,715.103871248,679.896128752,659,634.103871248,878,785,810,651.896128752,628,652,0.400956989559,-0.0153749227707,0.0698167881328,0.999999933112,0.00022153504145,-0.000290888285069,9.10829718371e-06,1793248743752263936
+46,0.766666667,BASELINE,765.678351081,744.678351081,715.678351081,679.321648919,659,634.678351081,878,785,810,651.321648919,628,652,0.400958945499,-0.0153739262507,0.0698174246431,0.999999933125,0.000223197449879,-0.000289580067634,8.71297770287e-06,1793248743768930560
+47,0.783333333,BASELINE,766,744.738601583,715.738601583,679.261398417,659,634.738601583,878.261398417,785,810,651,628.261398417,652,0.400959917774,-0.0153739617199,0.0698178556505,0.999999933303,0.000223468918289,-0.000288759859909,8.56321427457e-06,1793248743785597440
+48,0.800000000,BASELINE,766,744.144654674,715.144654674,679.855345326,659,634.144654674,878.855345326,785,810,651,628.855345326,652,0.400959638641,-0.0153753100757,0.0698180252194,0.999999933693,0.000221970846731,-0.000288560493151,8.72584478414e-06,1793248743802264064
+49,0.816666667,BASELINE,765.566417281,744,715.433582719,680,659,634,879.433582719,785,810,651.433582719,629,652.433582719,0.400958951998,-0.0153758771445,0.0698176664212,0.999999933835,0.000220560007187,-0.000289154700452,8.55324242843e-06,1793248743818930688
+50,0.833333333,BASELINE,765,744,716,680,658.993182587,634,879.986365175,785,810,651.993182587,628.993182587,652.993182587,0.400958149873,-0.0153761678856,0.0698171480411,0.99999993389,0.00021922375436,-0.000289986347932,8.27632867213e-06,1793248743835597568
+51,0.850000000,BASELINE,765,744,716,680,658.415325072,634,878.830650144,785,810,651.415325072,628.415325072,652.415325072,0.400958664514,-0.0153743827105,0.0698175118147,0.999999933523,0.000221782543933,-0.000289305267485,8.30268051107e-06,1793248743852264192
+52,0.866666667,BASELINE,765.161285089,744,716,680.161285089,658,634,878.161285089,785,810.161285089,651.161285089,628.161285089,652.161285089,0.400958306178,-0.0153733764995,0.0698171907331,0.999999933099,0.000223191499159,-0.00028968557326,8.34569156522e-06,1793248743868930816
+53,0.883333333,BASELINE,765.734707805,744,716,680.734707805,658,634,878.734707805,785,810.734707805,651.734707805,628.734707805,652.734707805,0.400955717094,-0.0153743608039,0.0698151196158,0.999999932538,0.00022166224088,-0.00029277807773,8.43127251374e-06,1793248743885597440
+54,0.900000000,BASELINE,766,744,716,680.359101417,658.320449292,634,879,785,811,651.679550708,628.679550708,652.679550708,0.400956031379,-0.0153747311735,0.0698155415956,0.999999932809,0.000221199136967,-0.000292199417823,8.49140193974e-06,1793248743902263808
+55,0.916666667,BASELINE,766,744,716,679.166406236,658.916796882,634,879,785,811,651.083203118,628.083203118,652.083203118,0.400958845387,-0.0153745729615,0.0698181100657,0.999999933794,0.000221653963627,-0.000288459983078,8.52961827875e-06,1793248743918930688
+56,0.933333333,BASELINE,766,744,716,679.494748505,659,634,879,785,811,651.494748505,628.494748505,652.494748505,0.400959402422,-0.0153749187,0.0698182669617,0.999999934002,0.000221182068891,-0.000288098945164,8.5312957357e-06,1793248743935597568
+57,0.950000000,BASELINE,766,744,716,680,658.930394878,634.069605122,879,785.069605122,810.930394878,651.930394878,629,652.930394878,0.400959663779,-0.0153752664459,0.0698180634477,0.999999934108,0.000220641023581,-0.000288148871133,8.52315097615e-06,1793248743952263936
+58,0.966666667,BASELINE,766,744,716,680,658.356351795,634.643648205,879,785.643648205,810.356351795,651.356351795,629,652.356351795,0.400960434438,-0.0153750365589,0.0698180817787,0.999999934368,0.000220687804237,-0.000287207231102,8.48675927289e-06,1793248743968930304
+59,0.983333333,BASELINE,766,744.22484719,716,680,658,635,879,785.77515281,810,651.22484719,629,652.22484719,0.400960604207,-0.0153745961853,0.0698180783117,0.999999934284,0.00022122381341,-0.000287089463787,8.51793104349e-06,1793248743985596928
+60,1.000000000,BASELINE,766,744.817760189,716,680,658,635,879,785.182239811,810,651.817760189,629,652.817760189,0.400959790343,-0.0153738112533,0.0698180391622,0.999999933632,0.000222560669995,-0.000288320342826,8.65970149802e-06,1793248744002263552
+61,1.016666667,BASELINE,766,744.600219174,715.600219174,680,658.399780826,634.600219174,879,785,810.399780826,652,629,653,0.400958662182,-0.0153739994326,0.0698176153743,0.999999933493,0.000221919429377,-0.000289299436088,8.41501774807e-06,1793248744018929920
+62,1.033333333,BASELINE,766,744.023032153,715.023032153,680,658.976967847,634.023032153,879,785,810.976967847,652,629,653,0.400957394548,-0.0153746194385,0.0698170208996,0.999999933581,0.000220400390953,-0.000290166797162,7.99884159747e-06,1793248744035596544
+63,1.050000000,BASELINE,766,744.554108388,715.554108388,680,659,634,879,785,810.445891612,652,629,652.445891612,0.400958571673,-0.0153744380269,0.0698175564393,0.999999933804,0.000221380164075,-0.000288645081107,8.13761452263e-06,1793248744052263168
+64,1.066666667,BASELINE,766,745,716,680,658.869561155,634.130438845,879,785,810,651.869561155,629,652.130438845,0.400959263105,-0.015374599015,0.0698178825825,0.999999933859,0.000222277133363,-0.000287759443256,8.30875990062e-06,1793248744068929792
+65,1.083333333,BASELINE,766,745,716,680,658.295976301,634.704023699,879,785,810,651.295976301,629,652.704023699,0.400957959262,-0.0153760364164,0.0698173377724,0.999999933334,0.000222539950091,-0.00028937212817,8.51152536631e-06,1793248744085596672
+66,1.100000000,BASELINE,766,744.712915159,716,680,658.287084841,634.712915159,879,785,810.287084841,651.287084841,628.712915159,653,0.400957874936,-0.0153759693673,0.0698171826231,0.999999933252,0.000222267184731,-0.000289862897146,8.49292425414e-06,1793248744102263296
+67,1.116666667,BASELINE,766,744.119750776,716,680,658.880249224,634.119750776,879,785,810.880249224,651.880249224,628.119750776,653,0.400959090817,-0.015374298327,0.0698174429162,0.999999933646,0.000221423400975,-0.000289157519558,8.23831003785e-06,1793248744118929920
+68,1.133333333,BASELINE,766,744,716,680,659,634,879,785,811,652,628.459813064,653,0.400960264145,-0.0153739474229,0.0698184075747,0.999999934214,0.000220807064117,-0.000287665697086,8.04054301541e-06,1793248744135596544
+69,1.150000000,BASELINE,766,744,716,680,659,634.035914625,879,785,811,652,629,653,0.400961140958,-0.0153739671638,0.069819341629,0.999999934733,0.000220192145476,-0.000286334335713,7.86309580288e-06,1793248744152263168
+70,1.166666667,BASELINE,766,744,716,680,659,634.611684891,879,785,811,652,629,653,0.400957722451,-0.0153745387805,0.0698171374588,0.99999993388,0.000218733729196,-0.000290405251685,7.77493996921e-06,1793248744168929792
+71,1.183333333,BASELINE,766,744.191924057,715.808075943,680,659,635,879,785,811,651.808075943,629,653,0.400956455507,-0.0153748841599,0.0698162146769,0.999999933443,0.00021899915269,-0.000291702153187,7.93460720087e-06,1793248744185596416
+72,1.200000000,BASELINE,766,744.781420698,715.218579302,680,659,635,879,785,811,651.218579302,629,653,0.400959645545,-0.0153747608865,0.0698179463032,0.999999933878,0.000222835527089,-0.000287252656979,8.60764235198e-06,1793248744202263040
+73,1.216666667,BASELINE,766,745,715.364584886,680,659,635,878.635415114,785,811,651.364584886,629,653,0.400960860099,-0.0153745744254,0.0698190091008,0.999999934152,0.000223672514347,-0.00028564302465,8.59001809602e-06,1793248744218929920
+74,1.233333333,BASELINE,766,745,715.944017364,680,659,635,878.055982636,785,811,651.944017364,629,653,0.400960910513,-0.0153743507282,0.0698196777618,0.999999934345,0.000222741981308,-0.000285706906602,8.16539253383e-06,1793248744235596544
+75,1.250000000,BASELINE,766,745,716,679.480881612,659,634.480881612,878,785,811,651.480881612,629,653,0.400959023294,-0.0153756126853,0.0698183573212,0.999999934002,0.000220949656785,-0.000288290469992,8.15022505492e-06,1793248744252263168
+76,1.266666667,BASELINE,766,744.906221871,716,679,659,634,878,785,811,651.093778129,628.906221871,653,0.400957605572,-0.0153767267018,0.0698172703636,0.999999933745,0.000219445938864,-0.000290321788658,8.18594347894e-06,1793248744268929792
+77,1.283333333,BASELINE,766,744.331449494,716,679,659,634,878,785,811,651.668550506,628.331449494,653,0.400959658814,-0.0153762669651,0.0698184720776,0.999999934277,0.00021989523954,-0.000288138434995,8.25805065326e-06,1793248744285596416
+78,1.300000000,BASELINE,766,744,716,679.250787903,659,634,878.250787903,785,810.749212097,652,628,653,0.400960425429,-0.0153757048409,0.0698187099763,0.999999934381,0.000220623417773,-0.00028722049068,8.27871721086e-06,1793248744302263296
+79,1.316666667,BASELINE,766,744,716,679.84319395,659,634,878.84319395,785,810.15680605,652,628,653,0.400959439426,-0.0153750032469,0.0698176349854,0.999999933904,0.000221731477265,-0.000288026261235,8.22931240836e-06,1793248744318929920
+80,1.333333333,BASELINE,765.575774216,744,715.575774216,679.575774216,659,634,878.575774216,785,810,652,628.424225784,653,0.400958700597,-0.0153751111176,0.0698172305162,0.999999933639,0.00022157491959,-0.00028906653768,8.2286880051e-06,1793248744335596544
+81,1.350000000,BASELINE,765.001159222,744,715.001159222,679.001159222,659,634.001159222,878.001159222,785.001159222,810,652,629,653,0.400958052649,-0.0153755106324,0.0698170684866,0.999999933449,0.000220963930872,-0.000290187612586,8.24550124098e-06,1793248744352263168
+82,1.366666667,BASELINE,765.576118952,744,715.576118952,679.576118952,659,634.576118952,878.576118952,785.576118952,810,652,629,653,0.400958346714,-0.0153760364962,0.0698174346555,0.999999933691,0.000220750074002,-0.000289517626534,8.20183100165e-06,1793248744368929792
+83,1.383333333,BASELINE,765.845170601,744,716,680,658.845170601,635,879,785.845170601,810.154829399,652,628.845170601,653,0.400959046604,-0.0153765678161,0.0698180351467,0.999999934105,0.000220302482786,-0.000288424417181,8.24860756292e-06,1793248744385596416
+84,1.400000000,BASELINE,765.255936641,744,716,680,658.255936641,635,879,785.255936641,810.744063359,652,628.255936641,653,0.400960885118,-0.0153771144447,0.0698192930757,0.999999935,0.00021919910349,-0.000286143770829,8.54915053801e-06,1793248744402263040
+85,1.416666667,BASELINE,765,744,716,680,658,634.672064965,879,785,810.672064965,652,628.327935035,653,0.400960457596,-0.0153765122752,0.069819005798,0.999999934801,0.000219451535738,-0.000286647605892,8.48523699693e-06,1793248744418929920
+86,1.433333333,BASELINE,765,744,716,680,658,634.092310984,879,785,810.092310984,652,628.907689016,653,0.400958290002,-0.015375027952,0.0698175319671,0.999999933758,0.00022074508595,-0.000289289624272,8.14145990977e-06,1793248744435596544
+87,1.450000000,BASELINE,765.484284835,744,716,680,658.484284835,634,878.515715165,785,810,652,628.515715165,653,0.400957475874,-0.015373579687,0.0698167942802,0.999999933027,0.00022265847587,-0.000290355453652,7.9460118324e-06,1793248744452263168
+88,1.466666667,BASELINE,765.939943145,744,716,679.939943145,659,634,878.060056855,785,810,652,628.060056855,652.939943145,0.400957122107,-0.0153724464993,0.0698163994881,0.999999932541,0.000224175602467,-0.000290863693069,7.82948949521e-06,1793248744468930048
+89,1.483333333,BASELINE,765.36610207,744,716,679.36610207,659,634,878.63389793,785,810,652,628.63389793,652.36610207,0.40095851393,-0.015373950369,0.0698177455065,0.999999933675,0.000221298494819,-0.000289155389038,8.14786291015e-06,1793248744485596672
+90,1.500000000,BASELINE,765.213043667,744,715.786956333,679.213043667,659,634,879,785,810.213043667,652,629,652.213043667,0.400959487819,-0.0153748288,0.0698186737392,0.999999934447,0.000219355447738,-0.000287961124296,8.24618899461e-06,1793248744502263296
+91,1.516666667,BASELINE,765.801537841,744,715.198462159,679.801537841,659,634,879,785,810.801537841,652,629,652.801537841,0.400959725175,-0.0153746050095,0.069818865701,0.999999934597,0.000219058511916,-0.000287672759991,7.95672186255e-06,1793248744518929920
+92,1.533333333,BASELINE,766,744,715.385507753,680,658.614492247,634.385507753,879,785,810.614492247,651.614492247,628.614492247,652.614492247,0.40095891937,-0.0153758845618,0.0698181766678,0.999999934391,0.000218575705418,-0.000288758367718,7.78007445135e-06,1793248744535596544
+93,1.550000000,BASELINE,766,744,715.967175611,680,658.032824389,634.967175611,879,785,810.032824389,651.032824389,628.032824389,652.032824389,0.400957582768,-0.0153779290686,0.069817039353,0.999999934001,0.000217998321258,-0.000290543101433,7.66083371517e-06,1793248744552263168
+94,1.566666667,BASELINE,766,744,716,680,658,635,879,785,810,651,628.540786286,652,0.40096007997,-0.0153763613838,0.0698181556486,0.999999934259,0.000220528216129,-0.000287725712618,7.94004699968e-06,1793248744568929792
+95,1.583333333,BASELINE,766,744,716,679.885294009,658.114705991,634.885294009,879,785.114705991,810.114705991,651.114705991,629,652.114705991,0.400962010215,-0.0153749683328,0.0698191591055,0.999999934537,0.000222212069944,-0.000285447777169,8.20413091993e-06,1793248744585596416
+96,1.600000000,BASELINE,766,744,716,679.308185858,658.691814142,634.308185858,879,785.691814142,810.691814142,651.691814142,629,652.691814142,0.400960730649,-0.0153751501328,0.069819164362,0.999999934796,0.000219736229952,-0.000286454014896,8.31116164298e-06,1793248744602263040
+97,1.616666667,BASELINE,765.72555463,744,716,679.27444537,659,634.27444537,879,786,810.72555463,651.72555463,629,653,0.400960015159,-0.0153748681587,0.0698189827276,0.999999934727,0.000218997654367,-0.000287254125524,8.37405451751e-06,1793248744618929664
+98,1.633333333,BASELINE,765.136593975,744,716,679.863406025,659,634.863406025,879,786,810.136593975,651.136593975,629,653,0.400959946101,-0.015374054698,0.0698185869157,0.99999993429,0.000220249989592,-0.000287818013766,8.38636526774e-06,1793248744635596544
+99,1.650000000,BASELINE,765.446375053,744,716,680,658.553624947,634.553624947,879.446375053,785.553624947,810,651.446375053,629,653,0.400959948181,-0.0153751716787,0.0698182961674,0.999999934307,0.000219936852315,-0.0002880024745,8.29143826943e-06,1793248744652263168
+100,1.666666667,BASELINE,766,744,716,680,658.027178493,634.027178493,879.972821507,785.027178493,810,652,628.972821507,653,0.40095994835,-0.0153767458966,0.0698180552423,0.999999934428,0.000219278975706,-0.000288087599631,8.1797882624e-06,1793248744668930048
+101,1.683333333,BASELINE,766,744,716,680,658.600816353,634.600816353,879.399183647,785.600816353,810,652,628.399183647,653,0.400959478224,-0.0153757934065,0.0698181782188,0.999999933891,0.000221193933516,-0.000288479026188,8.3829602926e-06,1793248744685596672
+102,1.700000000,BASELINE,766,744,716,680,658.824893984,635,879,785.824893984,810.175106016,652,628.175106016,653,0.400959767957,-0.0153752576277,0.0698186290245,0.999999933898,0.000221722984001,-0.000288044354088,8.52931979908e-06,1793248744702263040
+103,1.716666667,BASELINE,766,744,716,680,658.249112958,635,879,785.249112958,810.750887042,652,628.750887042,653,0.400961796387,-0.0153756753618,0.0698198299644,0.999999935147,0.00021908082146,-0.000285719415129,8.54568169597e-06,1793248744718929664
+104,1.733333333,BASELINE,765.664816394,744,715.664816394,680,658,635,879,785.335183606,810.664816394,651.664816394,628.664816394,653,0.400961407078,-0.0153758601785,0.0698196610203,0.999999935236,0.000218956405129,-0.000285506240525,8.46026815627e-06,1793248744735596544
+105,1.750000000,BASELINE,765.074025926,744,715.074025926,680,658,635,879,785.925974074,810.074025926,651.074025926,628.074025926,653,0.400959174031,-0.0153758673754,0.0698184474199,0.999999934443,0.000220751990557,-0.000286903470984,8.29724193258e-06,1793248744752263168
+106,1.766666667,BASELINE,765.506737422,744,715.506737422,680.506737422,658.506737422,635,878.493262578,785.493262578,810,651,628,652.493262578,0.40096001607,-0.0153749326238,0.0698182203881,0.999999934051,0.000222890004229,-0.000286611400668,8.43569044329e-06,1793248744768930048
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,658,634,878,785,810,652,629,652,0.400960414718,-0.0153760206933,0.0698198276511,0.999999934602,0.00022060913957,-0.000286445602518,8.73045188848e-06,1793248744812202240
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.589522747,744,716,680,658.589522747,634.589522747,878.589522747,785,810,652,629,652,0.40095940102,-0.015375864256,0.0698187390069,0.99999993411,0.000221106019768,-0.000287783222996,8.48601342383e-06,1793248744828868864
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.824254684,744,716,679.824254684,658.824254684,634.824254684,878.824254684,785,810,651.824254684,629,652.175745316,0.400958953626,-0.0153753232084,0.0698180091598,0.999999933748,0.000221880035845,-0.000288455068566,8.1980971555e-06,1793248744845535232
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.245597944,744,716,679.245597944,658.245597944,634.245597944,878.245597944,785,810,651.245597944,629,652.754402056,0.400959804533,-0.0153739004086,0.069818101886,0.999999933683,0.000223289410128,-0.000287600567525,7.81050419238e-06,1793248744862202112
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.332484683,744,716,679.332484683,658.332484683,634.332484683,878,785,810,651.332484683,629,653,0.400960302214,-0.0153742542844,0.0698184359551,0.999999933857,0.000223015193897,-0.0002872052561,7.9309270177e-06,1793248744878868736
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.910143923,744,716,679.910143923,658.910143923,634.910143923,878,785,810,651.910143923,629,653,0.400960539426,-0.0153759182828,0.0698189479907,0.999999934206,0.000221499496152,-0.000287148551637,8.42596124814e-06,1793248744895535360
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,716,679.506072645,658.506072645,634.506072645,878.493927355,785,810,652,628.506072645,653,0.400961521572,-0.0153761015223,0.0698195914413,0.999999934575,0.000221558176228,-0.000285818904408,8.36594499276e-06,1793248744912201984
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,716,679.078197489,658,634.078197489,878.921802511,785,810,652,628.078197489,653,0.40096267807,-0.0153759125778,0.0698202842081,0.999999934901,0.000221764960051,-0.000284516322285,8.23458433712e-06,1793248744928868608
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,716,679.658350383,658,634.658350383,878.341649617,785,810,652,628.658350383,653,0.400964072921,-0.0153750854502,0.06982113815,0.99999993495,0.000221060842262,-0.000284892637817,8.30156668844e-06,1793248744945535232
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,715.762496444,680,658,634.762496444,878,785,810,652,629,653,0.400975329969,-0.0153760139352,0.0698260158997,0.999999937246,0.000219549438581,-0.000277897788767,8.83118776236e-06,1793248744962201856
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715.184775396,680,658,634.184775396,878,785,810,652,629,653,0.401000714351,-0.0153794572885,0.0698366576467,0.999999942541,0.000216881619463,-0.000260343943501,1.00235264253e-05,1793248744978868480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.608281855,744,715.391718145,679.608281855,658,634,878,785,810.391718145,651.608281855,628.608281855,653,0.401045462093,-0.0153813593478,0.0698532207764,0.999999949179,0.000218021367521,-0.000232342637833,1.12305163368e-05,1793248744995535104
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.032365475,744,715.967634525,679.032365475,658,634,878,785,810.967634525,651.032365475,628.032365475,653,0.401099315101,-0.0153825366423,0.0698725683281,0.999999955627,0.00022095155342,-0.000199428604819,1.24443958236e-05,1793248745012201984
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.555084301,744,716,679.555084301,658,634,878.555084301,785,810.444915699,651.555084301,628.555084301,653,0.401159545804,-0.0153847342027,0.0698838712111,0.999999957588,0.000219616640354,-0.000190895754831,1.2301960794e-05,1793248745028868608
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658.141173117,634.141173117,878.858826883,785,810.141173117,651.858826883,629,653,0.401225540824,-0.0153877006446,0.0698935973129,0.999999959509,0.000218166789673,-0.000182320072009,1.20251182554e-05,1793248745045535232
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658.720900857,634.720900857,878.279099143,785,810.720900857,651.279099143,629,653,0.401308263004,-0.0153928668956,0.0698999132069,0.999999962058,0.000217148822051,-0.000169101413494,1.1581622931e-05,1793248745062202112
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.297853912,716,680,659,635,878.297853912,785,811,651.297853912,629,653,0.401398724569,-0.015396906114,0.0699032444227,0.999999963195,0.000217087982355,-0.000162419249017,1.01578969946e-05,1793248745078868992
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.872230958,716,680,659,635,878.872230958,785,811,651.872230958,629,653,0.40149637126,-0.0153998990119,0.0699038047075,0.999999963135,0.000217915726051,-0.000161805469003,7.82413959469e-06,1793248745095536384
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658.552288843,634.552288843,879,785,810.552288843,652,629,652.552288843,0.401618108162,-0.0154049472089,0.0699060922339,0.999999964637,0.000213387786223,-0.000158633144236,5.17997029417e-06,1793248745112202752
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.975861171,716,680,658.024138829,634,879,785,810,651.975861171,628.975861171,652.024138829,0.401747948768,-0.0154105921357,0.0699088342021,0.999999966529,0.000207343892334,-0.000154740590715,2.41992689583e-06,1793248745128868864
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.384587568,716,680,658.615412432,634,879,785,810,651.384587568,628.384587568,652.615412432,0.401906260129,-0.0154164422724,0.0699106434139,0.999999968243,0.000201681572786,-0.000151123848541,-9.76097652165e-07,1793248745145535488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.797683906,744,716,680,658.797683906,634.202316094,879,785,810,651,628,653,0.402075199435,-0.0154234773222,0.0699125421362,0.99999997021,0.000194421973747,-0.000147511009989,-4.44104191668e-06,1793248745162201856
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.218911602,744,716,680,658.218911602,634.781088398,879,785,810,651,628,653,0.402263914488,-0.0154327171781,0.0699146074136,0.99999997265,0.000184190264861,-0.000143905435439,-8.03422698509e-06,1793248745178868736
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.356612446,744,716,680,658.356612446,634.643387554,879,785,810,651.356612446,628.356612446,653,0.402474732786,-0.0154420843429,0.0699169771376,0.999999975008,0.000175065858816,-0.000138501648374,-1.23853597074e-05,1793248745195535616
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+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.517522628,716,680,659,634,879,785,810,652,629,653,0.402969502394,-0.0154633447159,0.0699275823427,0.99999998301,0.000142324381303,-0.000115137243773,-2.1594967797e-05,1793248745228868864
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+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,785,810.684653317,652,629,653,0.403560363867,-0.0154816466758,0.0699434022902,0.999999995229,3.46139156465e-05,-8.60182732634e-05,-3.07525209561e-05,1793248745262202112
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.737443801,716,680,659,634.262556199,879.262556199,785.262556199,811,652,629,653,0.403882837016,-0.0154896257175,0.0699478001103,0.999999996091,-6.35919653342e-06,-8.06252690067e-05,-3.5742837886e-05,1793248745278868736
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.161573503,716,680,659,634.838426497,879.838426497,785.838426497,811,652,629,653,0.404222266825,-0.0154986823272,0.0699487530734,0.999999995664,-9.32241637249e-06,-8.30732797582e-05,-4.10266577106e-05,1793248745295535360
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.413763987,716,679.586236013,659,634.586236013,879.586236013,785.586236013,810.586236013,651.586236013,628.586236013,653,0.404595508636,-0.0155038020941,0.0699526011417,0.999999996418,1.94784965195e-05,-7.64753951038e-05,-3.0608705062e-05,1793248745312202240
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.988893671,716,679.011106329,659,634.011106329,879.011106329,785.011106329,810.011106329,651.011106329,628.011106329,653,0.404981936937,-0.0155073865137,0.0699575782851,0.99999999586,6.06672478279e-05,-6.63496604254e-05,-1.40671466788e-05,1793248745328868864
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,716,679.578709196,659,634.578709196,879.578709196,785,810.578709196,651.578709196,628.578709196,653,0.405406695433,-0.0154985727643,0.0699573317105,0.999999995951,5.53322414097e-05,-6.7816490033e-05,-2.09038315698e-05,1793248745345535488
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.834160783,716,680,659,634.834160783,879.834160783,785.165839217,811,651.834160783,629,653,0.405838479825,-0.0154948349224,0.0699536463471,0.999999995795,4.49807471028e-05,-7.51563546457e-05,-2.71711511717e-05,1793248745362202112
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.254454458,716,680,659,634.254454458,879.254454458,785.745545542,811,651.254454458,629,653,0.406285914324,-0.0155043737414,0.0699416358686,0.999999994562,2.43963845943e-05,-9.65832468421e-05,-3.08687273508e-05,1793248745378868736
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,879,785.677870783,811,651,629,653,0.406764774281,-0.0155112763899,0.06992937191,0.999999992988,1.11138712515e-05,-0.000112940803421,-3.38478163526e-05,1793248745395535104
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,879,785.103729992,811,651,629,653,0.407268219385,-0.0155161166822,0.069916909645,0.999999991482,3.54381643909e-06,-0.000125332465475,-3.62648111881e-05,1793248745412201728
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.470605696,716,680.941211391,659,634,879,785,811,651.470605696,629,653,0.407831380361,-0.0155169305193,0.0699225565835,0.999999993364,3.48474383586e-06,-0.0001089259884,-3.73421074218e-05,1793248745428868608
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,681.953536078,659,634,879.046463922,785.046463922,811,651.953536078,629,652.953536078,0.408411897563,-0.0155166202173,0.0699324737603,0.999999995593,4.80942506113e-06,-8.56418694757e-05,-3.81563628229e-05,1793248745445535232
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,681.360265299,659,634,879.639734701,785.639734701,811,651.360265299,629,652.360265299,0.409041705053,-0.0155135294144,0.0699456506687,0.999999997645,2.92735287043e-06,-5.6151279802e-05,-3.9351624697e-05,1793248745462202112
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,716,680.773678073,659,634,879.773678073,785.773678073,811.226321927,651,629,652.226321927,0.409663754749,-0.0155123596929,0.0699491590291,0.999999998105,2.12694779413e-06,-4.62330206071e-05,-4.05867890462e-05,1793248745478868736
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,716,680.19742477,659,634,879.19742477,785.19742477,811.80257523,651,629,652.80257523,0.410273809567,-0.0155141602832,0.0699377182038,0.999999996902,2.99898026957e-06,-6.6576844578e-05,-4.18836492245e-05,1793248745495535360
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.628982129,745,715.628982129,680,659,634,879.742035741,785,811.628982129,651.371017871,628.628982129,653,0.410918169441,-0.015514781661,0.0699359692266,0.999999996475,2.73703699506e-07,-7.22362908668e-05,-4.28024138559e-05,1793248745512201984
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.064609998,745,715.064609998,680,659,634,880.870780005,785,811.064609998,651.935390002,628.064609998,653,0.411580407219,-0.0155147884976,0.0699392711119,0.999999996576,-4.32629400024e-06,-7.0243040479e-05,-4.35241356929e-05,1793248745528868608
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529738824,744.470261176,715.529738824,680,659.529738824,634,881.529738824,785,810.470261176,651.470261176,628.529738824,653,0.412327278739,-0.0155196806009,0.0699729383489,0.999999998965,-9.78069979066e-06,-1.58002048626e-05,-4.15262061016e-05,1793248745545535488
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744,716,680,660,634.124628653,881.750742695,785,810.124628653,651,629.124628653,653,0.413090022193,-0.015523948662,0.0700051803,0.999999998463,-1.49835740379e-05,3.58354635879e-05,-3.957644096e-05,1793248745562202112
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744,716,680,660,634.707264411,880.585471178,785,810.707264411,651,629.707264411,653,0.413870884398,-0.0155236023619,0.0700177575866,0.999999997694,-1.88561404581e-05,5.22357263677e-05,-3.90958032379e-05,1793248745578868736
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.285878743,716,680,660,634.714121257,880,785.285878743,811,651.285878743,629.714121257,653,0.414611576047,-0.0155202365642,0.0699970685189,0.999999998915,-1.60800077058e-05,1.34279310197e-05,-4.16040095654e-05,1793248745595535360
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.860432385,716,680,660,634.139567615,880,785.860432385,811,651.860432385,629.139567615,653,0.415311704331,-0.0155138217354,0.0699427877227,0.999999995577,-6.59014573135e-06,-8.11279063256e-05,-4.71302932652e-05,1793248745612201984
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.564255762,715.564255762,680,660,634,880,785.564255762,811.435744238,652,629.435744238,653,0.416089299595,-0.0155140697537,0.0699133986956,0.999999990627,-1.23737899363e-05,-0.000126289665856,-5.14200679563e-05,1793248745628868864
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.011560248,715.011560248,680,660,634,880.011560248,785,812,652,630,653,0.416892608091,-0.0155165603459,0.0698930991226,0.999999986359,-2.29536676467e-05,-0.0001539854404,-5.51660086905e-05,1793248745645535232
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.600405639,715.600405639,680,660,634,880.600405639,785,812,652,630,653,0.417738741765,-0.0155242825257,0.0699278698904,0.999999993179,-2.83224735573e-05,-0.000100901636454,-5.15665441353e-05,1793248745662201856
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.814134742,715.814134742,680.185865258,660,634,880.814134742,785,811.814134742,651.814134742,629.814134742,653,0.418604461201,-0.0155297499946,0.0699600065139,0.999999996916,-3.28279708956e-05,-5.1994558553e-05,-4.88559023614e-05,1793248745678868480
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.235824052,715.235824052,680.764175948,660,634,880.235824052,785,811.235824052,651.235824052,629.235824052,653,0.419511534967,-0.0155304567506,0.069986581268,0.999999998146,-3.55106340531e-05,-1.19064377203e-05,-4.80219669886e-05,1793248745695535104
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744,715.342669532,681,660,634,880,785.342669532,811.342669532,651.342669532,629,653,0.420414315234,-0.0155331462612,0.0700083554451,0.999999997831,-4.22359888463e-05,1.89145501893e-05,-4.685754788e-05,1793248745712201984
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744,715.921289026,681,660,634,880,785.921289026,811.921289026,651.921289026,629,653,0.421314139115,-0.0155372010255,0.0700268241156,0.999999996688,-5.17449961412e-05,4.33545207548e-05,-4.54655695588e-05,1793248745728868864
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.503535854,744.496464146,716,681,660,634,880,785.503535854,811.503535854,651.503535854,629.496464146,653,0.422166583413,-0.0155360317459,0.0700036521183,0.999999997504,-5.09054167678e-05,3.73814146474e-06,-4.88464825344e-05,1793248745745535488
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.073004113,745,716,681,660,634,880.073004113,785,811.146008226,651,630,653,0.423004777826,-0.0155335135627,0.0699671645525,0.999999995787,-4.96901299573e-05,-5.54614740478e-05,-5.36762360426e-05,1793248745762202112
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.663051071,745,716,681,660,634,880.663051071,785,812.326102143,651,630,653,0.423794882931,-0.0155272674002,0.0698828056823,0.999999979794,-5.73539202695e-05,-0.000181926076487,-6.34448512432e-05,1793248745778868736
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.751791675,680.751791675,660,634,880.751791675,785,812.751791675,651,630,653,0.424666735269,-0.0155258545426,0.069848912639,0.999999969985,-6.09486098122e-05,-0.000227454712113,-6.76698664674e-05,1793248745795535360
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.173143997,680.173143997,660,634,880.173143997,785,812.173143997,651,630,653,0.425647417682,-0.0155308762554,0.0698822046601,0.99999998252,-5.91261137493e-05,-0.000165233442029,-6.45146979792e-05,1793248745812201984
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.596839684,715,680,660,634,880,785,812.403160316,651,630,653,0.426605170626,-0.0155329535444,0.0699327873694,0.99999999201,-5.85242397882e-05,-9.49740100193e-05,-5.94597032297e-05,1793248745828868864
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.021535988,715,680,660,634,880,785,812.978464012,651,630,653,0.427553132973,-0.0155337736087,0.06999075294,0.99999999663,-5.84435529716e-05,-2.1282407422e-05,-5.35935112748e-05,1793248745845535488
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744.565602634,715,680.565602634,660.565602634,634,880.565602634,785,813,651.565602634,630,653,0.428479913907,-0.0155373477229,0.0700219462015,0.999999996351,-6.08633668151e-05,2.95886225219e-05,-5.21279518918e-05,1793248745862202112
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715.151038258,681,660.848961742,634,881,785,813.151038258,651.848961742,630,653,0.429399773033,-0.0155397980124,0.0700407240228,0.999999994634,-6.46893136952e-05,6.21062499685e-05,-5.18652749291e-05,1793248745878868736
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.730340007,681,660.269659993,634,881,785,813.730340007,651.269659993,630,653,0.430302341267,-0.0155387580456,0.0700272505221,0.999999994888,-7.22265672298e-05,4.5099916105e-05,-5.45280656141e-05,1793248745895535360
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715.692174991,681,660,634,881,785,813.692174991,651,630,653,0.43114563855,-0.0155361205178,0.0699750226379,0.999999994792,-7.18209842052e-05,-4.22765995303e-05,-5.8913076427e-05,1793248745912202240
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715.116272183,681,660,634,881,785,813.116272183,651,630,653,0.431937318063,-0.0155320917104,0.0698890444433,0.999999977592,-6.44981638523e-05,-0.000190936904826,-6.47979284685e-05,1793248745928868864
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715.45919106,681,660,634,881,785,813.45919106,651.45919106,630,653,0.432828899092,-0.0155347031061,0.0698900202022,0.999999979444,-6.97399676001e-05,-0.000178718963658,-6.56382115692e-05,1793248745945535488
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.964583954,745.035416046,715.964583954,680.964583954,660.035416046,634,881,785,814,651.964583954,630,653.035416046,0.433744465324,-0.0155388990404,0.0699149881886,0.999999987222,-7.79098206444e-05,-0.000123568615055,-6.4939907542e-05,1793248745962202112
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.374692851,745.625307149,715.374692851,680.374692851,660.625307149,634,881,785,814,651.374692851,630,653.625307149,0.434639884931,-0.0155416041197,0.0699711992623,0.999999994258,-8.21592665721e-05,-3.34233270953e-05,-6.01323798344e-05,1793248745978868480
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.211474895,745.788525105,715,680,661,634,881,785,814,651,630,653.788525105,0.43552662456,-0.015543333464,0.0700131953541,0.999999994466,-8.23847236959e-05,3.31098677202e-05,-5.64244915451e-05,1793248745995535360
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.791159808,745.208840192,715,680,661,634,881,785,814,651,630,653.208840192,0.436398251169,-0.0155433639053,0.0700304410056,0.999999993937,-7.56038047429e-05,5.85308247872e-05,-5.46312429268e-05,1793248746012201984
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.366069259,661,634,881,785,814,651,630,653,0.437232113974,-0.0155458366387,0.070020418789,0.999999993638,-8.21496190923e-05,5.34998433123e-05,-5.5795946642e-05,1793248746028869120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680.938289387,661,634,881,785,814,651,630,653,0.438044710147,-0.0155496847421,0.0699950407482,0.999999993164,-9.62003460748e-05,3.13199370399e-05,-5.8626412957e-05,1793248746045537024
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.489913667,634,881,785,814,651,630,653,0.438752010697,-0.0155463103342,0.0699393209932,0.999999991978,-9.37788042562e-05,-5.76223378379e-05,-6.26790123468e-05,1793248746062203136
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.914428837,745,715,681,660.085571163,634,881,785,814.085571163,651,630,653,0.439449462294,-0.015542094289,0.0698846608675,0.999999983043,-8.93179470432e-05,-0.000146618445219,-6.66279530748e-05,1793248746078869248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.316559093,745,715,681,660.683440907,634,881,785,814.683440907,651,630,653,0.440164151286,-0.0155380663673,0.0698583024985,0.999999976438,-8.45688871108e-05,-0.000187621672981,-6.90718679027e-05,1793248746095535616
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.272361013,745,715,681,660.727638987,634,881.272361013,785.272361013,815,651,630,653,0.440926424982,-0.015539270499,0.069878471315,0.999999981919,-8.51957303767e-05,-0.000155904060371,-6.78046433041e-05,1793248746112202240
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.851210043,745,715,681,660.148789957,634,881.851210043,785.851210043,815,651,630,653,0.441742245727,-0.0155463622638,0.0699509972041,0.999999992938,-9.18720805129e-05,-4.23536364814e-05,-6.23612704708e-05,1793248746128869120
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.574585248,745,715.425414752,681,660,634,881.574585248,785.574585248,814.574585248,651,630,653.425414752,0.44249305758,-0.0155518065345,0.070000757206,0.999999993383,-9.58156171785e-05,2.76227262922e-05,-5.73605899843e-05,1793248746145536000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.001987316,745,715.998012684,681,660,634,881.001987316,785.001987316,814.001987316,651,630,653.998012684,0.443221377999,-0.0155566808127,0.0700426407692,0.999999990334,-9.88136672525e-05,8.25235304518e-05,-5.25130698839e-05,1793248746162203392
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.588498193,745,715.411501807,681,660.588498193,633.411501807,881,785,814.588498193,651,630,653.411501807,0.443839662598,-0.0155565567607,0.070029042671,0.999999991723,-0.000102098911434,5.67758868826e-05,-5.3907358795e-05,1793248746178869248
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,744.824355176,715,681,661,633.175644824,881,785,815,651,630,653.175644824,0.44444362208,-0.0155563201088,0.0700071558216,0.999999992641,-0.000105794567906,2.02498367404e-05,-5.58243620888e-05,1793248746195535616
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,744.245025362,715,681,661,633.754974638,881,785,815,651,630,653.754974638,0.445015539011,-0.0155558646773,0.0699666630126,0.999999991352,-0.000110431177776,-4.04027098986e-05,-5.88927589615e-05,1793248746212202240
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.331450354,715,681,661,634,881,785,815,651,630,653.668549646,0.445580490458,-0.0155567059364,0.0699450185821,0.999999989492,-0.000112804601987,-6.78279403323e-05,-6.075123138e-05,1793248746228868864
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,744.186149759,715.186149759,681,661,634,881,785,815,651.813850241,630.186149759,653,0.448533663641,-0.0155615556779,0.0699331783561,0.999999987795,-0.000105560173633,-9.89401317412e-05,-5.89750781361e-05,1793248746328868608
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+256,4.266666667,HOLD_POSE2,766,745,715,681,660,633,881,783,815.881881622,651,630,653,0.452593280717,-0.0155886872116,0.0697518649108,0.999999919053,-0.000149121202122,-0.000368428455254,-6.25938651226e-05,1793248747314507264
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881,783,815,651,630,653.405157633,0.452593926397,-0.0155867517025,0.0697519571934,0.999999919692,-0.00014582963113,-0.000367972488723,-6.2809625064e-05,1793248747385915904
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.184041839,681,660.184041839,633,881.184041839,783,815.184041839,651,630,653,0.452593778732,-0.0155853331376,0.0697521251339,0.999999919925,-0.000144028353375,-0.000368010864358,-6.30419880301e-05,1793248747402582528
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.654808447,681,660.654808447,633,881.654808447,783,815.654808447,651,630,653,0.452591742365,-0.015585344577,0.0697508003163,0.999999918747,-0.00014485858183,-0.000370839926639,-6.3238760048e-05,1793248747435916032
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,744.331242556,715,681,660,633,880.668757444,783,815.331242556,651,630,653.668757444,0.452593335797,-0.015585821846,0.0697512297414,0.999999919293,-0.000145026214444,-0.000369372949133,-6.28151962866e-05,1793248747502582528
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.42594344,745,715,680.42594344,660,633,880.42594344,783,815.57405656,651,630,653,0.452474742326,-0.0155834313514,0.0697053166822,0.999999890653,-0.000146738252896,-0.000439191796159,-6.53584520405e-05,1793248747585916672
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.691397451,681.308602549,660,633,881,783.691397451,815,651,630,653,0.452271132638,-0.0155697112252,0.0696641950561,0.999999867427,-0.000140723121967,-0.000490782400221,-6.69060016102e-05,1793248747635917056
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,744.839526113,715,681,660.839526113,633,881,784,815,651,630,653.160473887,0.449879516425,-0.015472893896,0.069711250413,0.999999895376,-4.80351417513e-05,-0.000454313403644,-2.32215768637e-05,1793248747852582656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.42718643,681,661,633,881,784,815,651.42718643,630,653,0.449571338629,-0.0154657097564,0.0697317107067,0.999999909963,-1.49354271572e-05,-0.000423771267537,-1.6410691649e-05,1793248747869249280
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c9f586a82105bbc7fdf88d5b81adbc6a15119cf
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,402 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1246604b943a93aeb5d95b66eac2eaa5219dfcfc
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25514655
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10e1e30b0ae844e95a595b8480d9a7df7046588d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/franka_data.csv
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+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,766,744.5775207,715.5775207,679.4224793,658.4224793,634.4224793,879.4224793,785,810.4224793,652,628.5775207,652.4224793,0.400959947534,-0.0153635798157,0.0698155883224,0.99999992966,0.000233634965649,-0.000293345138754,6.55389966116e-06,1793248749883991808
+2,0.033333333,BASELINE,766,745,715.846487277,679,658.153512723,634.153512723,879,785.153512723,810.153512723,652,628.846487277,652.153512723,0.40095978234,-0.0153627352271,0.0698153769077,0.999999929175,0.000235176488826,-0.000293771556287,6.40442742003e-06,1793248749900658432
+3,0.050000000,BASELINE,766,745,715.27466069,679,658.72533931,634.72533931,879,785.72533931,810.72533931,652,628.27466069,652.72533931,0.40095908985,-0.0153624348104,0.0698152863089,0.999999929424,0.000234416434218,-0.000293529557827,6.43165049915e-06,1793248749917324800
+4,0.066666667,BASELINE,766,744.691903824,715.308096176,679.308096176,659,634.691903824,878.691903824,785.691903824,810.691903824,652,628,653,0.400959161955,-0.0153627205332,0.0698156136136,0.999999929812,0.000233536745089,-0.000292907777653,6.51514301485e-06,1793248749933991168
+5,0.083333333,BASELINE,766,744.099044495,715.900955505,679.900955505,659,634.099044495,878.099044495,785.099044495,810.099044495,652,628,653,0.400959940749,-0.0153635480056,0.0698163271729,0.999999930326,0.000232546481758,-0.000291934977755,6.65064351673e-06,1793248749950657536
+6,0.100000000,BASELINE,766,744.482618237,716,679.517381763,659,634.482618237,878,785,810,652,628.482618237,652.517381763,0.400960086812,-0.0153637181092,0.0698159494609,0.999999930416,0.000232411182197,-0.000291734548741,6.62244190196e-06,1793248749967324416
+7,0.116666667,BASELINE,766,744.938503193,716,679.061496807,658.938503193,634.938503193,878.061496807,785,810.061496807,652,629,652,0.400959904988,-0.0153640155246,0.0698153305538,0.999999930435,0.000232111929802,-0.000291908937773,6.59453535344e-06,1793248749983991296
+8,0.133333333,BASELINE,766,744.364115419,716,679.635884581,658.364115419,634.364115419,878.635884581,785,810.635884581,652,629,652,0.400958046955,-0.0153664743686,0.0698145255071,0.999999930559,0.000229015124671,-0.000293917349457,6.84292723424e-06,1793248750000658176
+9,0.150000000,BASELINE,766,744,716,680,658,634,879,785,810.790176429,652,628.790176429,652,0.400957318402,-0.0153669472736,0.0698142940939,0.999999930642,0.00022780912638,-0.000294572474312,6.73313598742e-06,1793248750017324800
+10,0.166666667,BASELINE,766,744,716,680,658,634,879,785,810.217014631,652,628.217014631,652,0.400958545697,-0.0153639812531,0.0698150560053,0.99999993067,0.000229877319209,-0.000292884197631,6.00310161388e-06,1793248750033991168
+11,0.183333333,BASELINE,766,744,716,680,658,634,879,785,810.369752913,651.630247087,628,652.369752913,0.400957609864,-0.0153637635529,0.0698149207674,0.999999930258,0.000230712576365,-0.000293633208786,5.99812290507e-06,1793248750050657792
+12,0.200000000,BASELINE,766,744,716,680,658,634,879,785,810.964811036,651.035188964,628,652.964811036,0.40095535595,-0.0153652205137,0.0698142388607,0.999999929577,0.000230796556795,-0.000295867356553,6.43494948644e-06,1793248750067324160
+13,0.216666667,BASELINE,766,744,716,680,658,634,878.457732834,785,810.457732834,651,628.542267166,653,0.400957040171,-0.015365081655,0.0698150638364,0.999999930308,0.000230749649886,-0.000293423562361,6.46982498946e-06,1793248750083990784
+14,0.233333333,BASELINE,766,744,716,680,658,634.118152155,878.118152155,785.118152155,810,651,628.881847845,653,0.400958592562,-0.0153652963113,0.069815721842,0.999999931052,0.000229980264193,-0.000291484911965,6.47942897883e-06,1793248750100657408
+15,0.250000000,BASELINE,766,744,716,680,658,634.692243624,878.692243624,785.692243624,810,651,628.307756376,653,0.400958681072,-0.0153672622043,0.0698153700429,0.999999931522,0.000226454638665,-0.000292630161691,6.48900196029e-06,1793248750117324288
+16,0.266666667,BASELINE,765.725715494,744,716,680,658.274284506,634.725715494,878.725715494,785.725715494,810,651.274284506,628.274284506,653,0.400958583559,-0.0153679569609,0.069815219855,0.999999931527,0.000225685136107,-0.000293206130242,6.54736555684e-06,1793248750133991168
+17,0.283333333,BASELINE,765.134488916,744,716,680,658.865511084,634.134488916,878.134488916,785.134488916,810,651.865511084,628.865511084,653,0.400958271092,-0.0153671828901,0.0698153026337,0.999999931002,0.00022810039742,-0.000293124281198,6.66210783395e-06,1793248750150657792
+18,0.300000000,BASELINE,765.447097606,744,716,680,658.552902394,634,878.447097606,785,810,651.552902394,628.552902394,653,0.400959069388,-0.0153669196585,0.0698158972785,0.999999931361,0.000227668625168,-0.000292235243212,6.54852809021e-06,1793248750167324928
+19,0.316666667,BASELINE,766,744,716,680,658.025647739,634,878.974352261,785,810,651,628,652.974352261,0.400960093109,-0.0153667265779,0.0698165894498,0.999999931895,0.000226660441587,-0.000291195891509,6.37984842799e-06,1793248750183992320
+20,0.333333333,BASELINE,766,744,716,680,658.59996612,634,878.40003388,785,810,651,628,652.40003388,0.400958942385,-0.0153648163504,0.0698161436397,0.9999999306,0.000231255253339,-0.000292025553553,6.47067656766e-06,1793248750200658688
+21,0.350000000,BASELINE,766,744,716,680,658.827006713,634,878.172993287,785,810.172993287,651,628.172993287,652,0.400957835125,-0.0153638342617,0.0698155984118,0.999999929775,0.00023348298538,-0.000293075595054,6.45031104517e-06,1793248750217324800
+22,0.366666667,BASELINE,766,744,716,680,658.256943338,634,878.743056662,785,810.743056662,651,628.743056662,652,0.400956827627,-0.0153649825231,0.0698148249907,0.999999930063,0.000230277577924,-0.000294631471632,6.1747235992e-06,1793248750233991168
+23,0.383333333,BASELINE,766,744.329128225,716,680,658.329128225,634,878.670871775,785,810.670871775,651,629,652,0.400957903721,-0.0153664171809,0.0698153991015,0.999999930749,0.000228641646953,-0.000293573939914,6.29986630061e-06,1793248750250657792
+24,0.400000000,BASELINE,766,744.92833602,716,680,658.92833602,634,878.07166398,785,810.07166398,651,629,652,0.400960689591,-0.0153680868531,0.0698170789844,0.99999993176,0.000228293613481,-0.00029037186975,6.75384441519e-06,1793248750267324416
+25,0.416666667,BASELINE,765.493206888,744.493206888,716,680,658.493206888,634.506793112,878.506793112,785,810,651.506793112,628.493206888,652.506793112,0.400959565335,-0.0153661669999,0.0698163295206,0.999999931063,0.000229531865574,-0.000291805783974,6.24284274572e-06,1793248750283991040
+26,0.433333333,BASELINE,765.0823084,744,716,680,658,635,879,785,810.0823084,651.9176916,628.0823084,653,0.400958270547,-0.0153641905792,0.0698155155565,0.999999930353,0.000230716280317,-0.00029330945096,5.79905748329e-06,1793248750300657920
+27,0.450000000,BASELINE,765.657088384,744,716,680,658,635,879,785,810.657088384,651.342911616,628.657088384,653,0.400959133539,-0.015364793238,0.0698162902237,0.999999930987,0.000230289253274,-0.000291462375981,6.54177222283e-06,1793248750317324800
+28,0.466666667,BASELINE,765.762758732,744,715.762758732,680,658,634.762758732,879,785,811,651.237241268,628.762758732,653,0.400958855279,-0.0153651606543,0.0698162731222,0.999999931083,0.000229970061058,-0.000291381371849,6.73126408086e-06,1793248750333991424
+29,0.483333333,BASELINE,765.174659866,744,715.174659866,680,658,634.174659866,879,785,811,651.825340134,628.174659866,653,0.400956889215,-0.0153651801689,0.0698150850689,0.999999930383,0.000229810346473,-0.000293912221071,6.10259110794e-06,1793248750350657536
+30,0.500000000,BASELINE,765,744,715,680,658.409057859,634,879,785,810.590942141,651.590942141,628.409057859,652.590942141,0.400958667328,-0.0153649792289,0.0698161688786,0.999999930795,0.000230586389298,-0.000291887657417,6.40717282684e-06,1793248750367324160
+31,0.516666667,BASELINE,765,744,715,680,658.990924727,634,879,785,810.009075273,651.009075273,628.990924727,652.009075273,0.400962027192,-0.0153646851564,0.0698182124509,0.999999931665,0.000231757748603,-0.000287938631484,7.10601375084e-06,1793248750383991040
+32,0.533333333,BASELINE,765.56679872,744.56679872,715.56679872,680,658.43320128,634,878.43320128,785,810,651,629,652.56679872,0.400960058011,-0.0153647686007,0.0698173216027,0.999999931505,0.000229919479681,-0.000289977026728,6.42295940008e-06,1793248750400657408
+33,0.550000000,BASELINE,766,744.858317024,716,680,658.141682976,634,878.141682976,785,810.141682976,651,629,653,0.400958886902,-0.0153650558554,0.0698167082818,0.99999993146,0.000228606459406,-0.000291173181505,6.06292851512e-06,1793248750417324288
+34,0.566666667,BASELINE,766,744.286151551,716,680,658.713848449,634,878.713848449,785,810.713848449,651,629,653,0.40096039715,-0.015365944184,0.0698170794477,0.999999931837,0.00022903421057,-0.000289522083414,6.75087980989e-06,1793248750433991168
+35,0.583333333,BASELINE,765.704411091,744.295588909,716,679.704411091,658.704411091,634,879,785,810.704411091,651,629,652.704411091,0.400960163227,-0.0153665282547,0.0698165329994,0.999999931477,0.000229720912301,-0.000290221016815,6.83982676923e-06,1793248750450657792
+36,0.600000000,BASELINE,765.113090965,744.886909035,716,679.113090965,658.113090965,634,879,785,810.113090965,651,629,652.113090965,0.400958184295,-0.0153668079209,0.0698150684952,0.999999930372,0.000230666689316,-0.000293271112896,6.32948109349e-06,1793248750467324672
+37,0.616666667,BASELINE,765,744.528989606,716,679.471010394,658.471010394,634,879,785.471010394,810,651,629,652,0.400959776217,-0.0153662413233,0.069816797537,0.999999930995,0.000231390706295,-0.000290558761932,6.55886257669e-06,1793248750483991040
+38,0.633333333,BASELINE,765.052461579,744,716,680,658.947538421,634.052461579,879,785.947538421,810,651,628.947538421,652,0.400961973591,-0.0153656447784,0.0698189917932,0.999999931967,0.000231702741793,-0.000286936728125,6.89888356531e-06,1793248750500657664
+39,0.650000000,BASELINE,765.624571548,744,716,680,658.375428452,634.624571548,879,785.375428452,810,651,628.375428452,652,0.400961803816,-0.0153667338802,0.0698183135996,0.999999932468,0.000228453421556,-0.000287801923547,6.60209080702e-06,1793248750517324288
+40,0.666666667,BASELINE,766,744.199995204,715.800004796,680,658.199995204,634.800004796,878.800004796,785,810,651,628,652.199995204,0.400961320722,-0.015367033594,0.0698179016091,0.999999932594,0.000227089021531,-0.000288449022709,6.38083934413e-06,1793248750533990912
+41,0.683333333,BASELINE,766,744.781744037,715.218255963,680,658.781744037,634.218255963,878.218255963,785,810,651,628,652.781744037,0.40096023956,-0.0153658265128,0.0698179977504,0.999999932018,0.000229322583633,-0.00028867981665,6.30378217506e-06,1793248750550657536
+42,0.700000000,BASELINE,766,744.63478251,715,680,658.63478251,634,878.36521749,785.36521749,810,651.36521749,628,653,0.400959379071,-0.0153651552087,0.0698172099633,0.999999931575,0.000229777191054,-0.000289854540524,6.06857121506e-06,1793248750567324160
+43,0.716666667,BASELINE,766,744.050273545,715,680,658.050273545,634,878.949726455,785.949726455,810,651.949726455,628,653,0.400958651082,-0.015364805607,0.0698158914296,0.999999931211,0.000229163641455,-0.000291596038413,5.73839827215e-06,1793248750583990784
+44,0.733333333,BASELINE,765.471785589,744,715.528214411,680,658.528214411,634,879,785.471785589,810,651.471785589,628.528214411,653,0.400957952469,-0.0153662329226,0.0698155303063,0.999999931235,0.000228742080302,-0.000291842780792,5.88617482954e-06,1793248750600657664
+45,0.750000000,BASELINE,765.105686727,744,716,680,659,634,879,785,810,651,628.894313273,653,0.400957558437,-0.015367486513,0.0698153689577,0.999999931353,0.000228214785224,-0.00029184802859,6.05652892293e-06,1793248750617324288
+46,0.766666667,BASELINE,765.681162841,744,716,680,659,634,879,785,810,651,628.318837159,653,0.400958506016,-0.0153672245878,0.0698156951437,0.999999931727,0.000227137181999,-0.000291405064489,6.12731557937e-06,1793248750633990912
+47,0.783333333,BASELINE,765.737581259,744,716,680,658.737581259,634.262418741,878.737581259,785,810.262418741,651.262418741,628.262418741,653,0.400958702884,-0.0153672786649,0.0698159334501,0.999999932005,0.00022620272206,-0.000291179637731,6.13504795249e-06,1793248750650657536
+48,0.800000000,BASELINE,765.149144722,744,716,680,658.149144722,634.850855278,878.149144722,785,810.850855278,651.850855278,628.850855278,653,0.400957967102,-0.0153677253298,0.0698160625787,0.999999932163,0.000225446097061,-0.000291224469983,6.06444439612e-06,1793248750667323904
+49,0.816666667,BASELINE,765.432590323,744,716,680,658,635,878,785,810.567409677,652,629,653,0.400958856265,-0.0153679873943,0.0698166860246,0.999999932249,0.000226503900085,-0.000290098022304,6.47767419403e-06,1793248750683990528
+50,0.833333333,BASELINE,765.988016959,744,716,680,658.023966083,635,878.011983041,785,810,652,629,653,0.400960274583,-0.0153681762486,0.0698174740241,0.999999932311,0.000228127409554,-0.000288592723743,7.03734661108e-06,1793248750700657408
+51,0.850000000,BASELINE,765.411781751,744,716,680,659.176436498,635,878.588218249,785,810,652,629,653,0.400960631907,-0.0153678689778,0.0698181079049,0.999999932662,0.000227381800934,-0.000287973250212,6.75770958547e-06,1793248750717324544
+52,0.866666667,BASELINE,765.163040307,744,716,680,659.673919386,634.836959693,879.163040307,785.163040307,810.163040307,652,629,653,0.400960933513,-0.0153673490474,0.0698184119497,0.999999932881,0.000226826793538,-0.000287655167268,6.50642534078e-06,1793248750733991168
+53,0.883333333,BASELINE,765.734323887,744,716,680,658.531352227,634.265676113,879.734323887,785.734323887,810.734323887,652,629,653,0.400961095608,-0.0153662966298,0.0698178901043,0.999999932774,0.000226749040363,-0.00028809174854,6.32613479715e-06,1793248750750658048
+54,0.900000000,BASELINE,766,744,715.682385572,680,658,634.317614428,879.682385572,785.682385572,810.682385572,651.682385572,629,652.682385572,0.400960644173,-0.0153668501717,0.0698176859494,0.999999932604,0.000226897893553,-0.000288559178701,6.56689059551e-06,1793248750767324672
+55,0.916666667,BASELINE,766,744,715.088656956,680,658,634.911343044,879.088656956,785.088656956,810.088656956,651.088656956,629,652.088656956,0.400959659373,-0.0153687998348,0.069817757975,0.999999932378,0.000227243744195,-0.000289053426939,7.17367785065e-06,1793248750783991296
+56,0.933333333,BASELINE,766,744,715.492395237,680,658,634.507604763,878.507604763,785,810,651,629,652.492395237,0.400960626688,-0.0153680713712,0.0698183793625,0.999999932597,0.000227550374685,-0.000288062776047,6.87464662787e-06,1793248750800657920
+57,0.950000000,BASELINE,766,744.070633564,716,680,658.070633564,634,878.070633564,785,810,651,629,653,0.400961543586,-0.0153670082521,0.0698188996325,0.99999993272,0.000228123945747,-0.000287186862585,6.50088581152e-06,1793248750817324288
+58,0.966666667,BASELINE,766,744.644675698,716,680,658.644675698,634,878.644675698,785,810,651,629,653,0.400959658995,-0.0153669104585,0.0698180119624,0.999999931621,0.000230649079831,-0.000288986348663,6.72773427593e-06,1793248750833990656
+59,0.983333333,BASELINE,766,744.77563948,716,680,659,634,879,785,810,651.22436052,629,653,0.400958340261,-0.0153665623058,0.0698170399179,0.999999931106,0.000231196296393,-0.000290331589905,6.58443815506e-06,1793248750850657536
+60,1.000000000,BASELINE,766,744.186787577,716,680,659,634,879,785,810,651.813212423,629,653,0.400957940805,-0.0153658074252,0.0698159308004,0.999999931547,0.000228530230138,-0.000290938874825,5.83981296031e-06,1793248750867324416
+61,1.016666667,BASELINE,765.604503805,744,715.604503805,679.604503805,659,634,879,785.395496195,810,651.604503805,629,653,0.400957999689,-0.0153654722136,0.0698164437504,0.999999931545,0.000229141026255,-0.000290467032627,5.79511056714e-06,1793248750883991296
+62,1.033333333,BASELINE,765.025271434,744,715.025271434,679.025271434,659,634,879,785.974728566,810,651.025271434,629,653,0.400958271506,-0.0153653319681,0.0698177102664,0.999999931334,0.000231274158698,-0.000289493858917,6.07557225528e-06,1793248750900658176
+63,1.050000000,BASELINE,765.552109867,744,715.552109867,679.552109867,659,634,878.447890133,786,810,651,628.447890133,652.447890133,0.400960191919,-0.015367663656,0.0698184634352,0.999999932359,0.000228691084924,-0.000288001025653,6.12095104429e-06,1793248750917324800
+64,1.066666667,BASELINE,765.871048345,744.128951655,715.871048345,680,658.871048345,634,878.128951655,785.871048345,810,651.128951655,628.128951655,652.128951655,0.400961536715,-0.015369049528,0.0698189230525,0.999999932954,0.000227372971435,-0.000286973226626,6.24341847413e-06,1793248750933991168
+65,1.083333333,BASELINE,765.295781623,744.704218377,715.295781623,680,658.295781623,634,878.704218377,785.295781623,810,651.704218377,628.704218377,652.704218377,0.400960628934,-0.0153667715301,0.0698184477125,0.999999931889,0.00023117767719,-0.000287637010526,6.66981584905e-06,1793248750950657536
+66,1.100000000,BASELINE,765.286376924,744.713623076,715.286376924,680,658.286376924,634.286376924,879,785.286376924,810,652,629,652.713623076,0.400960646313,-0.0153655753447,0.0698181317373,0.999999931588,0.000232494957325,-0.000287618659657,6.68483038872e-06,1793248750967324160
+67,1.116666667,BASELINE,765.875829116,744.124170884,715.875829116,680,658.875829116,634.875829116,879,785.875829116,810,652,629,652.124170884,0.400961642799,-0.0153655240514,0.0698179844195,0.999999932109,0.000231179772376,-0.000286878399404,6.26447475711e-06,1793248750983990784
+68,1.133333333,BASELINE,766,744,716,680,658.542851251,635,878.542851251,785.542851251,810,651.542851251,629,652,0.400960239848,-0.0153664341787,0.0698175128851,0.999999932342,0.000228405922399,-0.000288286429897,6.21005281149e-06,1793248751000657664
+69,1.150000000,BASELINE,766,744,716,680,658,634.963987376,878.036012624,785,810,651.036012624,629,652,0.400958342235,-0.0153675198786,0.0698169754806,0.999999932463,0.000225485200362,-0.000290158478602,6.23038624154e-06,1793248751017324288
+70,1.166666667,BASELINE,766,744,716,680,658,634.389392414,878.610607586,785,810,651.610607586,629,652,0.400958623356,-0.0153673941276,0.0698167469708,0.999999932237,0.000226189752356,-0.00029039587312,5.90820652363e-06,1793248751033991424
+71,1.183333333,BASELINE,765.81536655,744,715.81536655,680,658.18463345,634.18463345,878.81536655,785,810,651.81536655,628.81536655,652,0.400959205284,-0.0153673106521,0.0698169624943,0.999999932145,0.000227118067844,-0.000289987899892,5.8512164909e-06,1793248751050658560
+72,1.200000000,BASELINE,765.242537121,744,715.242537121,680,658.757462879,634.757462879,878.242537121,785,810,651.242537121,628.242537121,652,0.400960419668,-0.0153673160617,0.0698181116081,0.999999932334,0.000228516851237,-0.000288223026512,6.35179367304e-06,1793248751067324928
+73,1.216666667,BASELINE,765.343053257,744,715.343053257,679.656946743,658.656946743,634.656946743,878.343053257,785,810,651,628.343053257,652.343053257,0.400960627215,-0.0153665623757,0.0698184455601,0.999999932317,0.000229167064481,-0.00028776244777,6.34666556319e-06,1793248751083991040
+74,1.233333333,BASELINE,765.938014098,744,715.938014098,679.061985902,658.061985902,634.061985902,878.938014098,785,810,651,628.938014098,652.938014098,0.400960095433,-0.0153652512779,0.0698181809302,0.999999932154,0.000229267594774,-0.000288259626289,5.97019275292e-06,1793248751100657408
+75,1.250000000,BASELINE,765.481478072,744,716,679.518521928,658.518521928,634,878.481478072,785,810,651.518521928,629,653,0.400959843459,-0.0153660846512,0.0698180795555,0.999999932008,0.000229350711326,-0.000288697023594,6.01367906742e-06,1793248751117324032
+76,1.266666667,BASELINE,765,744,716,680,659,634,878,785,810.096444154,652,629,653,0.400959527913,-0.0153669514184,0.0698178928339,0.999999931861,0.000229378009421,-0.000289181915628,6.05504149677e-06,1793248751133990400
+77,1.283333333,BASELINE,765,744,716,680,659,634,878,785,810.669891828,652,629,653,0.400958736988,-0.0153667498121,0.0698171900881,0.999999931699,0.00022913925147,-0.000289936099205,5.8443317062e-06,1793248751150657280
+78,1.300000000,BASELINE,765.25012333,744,716,680,659,634.25012333,878,785,811,651.74987667,629,653,0.400958211798,-0.0153659797868,0.069816745084,0.999999931287,0.000230279797324,-0.000290455948769,5.76962400927e-06,1793248751167323904
+79,1.316666667,BASELINE,765.839557552,744,716,680,659,634.839557552,878,785,811,651.160442448,629,653,0.400958047097,-0.0153644386589,0.0698166497257,0.999999930529,0.000233291471342,-0.000290657906765,5.87941327994e-06,1793248751183990272
+80,1.333333333,BASELINE,766,744,716,680,659,635,878.421840193,785,810.578159807,651.421840193,629,653,0.400958393422,-0.0153650235173,0.0698170664016,0.999999930932,0.000232389567389,-0.000289990830475,6.07281782393e-06,1793248751200657152
+81,1.350000000,BASELINE,766,744,716,680,659,635,879,785,810,652,629,652.998565421,0.400958931402,-0.015366399246,0.0698176748721,0.999999931763,0.000230029132713,-0.000288999784881,6.29701037173e-06,1793248751217323776
+82,1.366666667,BASELINE,766,744,716,680,659,635,879,785,810,652,629,652.424407779,0.400959681214,-0.0153660797879,0.069818400841,0.999999931999,0.000229722040848,-0.000288427384265,6.32796325114e-06,1793248751233990400
+83,1.383333333,BASELINE,766,744.150258907,716,680,658.849741093,635,879,785,810,651.849741093,628.849741093,652.150258907,0.400960273968,-0.0153658263836,0.0698187706123,0.999999932181,0.000229378924998,-0.000288067456177,6.31564966955e-06,1793248751250657024
+84,1.400000000,BASELINE,766,744.726368409,716,680,658.273631591,635,879,785,810,651.273631591,628.273631591,652.726368409,0.400960421599,-0.0153657601836,0.0698181308803,0.999999932214,0.000228933713064,-0.000288309698932,6.18071409203e-06,1793248751267323648
+85,1.416666667,BASELINE,766,745,716,680,658.310438101,634.689561899,879,785.310438101,810,651.310438101,628.310438101,653,0.400960498989,-0.0153655401598,0.0698179957104,0.999999932094,0.000229511521281,-0.00028826588149,6.25624984439e-06,1793248751283990272
+86,1.433333333,BASELINE,766,745,716,680,658.901708809,634.098291191,879,785.901708809,810,651.901708809,628.901708809,653,0.400960512839,-0.0153651809817,0.0698183169843,0.999999931833,0.000231014787502,-0.000287963284485,6.52218495418e-06,1793248751300657152
+87,1.450000000,BASELINE,766,745,716,680,658.518134397,634.481865603,879,785.518134397,810,652,629,653,0.400959788292,-0.0153655927498,0.0698177743499,0.999999931658,0.000230612983724,-0.000288898700945,6.3313639256e-06,1793248751317323776
+88,1.466666667,BASELINE,766,745,716,680,658.059306024,634.940693976,878.940693976,785,810,651.940693976,629,652.940693976,0.40095912186,-0.0153661666708,0.0698172209746,0.999999931575,0.000229832179801,-0.000289810262803,6.08141245643e-06,1793248751333990144
+89,1.483333333,BASELINE,766,745,716,680,658.63241073,634.36758927,878.36758927,785,810,651.36758927,629,652.36758927,0.40096023437,-0.0153668137146,0.0698180668152,0.999999932167,0.000229058621364,-0.000288376679608,6.10816037119e-06,1793248751350656768
+90,1.500000000,BASELINE,766,744.788213864,716,680,659,634,878.211786136,785,810,651.211786136,629,652.211786136,0.400961310336,-0.0153666490636,0.0698188690112,0.99999993258,0.000228910310545,-0.000287057971674,6.11514068316e-06,1793248751367323648
+91,1.516666667,BASELINE,766,744.197622613,716,680,659,634,878.802377387,785,810,651.802377387,629,652.802377387,0.400962320939,-0.0153650325981,0.0698195931433,0.999999932677,0.000229880330775,-0.000285944732191,6.08676424434e-06,1793248751383990528
+92,1.533333333,BASELINE,766,744,716,680,658.614686089,634,879,785,810,652,629,652.614686089,0.400961652919,-0.0153656025916,0.069819194187,0.999999932592,0.000229525461492,-0.0002865201864,6.28285954571e-06,1793248751400656896
+93,1.550000000,BASELINE,766,744,716,680,658.035599051,634,879,785,810,652,629,652.035599051,0.400960140725,-0.0153672721482,0.0698182304333,0.999999932415,0.000228504309616,-0.000287944879142,6.59184096173e-06,1793248751417323520
+94,1.566666667,BASELINE,766,744,716,680,658,634.54141705,879,785,810,651.45858295,629,652.54141705,0.400959860256,-0.0153679652786,0.0698183743196,0.999999932617,0.000228064034735,-0.00028759040596,6.64433476366e-06,1793248751433990400
+95,1.583333333,BASELINE,765.8820847,744,715.8820847,680,658.1179153,634.8820847,879,785,810,651,629,653,0.40095964915,-0.0153682581904,0.0698184015632,0.999999932646,0.000228078579396,-0.000287478334483,6.63721553092e-06,1793248751450657024
+96,1.600000000,BASELINE,765.307067901,744,715.307067901,680,658.692932099,634.307067901,879,785,810,651,629,653,0.400959394176,-0.0153672475759,0.0698176953903,0.999999931906,0.000229708748581,-0.000288757698531,6.46413138632e-06,1793248751467323648
+97,1.616666667,BASELINE,765,744,715,680.274794359,658.725205641,634,879.274794359,785,810,651.274794359,629,653,0.400959093076,-0.0153670608559,0.0698173902536,0.999999931782,0.000229400037061,-0.000289435722972,6.2191139569e-06,1793248751483990272
+98,1.633333333,BASELINE,765,744,715,680.864501441,658.135498559,634,879.864501441,785,810,651.864501441,629,653,0.400958739114,-0.0153678183144,0.0698175447019,0.999999932364,0.00022686937953,-0.000289424615675,5.89166141548e-06,1793248751500657152
+99,1.650000000,BASELINE,765.446231094,744,715.446231094,680.553768906,658.446231094,634,879.553768906,785,810.446231094,651.553768906,629,652.553768906,0.400958700979,-0.0153674464539,0.0698171493142,0.999999932114,0.000227317153466,-0.000289936565894,5.92974317445e-06,1793248751517323776
+100,1.666666667,BASELINE,766,744.025349558,715.974650442,679.974650442,659,634,879,785,810.974650442,651.025349558,628.974650442,652,0.400958835582,-0.0153667600041,0.0698166665295,0.999999931651,0.000228658254998,-0.000290476730057,6.0776285486e-06,1793248751533990400
+101,1.683333333,BASELINE,766,744.599459423,715.400540577,679.400540577,659,634,879,785,810.400540577,651.599459423,628.400540577,652,0.400960669978,-0.0153665564485,0.0698178425872,0.999999931963,0.000230103439426,-0.000288249806142,6.24192662213e-06,1793248751550657024
+102,1.700000000,BASELINE,766,744.82579598,715,679.17420402,659,634.17420402,878.82579598,785,810,652,628.17420402,652,0.400961898324,-0.0153665573685,0.069818622208,0.999999932138,0.000231154728234,-0.000286795484315,6.33955733781e-06,1793248751567323904
+103,1.716666667,BASELINE,766,744.249586711,715,679.750413289,659,634.750413289,878.249586711,785,810,652,628.750413289,652,0.400961728107,-0.0153670301509,0.0698184869833,0.999999932011,0.000231297036054,-0.000287124072838,6.28334182277e-06,1793248751583990528
+104,1.733333333,BASELINE,765.664908291,744.335091709,715.335091709,680,659,634.664908291,878.335091709,785,810,651.664908291,629,652,0.400961150191,-0.015366847133,0.0698183554826,0.999999932097,0.000230467185413,-0.000287492904805,6.15431226647e-06,1793248751600656896
+105,1.750000000,BASELINE,765.073758156,744.926241844,715.926241844,680,659,634.073758156,878.926241844,785,810,651.073758156,629,652,0.400960260735,-0.015366162989,0.0698182268276,0.999999932345,0.000228894465422,-0.000287892488607,5.96964226831e-06,1793248751617323520
+106,1.766666667,BASELINE,765.506726059,744.493273941,716,680,659,634.506726059,879.506726059,785,810,651,628.493273941,652.506726059,0.400960301529,-0.015367023817,0.0698185384239,0.999999932364,0.000229137649339,-0.000287624737697,6.28855654118e-06,1793248751633990400
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658,634,879,785,810,652,629,653,0.400960176589,-0.0153674730123,0.0698177138528,0.999999932293,0.000228463813389,-0.000288403490749,6.4844041886e-06,1793248751677276928
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.413013167,716,680,658,634,879,785,810.586986833,651.413013167,629,653,0.400959339304,-0.0153655504729,0.0698173234901,0.999999931419,0.00023188989565,-0.000288702126487,6.25941651699e-06,1793248751693943552
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634,878.827724677,785,810.827724677,651,629,652.827724677,0.400959046103,-0.0153646303315,0.0698171883729,0.999999930926,0.000233861851084,-0.000288823804718,6.08733863866e-06,1793248751710610176
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634,878.246467932,785,810.246467932,651,629,652.246467932,0.400960044558,-0.0153660898817,0.069817659208,0.999999931358,0.000232381711788,-0.000288525386094,6.0408685038e-06,1793248751727276800
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634,878,785,810,651,629,652,0.400960447574,-0.0153667236692,0.0698179046711,0.999999931729,0.000231188037892,-0.000288195948697,6.14079050524e-06,1793248751743943680
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634,878,785,810,651,629,652,0.400960412236,-0.0153667495392,0.0698179842178,0.999999932056,0.000230205256812,-0.000287843675634,6.34848481481e-06,1793248751760610560
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,716,679.528756399,658,634,878.471243601,785,810,651,628.528756399,652,0.400960091869,-0.0153664248219,0.0698181064053,0.99999993219,0.000229444793796,-0.000287986428157,6.16080516547e-06,1793248751777277440
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+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.612801112,716,680,659,634,879,785,810,651,629,652,0.401007893332,-0.0153705977101,0.0698391908636,0.99999994153,0.000226177895599,-0.000256350958985,8.23313935064e-06,1793248751860610560
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.038418252,716,680,659,634,879,785,810,651,629,652,0.401047375078,-0.0153726277179,0.0698554063187,0.999999948445,0.000224905967741,-0.000228992577116,9.50447774287e-06,1793248751877276928
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.44850876,634,879,785.55149124,810,651,629,652.55149124,0.401104983566,-0.0153766151029,0.069872148813,0.999999953578,0.000223949575005,-0.000206344773069,1.06242964729e-05,1793248751893943808
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.861464558,744,715.861464558,680,658,634,879,785.861464558,810,651,628.861464558,652.861464558,0.401166698763,-0.0153801865434,0.0698870793399,0.999999957636,0.000223580048131,-0.000186040701093,1.13295808314e-05,1793248751910610432
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.286940268,744,715.286940268,680,658,634,879,785.286940268,810,651,628.286940268,652.286940268,0.401237249137,-0.0153820073935,0.0698961884827,0.999999959832,0.000224986282675,-0.000172050000228,1.07644535207e-05,1793248751927277312
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715.291097847,679.708902153,658,634,879,785,810,651.291097847,628,652,0.401317644777,-0.0153849061076,0.06990296831,0.999999961361,0.00022524435889,-0.000162622193327,9.80407541092e-06,1793248751943943936
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715.872641885,679.127358115,658,634,879,785,810,651.872641885,628,652,0.401407863637,-0.0153888802727,0.0699074240358,0.999999962354,0.000224356847003,-0.000157747066706,8.44933135015e-06,1793248751960610304
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447270015,744,715.552729985,679.447270015,658.447270015,634,878.552729985,785,810,652,628,652,0.401513630289,-0.015393138153,0.0699090242572,0.99999996304,0.000222950280318,-0.000155476551233,6.29694046375e-06,1793248751977277184
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,715.019985467,679.980014533,658.980014533,634,878.019985467,785,810,651.980014533,628,652,0.401624882421,-0.0153975500202,0.0699098460309,0.999999963684,0.000221200313021,-0.000153906397426,3.89796873238e-06,1793248751993944064
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,715.593438094,679.406561906,658.406561906,634,878.593438094,785,810,651.406561906,628,652,0.401767309942,-0.0154040231308,0.069911284351,0.999999965631,0.000213971116743,-0.000151505537555,8.64455851603e-07,1793248752010610688
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,715.826780677,679.173219323,658,634,879.173219323,785,810,651,628,652.173219323,0.401918400116,-0.015410656289,0.0699133983189,0.999999967649,0.000207049777368,-0.000147740555564,-2.29710466948e-06,1793248752027277056
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,715.231582448,679.768417552,658,634,879.768417552,785,810,651,628,652.768417552,0.402090593322,-0.0154176793376,0.0699171582296,0.999999969916,0.000200878408049,-0.000140652441443,-5.77060109608e-06,1793248752043943680
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,715.351038224,679.648961776,658,634,879.297923553,785,810.351038224,651,628,652.648961776,0.402282375132,-0.0154261528549,0.0699205134613,0.999999972408,0.000192616071934,-0.000134127103449,-9.63538781566e-06,1793248752060610304
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,715.925648459,679.074351541,658,634,878.148703081,785,810.925648459,651,628,652.074351541,0.402486632705,-0.0154355501591,0.0699236109583,0.99999997497,0.000183022023656,-0.000127960190077,-1.37493829456e-05,1793248752077277184
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744,715.497287691,679.502712309,658.502712309,634,878.502712309,785,810.497287691,651,628.502712309,652,0.402729796132,-0.015444436756,0.0699287026593,0.999999977962,0.000174136994154,-0.000115776132742,-1.86745134031e-05,1793248752093944064
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744,715,680,659.081880837,634,879,785,810,651,629,652,0.402984439751,-0.0154534494518,0.0699343550916,0.999999982905,0.000152068181829,-0.000102505840628,-2.36216878941e-05,1793248752110610432
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744,715,680,659.671846673,634,879,785,810,651,629,652,0.403274439092,-0.0154637156182,0.0699416478046,0.999999994603,4.75377797111e-05,-8.80445851652e-05,-2.79575807028e-05,1793248752127277056
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744,715.256915635,680,659.48616873,634,879,785,810.256915635,651.256915635,629,652,0.403578674942,-0.0154737808277,0.0699470923613,0.999999996376,-9.83987747386e-06,-7.79314144707e-05,-3.28272908441e-05,1793248752143943680
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744,715.835846868,680,658.328306265,634,879,785,810.835846868,651.835846868,629,652,0.40390075468,-0.0154835941592,0.0699502204563,0.999999996547,-8.11672883554e-06,-7.32680934088e-05,-3.83660825698e-05,1793248752160610304
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,716,679.588290961,658,634.411709039,879,785,811,652,629,652.411709039,0.404245458902,-0.0154888176925,0.0699521996931,0.999999996293,-1.01408468884e-05,-7.34809292671e-05,-4.37290440995e-05,1793248752177276928
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744,716,679.01364342,658,634.98635658,879,785,811,652,629,652.98635658,0.404599117012,-0.015492224761,0.0699537242562,0.999999995846,-1.36479881053e-05,-7.56235594184e-05,-4.90224187103e-05,1793248752193943552
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744,716,679.550480007,658.550480007,635,879,785.550480007,810.449519993,651.449519993,629,653,0.404999988822,-0.0154938204783,0.0699605377904,0.999999996652,3.97092793844e-05,-6.55724285109e-05,-2.8629912494e-05,1793248752210610432
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658.877366015,634.877366015,879,785.877366015,810.122633985,651.122633985,629,653,0.405411204936,-0.0154950797224,0.0699650193225,0.999999995024,8.00575208653e-05,-5.79913154377e-05,-1.34437673192e-05,1793248752227277312
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.272636527,634.272636527,879,785.272636527,810.727363473,651.727363473,629,653,0.40585857235,-0.0154951894058,0.0699598276976,0.999999995861,6.38285012649e-05,-6.12860562432e-05,-2.11804292936e-05,1793248752243943680
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.316352423,716,680,658,634,879,785,811,652,629,653,0.406311596289,-0.0155015498991,0.0699465240087,0.999999995427,4.03811611859e-05,-8.2129207451e-05,-2.77508854095e-05,1793248752260610560
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.892419013,716,680,658,634,879,785,811,652,629,653,0.406769264083,-0.0155130420865,0.0699265606014,0.999999992494,1.10078330653e-05,-0.00011737898414,-3.33639285046e-05,1793248752277277184
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.530717104,680,658.469282896,634,879,785,811,651.530717104,629,653,0.407300852374,-0.0155173488049,0.069924640639,0.999999993005,3.92262130024e-06,-0.000112743492401,-3.55456029452e-05,1793248752293943552
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.04727051,680,659,634,879,785,811,651,629,652.95272949,0.407854351069,-0.0155195484468,0.0699279496247,0.999999994557,2.11852213641e-06,-9.75716357645e-05,-3.6887661859e-05,1793248752310610176
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.636033819,680,659,634,879,785,811,651,629,652.363966181,0.40846438869,-0.0155165126472,0.0699436935703,0.99999999707,2.18123953566e-06,-6.66226900915e-05,-3.76380492978e-05,1793248752327277056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.778580368,745,716,680,659,634,879.221419632,785,811,651,629,652.221419632,0.409073593124,-0.0155145320214,0.069952561401,0.999999998186,-2.95369707767e-07,-4.62434105693e-05,-3.86045467723e-05,1793248752343943936
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.198663049,745,716,680,659,634,879.801336951,785,811,651,629,652.801336951,0.409681448518,-0.0155142598144,0.0699502962015,0.999999998256,-6.88337015198e-06,-4.29773438891e-05,-3.99209452349e-05,1793248752360610816
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.377730156,744.622269844,715.622269844,680,659,634,879.622269844,785,811,651,629,653,0.410306212789,-0.0155161257802,0.0699445558037,0.999999997667,-5.93766859612e-06,-5.40533280099e-05,-4.13388780866e-05,1793248752377277440
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.952287007,744.047712993,715.047712993,680,659,634,879.047712993,785,811,651,629,653,0.410939787876,-0.0155191058998,0.0699370045584,0.999999996448,-1.06632403863e-06,-7.26026325555e-05,-4.28097181734e-05,1793248752393944064
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744,715.527504098,680,659,634,879.527504098,785.527504098,811,651,629,653,0.411649952706,-0.0155215880869,0.0699553789533,0.999999998302,-7.4337443534e-06,-3.97619732313e-05,-4.1943385132e-05,1793248752410610944
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.893737175,744.106262825,716,680.106262825,659,634,880,785.893737175,811,651,629,653,0.412378023388,-0.0155236272111,0.0699779595269,0.999999999055,-1.51206876406e-05,-8.404751954e-07,-4.07531901433e-05,1793248752427277568
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.298972203,744.701027797,716,680.701027797,659,634,880,785.298972203,811,651,629,653,0.413156522293,-0.0155238368303,0.0700090826947,0.999999997949,-2.41945659929e-05,4.46400207447e-05,-3.90472060054e-05,1793248752443944192
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.713292815,681,659.286707185,634,880,785,811,651,629,653,0.413911241808,-0.0155234423319,0.0700181510483,0.99999999747,-2.62168343977e-05,5.34208458323e-05,-3.89607428357e-05,1793248752460610560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.1367966,681,659.8632034,634,880,785,811,651,629,653,0.414641926417,-0.0155224372221,0.070004927522,0.999999998641,-2.11116954965e-05,2.51075170775e-05,-4.0511208865e-05,1793248752477277440
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.437656773,745,715,680.562343227,660,634,880,785.437656773,811,651,629.437656773,653,0.415366641175,-0.0155176240529,0.0699550386389,0.999999997196,-1.40621020657e-05,-5.69271962662e-05,-4.65887240145e-05,1793248752493944320
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.988237739,715.011762261,680,660,634,880.011762261,785.988237739,811,651,629.988237739,653,0.416091836965,-0.0155119057884,0.0698953469694,0.999999986804,-6.83492395744e-06,-0.000153103724942,-5.39027798075e-05,1793248752510610944
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.400032342,715.599967658,680,660,634,880.599967658,785.400032342,811,651,629.400032342,653,0.416931631695,-0.0155198922813,0.0699142789312,0.9999999908,-2.05518164371e-05,-0.000123249702091,-5.27930832655e-05,1793248752527277312
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.186168543,716,680.186168543,660,634,880.813831457,785,811.186168543,651.186168543,629,653,0.417788286417,-0.0155266683798,0.0699369051603,0.999999994283,-3.13254357693e-05,-8.85514432218e-05,-5.10947363503e-05,1793248752543943680
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.768108049,716,680.768108049,660,634,880.231891951,785,811.768108049,651.768108049,629,653,0.418680783317,-0.0155308713308,0.0699673849373,0.99999999725,-3.58420248488e-05,-4.35549482442e-05,-4.81449926946e-05,1793248752560610304
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.654300936,744.654300936,716,680.654300936,660,634,880.345699064,785,812,651.654300936,629,653,0.419575330017,-0.0155347341391,0.0699945949026,0.999999997967,-4.36890020286e-05,-9.94413855248e-07,-4.6433665603e-05,1793248752577276672
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.079590639,744.079590639,716,680.079590639,660,634,880.920409361,785,812,651.079590639,629,653,0.420471234588,-0.0155383716167,0.0700196387526,0.999999996721,-5.37422224197e-05,3.99523962876e-05,-4.55427380046e-05,1793248752593943552
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494588216,744.494588216,716,680,660,634,880.505411784,785.494588216,812,651,629.494588216,653,0.421358678684,-0.0155389009595,0.0700266959728,0.999999996381,-5.35502419971e-05,4.77056585592e-05,-4.57637578185e-05,1793248752610610432
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.929416299,680,660.070583701,634,880.070583701,785.929416299,812,651,630,653,0.422233024714,-0.0155384763351,0.0700219639526,0.99999999689,-5.22471274134e-05,3.59061141791e-05,-4.6905083352e-05,1793248752627277312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.339424316,680,660.660575684,634,880.660575684,785.339424316,812,651,630,653,0.423020992888,-0.015534708379,0.0699517545676,0.999999993821,-5.48867251548e-05,-8.05123864508e-05,-5.35033666201e-05,1793248752643943936
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.753526817,715.246473183,680.246473183,660.753526817,634,881,785,812,651,630,653,0.423858703754,-0.0155314113809,0.0698932815239,0.999999982378,-5.77420414839e-05,-0.0001680356507,-6.06155444985e-05,1793248752660610560
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.17317571,715.82682429,680.82682429,660.17317571,634,881,785,812,651,630,653,0.424763797261,-0.0155287523521,0.0698507067727,0.999999972387,-6.08895759699e-05,-0.000216416818184,-6.84238567894e-05,1793248752677277184
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.403579469,715.596420531,681,660,634,880.596420531,785,812,651,629.596420531,653,0.425714574846,-0.0155319890913,0.0698856925057,0.999999983168,-5.85588310457e-05,-0.000161659801021,-6.40435339999e-05,1793248752693944064
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.978805231,715.021194769,681,660,634,880.021194769,785,812,651,629.021194769,653,0.426684782263,-0.0155377333586,0.0699536654731,0.999999995077,-5.38981197046e-05,-6.30371017268e-05,-5.44792646194e-05,1793248752710610944
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.55309043,680.44690957,660,634,880.55309043,785,812.55309043,651,629.55309043,653,0.42763221825,-0.0155384029662,0.0699946702691,0.99999999674,-5.95981301236e-05,-1.36964410582e-05,-5.27295023493e-05,1793248752727277312
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.868976966,745,715.868976966,680.131023034,660,634,881,785,813,651,630,653,0.428576214635,-0.015539762854,0.0700301051608,0.999999995976,-6.54350988934e-05,3.33268683237e-05,-5.15405060848e-05,1793248752743943936
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.278117229,745,715.278117229,680.721882771,660,634,881,785,813,651,630,653,0.429511196708,-0.01554422667,0.0700496127681,0.999999993103,-7.03616916359e-05,7.88338967756e-05,-5.12703817887e-05,1793248752760610304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.306128122,745,715.306128122,681,660,634,880.693871878,785,813.306128122,651,630,653,0.430398012697,-0.0155427038874,0.0700278652268,0.999999995212,-6.88250447559e-05,4.49618488706e-05,-5.30759738374e-05,1793248752777276928
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.884491366,745,715.884491366,681,660,634,880.115508634,785,813.884491366,651,630,653,0.431241995262,-0.0155358573125,0.0699694301028,0.999999994727,-6.15407355851e-05,-5.95008175235e-05,-5.67274687764e-05,1793248752793944064
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715.540158582,680.540158582,660,634,880.459841418,785,813.540158582,651,630,653,0.432072211868,-0.0155342910651,0.0699161607078,0.999999985835,-5.92088008844e-05,-0.000144845146929,-6.19949966962e-05,1793248752810610688
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.035293162,660.035293162,634,880.964706838,785,813,651,630,653,0.432906148912,-0.0155345244142,0.0698713555342,0.999999973305,-5.89188320723e-05,-0.00021315240793,-6.69741615983e-05,1793248752827277312
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.624133186,660.624133186,634,880.375866814,785,813,651,630,653,0.433852318825,-0.0155423152775,0.0699390861437,0.999999991626,-7.1271408633e-05,-8.90772893653e-05,-6.11052247062e-05,1793248752843943936
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.790516607,715,681,660.790516607,634,880,785,813.209483393,651,630,653,0.434779294754,-0.0155473081362,0.0699949055241,0.999999995174,-8.01152658028e-05,7.56728696515e-06,-5.63609308731e-05,1793248752860610560
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.211325325,715,681,660.211325325,634,880,785,813.788674675,651,630,653,0.435672396235,-0.0155473629229,0.0700297033191,0.999999993581,-8.27667442934e-05,5.58009425593e-05,-5.36014696746e-05,1793248752877277184
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634171354,744,715.365828646,681,660,634,880.365828646,785,814,651,630,653,0.4365463066,-0.0155482980886,0.0700363686381,0.999999992439,-8.50709668047e-05,7.0487372002e-05,-5.40125230741e-05,1793248752893943808
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058187776,744,715.941812224,681,660,634,880.941812224,785,814,651,630,653,0.437409192329,-0.0155497389994,0.0700268728953,0.999999992447,-8.71757036052e-05,6.59021666681e-05,-5.6244919236e-05,1793248752910610176
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,715.484386468,681,660.515613532,633.484386468,881,785,814,651,630,653,0.438178199006,-0.0155487667228,0.0699879790364,0.999999994114,-8.98678324925e-05,1.57429309931e-05,-5.87185540759e-05,1793248752927277056
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.092074305,715,681,660.907925695,633.092074305,881,785,814,651.092074305,630,653,0.438925568467,-0.0155470376124,0.0699443974052,0.999999992905,-9.13895387244e-05,-4.54114239817e-05,-6.14482042494e-05,1793248752943943936
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.684313952,715,681,660.315686048,633.684313952,881,785,814,651.684313952,630,653,0.439612708621,-0.0155426703597,0.0698932969024,0.999999984558,-8.61947125901e-05,-0.000138472824609,-6.54213159024e-05,1793248752960610560
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.729388438,881,785,814,651.729388438,630.270611562,653,0.440348321101,-0.0155425795368,0.0698751031524,0.999999979455,-8.83397783496e-05,-0.000169633371167,-6.71642566447e-05,1793248752977277184
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.149873703,881,785,814,651.149873703,630.850126297,653,0.441139264706,-0.0155473702602,0.069894472473,0.999999984444,-9.88633335881e-05,-0.000130134070664,-6.63614568383e-05,1793248752993944064
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.425403468,633.425403468,880.574596532,785,814,651,630.574596532,653,0.441940155412,-0.0155532840722,0.0699566298715,0.999999992425,-0.000100464298795,-3.653158126e-05,-6.10073291077e-05,1793248753010610688
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.999202477,633.999202477,880.000797523,785,814,651,630.000797523,653,0.442744516078,-0.015559589657,0.0700337132429,0.999999990759,-9.89527537204e-05,7.59439877136e-05,-5.40655390173e-05,1793248753027277056
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.587571516,745,715,681,661,634,880.587571516,785,814.587571516,651,630,653,0.443402927062,-0.0155604202805,0.0700373768079,0.999999990448,-0.00010391508691,7.37855885971e-05,-5.34990618529e-05,1793248753043943680
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.826711603,881,785,815,651,630,653,0.444049810874,-0.015560853848,0.0700315847393,0.999999990946,-0.000109076230849,5.77972094495e-05,-5.35706836781e-05,1793248753060610560
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.247258442,881,785,815,651,630,653,0.444670152803,-0.0155603746302,0.0700038694495,0.999999991857,-0.000114682241811,9.76717834859e-06,-5.51171257677e-05,1793248753077276928
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.668593505,745,715,681,660.668593505,633,880.668593505,785,815,651,630,653,0.445269045892,-0.0155604288159,0.0699779997403,0.999999991326,-0.000115656179573,-2.70059037282e-05,-5.69477591005e-05,1793248753093943552
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.090515294,745,715,681,660.090515294,633,880.090515294,785,815,651,630,653,0.445851974194,-0.0155608800232,0.0699535037311,0.99999999032,-0.00011318238303,-5.54002365862e-05,-5.89899209438e-05,1793248753110610176
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.485453597,745,715,681,660.485453597,633.485453597,880.485453597,785.485453597,815,651,630,653,0.446409889674,-0.015562334977,0.0699450445556,0.99999998926,-0.000114680623368,-6.88572214658e-05,-5.98915288074e-05,1793248753127277312
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.937589606,881.062410394,785.937589606,815,651,630,653.062410394,0.446955450203,-0.0155636096562,0.0699392597076,0.999999988033,-0.000117146819949,-8.08389505619e-05,-6.06242437168e-05,1793248753143943680
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.349002339,881.650997661,785.349002339,815,651,630,653.650997661,0.44743599691,-0.0155617934041,0.0699309212573,0.999999985324,-0.000121556796671,-0.000103762657622,-6.17182159349e-05,1793248753160610304
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.764079191,745,715,681,661,633,882,785,815,651,630.235920809,653.764079191,0.447918613337,-0.015560153042,0.0699291230227,0.999999985009,-0.000117655225266,-0.000111379413623,-6.11085794918e-05,1793248753177276928
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.1844936,745,715,681,661,633,882,785,815,651,630.8155064,653.1844936,0.448404244672,-0.015558768898,0.0699368518917,0.999999988476,-0.000101646258673,-9.6698600775e-05,-5.80173038839e-05,1793248753193943552
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.39216622,745,715.39216622,681,661,633.39216622,881.60783378,785,815.39216622,651,630.60783378,653.39216622,0.448864696808,-0.0155630809149,0.0699519668534,0.999999990228,-0.000106059891713,-7.13238807175e-05,-5.66370487128e-05,1793248753210610432
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.967459862,745,715.967459862,681,661,633.967459862,881.032540138,785,815.967459862,651,630.032540138,653.967459862,0.449313391212,-0.0155700528327,0.0699705308536,0.999999990389,-0.000120010137695,-4.09554919205e-05,-5.6055777805e-05,1793248753227277312
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.862429708,661,633.862429708,881.862429708,784.862429708,815,651,630,653.862429708,0.450058681745,-0.0155877731824,0.0699640065819,0.999999985131,-0.000150652136186,-5.9048350914e-05,-5.9618285197e-05,1793248753260610560
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.282913564,661,633.282913564,881.282913564,784.282913564,815,651,630,653.282913564,0.450350040581,-0.0155864190351,0.0699286735754,0.999999980072,-0.000150280956626,-0.000114299599921,-6.48558405643e-05,1793248753277277184
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.704127583,633,881.295872417,784,815,651,630.295872417,653.295872417,0.45061903944,-0.0155846084284,0.0698905962815,0.999999971913,-0.000146685401327,-0.000173012888826,-6.87315467511e-05,1793248753293943552
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.126038103,633,881.873961897,784,815,651,630.873961897,653.873961897,0.450866710279,-0.0155823624294,0.0698499013588,0.999999960036,-0.000140014284305,-0.000235028431143,-7.13082565966e-05,1793248753310610432
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.549539806,745,715,681,660.450460194,633,881.549539806,784,815.450460194,651,630.549539806,653.549539806,0.451112677012,-0.0155831316005,0.069827146051,0.999999952752,-0.000139555457539,-0.000266627812935,-6.26840807971e-05,1793248753327277312
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.027040853,745,715,681.027040853,660.972959147,633,881.027040853,784,815.972959147,651,630,653,0.451357163706,-0.0155846925956,0.0698101720117,0.999999947129,-0.000140564856561,-0.000288660939247,-5.15668806915e-05,1793248753343943936
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.614523524,745,715,681.614523524,660.385476476,633,881.614523524,784,815.385476476,651,630,653,0.451580822927,-0.0155852412045,0.069809352831,0.99999994778,-0.000136105858284,-0.000288189764065,-5.35055635466e-05,1793248753360610304
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,881.800944855,783.800944855,815.199055145,651,630,653,0.451793280219,-0.0155871252987,0.0698081236231,0.999999947945,-0.000135103523056,-0.000287724853212,-5.54195570619e-05,1793248753377276928
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,881.222044616,783.222044616,815.777955384,651,630,653,0.451984361509,-0.0155915578203,0.069806111985,0.999999947199,-0.000140697332884,-0.000287271896264,-5.7286437157e-05,1793248753393943808
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,881,783,815.644532464,651,630,653,0.452148799277,-0.0155947021053,0.0698008162466,0.999999943974,-0.000145928150323,-0.000295348455111,-5.93857829806e-05,1793248753410610432
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,881,783,815.06788396,651,630,653,0.452296658783,-0.0155970448172,0.0697934770572,0.999999939053,-0.000150933105161,-0.000308732296166,-6.16297750826e-05,1793248753427277056
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.492884169,660,633,881.507115831,783,815,651,630,653,0.452413017287,-0.0155964121681,0.0697814134629,0.999999933473,-0.000149502347667,-0.000326654143211,-6.32415443639e-05,1793248753443943680
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.915898342,744.915898342,715,681,660,633,881.915898342,783,815,651,630,653,0.452522547768,-0.0155960049709,0.0697697184097,0.999999927846,-0.000148258950647,-0.000343725232734,-6.46473847282e-05,1793248753460610048
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.325635455,744.325635455,715,681,660,633,881.325635455,783,815,651,630,653,0.45261628063,-0.015599343964,0.06976403526,0.999999924151,-0.000153311276043,-0.00035203191386,-6.53215511767e-05,1793248753477276672
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.25967799,744.25967799,715,681,660,632.74032201,881.25967799,783,815,651,630,653,0.452703163322,-0.0156010172478,0.0697605863077,0.999999921725,-0.000156396665975,-0.000357424405076,-6.58577799423e-05,1793248753493943552
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681.414001837,660,632.414001837,881.585998163,782.585998163,815,650.585998163,630,653,0.45284482162,-0.0156017307092,0.0697604394482,0.999999920939,-0.000158417827828,-0.000358721532038,-6.59187885234e-05,1793248753527277056
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681.987514604,660,632.987514604,881.012485396,782.012485396,815,650.012485396,630,653,0.452902151663,-0.0156033855831,0.0697614748385,0.999999921219,-0.000160040303497,-0.000357319955175,-6.53544020997e-05,1793248753543943936
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.319655684,881,783,815.680344316,651,630,653,0.453033755595,-0.0156020092504,0.0697609507503,0.999999920138,-0.000160361367268,-0.000360232182347,-6.51199906925e-05,1793248753610610176
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.86231038,881,782,815.86231038,651,630,653,0.453083078789,-0.0155965893941,0.0697505787485,0.999999915334,-0.000156495757224,-0.000375242030989,-6.35232650544e-05,1793248753827277056
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,881,782.437802152,815.562197848,651,630,653,0.453084196682,-0.0155954681118,0.069750722699,0.999999915998,-0.000154408828992,-0.0003743169992,-6.36252977211e-05,1793248753843943936
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,881,782.98775347,815.01224653,651,630,653,0.453086002644,-0.0155941999659,0.0697512619168,0.999999917111,-0.000151634163699,-0.000372441169741,-6.38156798957e-05,1793248753860610304
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,881,782.399877315,815.600122685,651,630,653,0.453086468703,-0.0155965081829,0.0697515409825,0.999999916738,-0.000153694593149,-0.000372703578152,-6.31944033642e-05,1793248753877276928
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,881,782.185211352,815.814788648,651,629.814788648,653,0.45308662333,-0.015597369699,0.0697514560094,0.999999916479,-0.000154591224734,-0.000373061267538,-6.29954612478e-05,1793248753893943808
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,881,782.764370939,815.235629061,651,629.235629061,653,0.453086115536,-0.0155951540531,0.0697505967185,0.999999916469,-0.000153012434942,-0.000373621621443,-6.36948328868e-05,1793248753910610432
+242,4.033333333,HOLD_POSE2,765,745,715,681,660,633,881,782,815,651,630,653,0.453084720855,-0.0155968071747,0.0697497215919,0.999999914993,-0.000157195855789,-0.000375864266522,-6.34750413184e-05,1793248753946271232
+243,4.050000000,HOLD_POSE2,765,745,715.572983352,681.572983352,660,632.427016648,881.572983352,782.572983352,815.572983352,651,630,653,0.453086163442,-0.0155964914969,0.0697511565132,0.999999915943,-0.00015533721348,-0.00037414488898,-6.32452617988e-05,1793248753962938112
+244,4.066666667,HOLD_POSE2,765.150519215,745,715.849480785,681.849480785,660,632,881.849480785,782.849480785,815.849480785,651,630,653,0.453087239492,-0.0155961881059,0.0697518128952,0.999999916624,-0.000153923844632,-0.000372961271715,-6.2929004388e-05,1793248753979604992
+245,4.083333333,HOLD_POSE2,765.741373312,745,715.258626688,681.258626688,660,632,881.258626688,782.258626688,815.258626688,651,630,653,0.453087243264,-0.0155959206592,0.0697501917077,0.999999916533,-0.000153813095987,-0.000373344988411,-6.23597610718e-05,1793248753996271872
+246,4.100000000,HOLD_POSE2,766,745,715,681.327629807,660,632.327629807,881,782,815.327629807,651,630,653.327629807,0.453087019753,-0.0155957079964,0.0697496228147,0.999999915947,-0.000154965176271,-0.000374396429336,-6.2599839064e-05,1793248754012938240
+247,4.116666667,HOLD_POSE2,766,745,715,681.910307206,660,632.910307206,881,782,815.910307206,651,630,653.910307206,0.453086619311,-0.015595537981,0.0697498730938,0.99999991497,-0.000157100321809,-0.000375967668658,-6.34699435593e-05,1793248754029604608
+248,4.133333333,HOLD_POSE2,766.483507444,745,715,681.516492556,660,633,881.483507444,782,815.516492556,651,629.516492556,653.516492556,0.453086692704,-0.0155959376546,0.0697498927888,0.999999915244,-0.000155974762068,-0.000375734293793,-6.33092151594e-05,1793248754046271488
+249,4.150000000,HOLD_POSE2,766.888723967,745,715,680.944361984,660,632.944361984,881.944361984,782.055638016,815,651,629.055638016,653,0.4530868542,-0.0155963513081,0.069749878444,0.999999915681,-0.000154545520338,-0.000375215511403,-6.29834662483e-05,1793248754062938112
+250,4.166666667,HOLD_POSE2,765.73216479,745,715,680.366082395,660,632.366082395,881.366082395,782.633917605,815,651,629.633917605,653,0.453087033485,-0.0155959226536,0.0697499384244,0.999999915531,-0.000155836340482,-0.000375099911557,-6.28693317794e-05,1793248754079604480
+251,4.183333333,HOLD_POSE2,765.21583548,745,715,680.43167096,660,632.21583548,881.21583548,783,815.21583548,651.21583548,630,653,0.453087376205,-0.0155955528961,0.0697499850141,0.999999915554,-0.000155776473051,-0.000375098614831,-6.26713365811e-05,1793248754096271104
+252,4.200000000,HOLD_POSE2,765.804030062,745,715,681.608060124,660,632.804030062,881.804030062,783,815.804030062,651.804030062,630,653,0.45308800088,-0.0155952847478,0.0697500085023,0.999999915871,-0.00015338640096,-0.000375294513718,-6.23286649683e-05,1793248754112937984
+253,4.216666667,HOLD_POSE2,766,745,715.386449436,681.613550564,660,633,881.613550564,782.613550564,815.613550564,651.613550564,630,653,0.453088331647,-0.0155948207219,0.0697501581915,0.999999916058,-0.00015338491002,-0.000374774645674,-6.24576095919e-05,1793248754129604864
+254,4.233333333,HOLD_POSE2,766,745,715.965983353,681.034016647,660,633,881.034016647,782.034016647,815.034016647,651.034016647,630,653,0.453088515566,-0.0155942588282,0.0697503709355,0.99999991618,-0.000154576842667,-0.000373897153921,-6.28221911617e-05,1793248754146271488
+255,4.250000000,HOLD_POSE2,765.457775042,745,715.457775042,681,660.542224958,633,881.542224958,782,815,651,630,653,0.453088765454,-0.0155933308488,0.0697502709827,0.999999916754,-0.000150778402747,-0.000373973299838,-6.24679496617e-05,1793248754162938368
+256,4.266666667,HOLD_POSE2,765,745,715,681,660.879642089,632.879642089,881.879642089,782,815,651,630,653,0.453088720777,-0.0155927930291,0.069750032201,0.999999916944,-0.000148373511015,-0.000374477943781,-6.21653379431e-05,1793248754179604992
+257,4.283333333,HOLD_POSE2,765,745,715,681,660.293393105,632.293393105,881.293393105,782,815,651,630,653,0.453087519955,-0.0155938538342,0.0697493315065,0.999999915582,-0.000152567428858,-0.00037641106784,-6.22360849195e-05,1793248754196271360
+258,4.300000000,HOLD_POSE2,765,745,715.289301759,681,660,632.289301759,881,782.289301759,815,651,629.710698241,653,0.45308759416,-0.0155928587988,0.0697489542901,0.999999915423,-0.000152828642563,-0.000376670530315,-6.25882231144e-05,1793248754212937984
+259,4.316666667,HOLD_POSE2,765,745,715.868435949,681,660,632.868435949,881,782.868435949,815,651,629.131564051,653,0.453088945731,-0.0155898041518,0.0697489011453,0.999999916471,-0.000149149938036,-0.000375253261058,-6.32222686858e-05,1793248754229604864
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,633,881,782,815,651,630,653,0.45308740073,-0.0155919764087,0.0697480289666,0.999999915379,-0.000150306476534,-0.00037770287101,-6.31658835885e-05,1793248754265211136
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765.425789007,745,715,681.574210993,660.425789007,632.425789007,881,782,815.574210993,651,630,653,0.453087985608,-0.0155916616611,0.0697480550247,0.999999915296,-0.000151224827684,-0.000377544788394,-6.32353607681e-05,1793248754281877760
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.169957759,745.169957759,715,681.830042241,660,632.169957759,881,782.169957759,816,651,630,653,0.453088358112,-0.0155917095921,0.0697482298343,0.99999991538,-0.000151512717126,-0.000377237407864,-6.30557219304e-05,1793248754298544128
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.827485929,745.827485929,715,681.172514071,660,632.827485929,881,782.827485929,816,651,630,653,0.453088121362,-0.0155927979665,0.0697488313784,0.999999915942,-0.000149991954595,-0.000376501725321,-6.21614255439e-05,1793248754315211008
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.572324484,715,681,660,633,881,782.572324484,816,651,629.572324484,653,0.453087667427,-0.0155916709288,0.069748785192,0.999999915989,-0.000148539403017,-0.000376899588638,-6.2482063726e-05,1793248754331877632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881.007424162,782.007424162,815.992575838,651,629.007424162,653,0.453087164922,-0.0155898123988,0.0697485232847,0.999999915856,-0.000147171369007,-0.00037766596892,-6.32155152248e-05,1793248754348543744
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881.583632037,782.583632037,815.416367963,651,629.583632037,653,0.453088859652,-0.015592282849,0.0697493852459,0.999999916132,-0.000150419669093,-0.000375775999705,-6.24684124072e-05,1793248754365210368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.159426798,660,632.840573202,881.840573202,783,815,651,629.840573202,653,0.45308890064,-0.0155934621552,0.0697493525965,0.999999916122,-0.000151988289765,-0.000375227945242,-6.21210134572e-05,1793248754381877248
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.734145404,660,632.265854596,881.265854596,783,815,651,629.265854596,653,0.453084633786,-0.015591278153,0.0697469895703,0.999999915391,-0.000149181503422,-0.000378175452558,-6.28148055169e-05,1793248754398543872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.316880942,632.316880942,881,782.683119058,815,651,629.316880942,653,0.453075795963,-0.0155897301246,0.0697425751082,0.999999913217,-0.000147369436517,-0.000384483594305,-6.34033725179e-05,1793248754415210240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.906517022,632.906517022,881,782.093482978,815,651,629.906517022,653,0.453063023679,-0.0155887295106,0.0697363948736,0.999999909746,-0.000146413574089,-0.000393684400555,-6.39013670545e-05,1793248754431877120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.515435215,660.515435215,633,881,782,815,651,629.515435215,653,0.453029443915,-0.0155873634846,0.0697225825033,0.999999900418,-0.00014691588602,-0.000416384154215,-6.48441212617e-05,1793248754448543744
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.060963585,660,633,881,782.060963585,815,651,629.060963585,653,0.452989431335,-0.0155858145105,0.0697069742731,0.999999889571,-0.000147532853783,-0.000441311819195,-6.58429685968e-05,1793248754465210624
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.641920728,660,633,881,782.641920728,815,651,629.641920728,653,0.452927989404,-0.0155832923226,0.0696883137736,0.99999987957,-0.000146784347886,-0.000463548382657,-6.66054906572e-05,1793248754481877248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.775686314,745,715,682,660,632.775686314,881.224313686,783,815,651,630,653,0.452861985184,-0.0155809448247,0.0696729748857,0.999999870518,-0.000146204032097,-0.000482819462308,-6.68818449804e-05,1793248754498543616
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.190986461,745,715,682,660,632.190986461,881.809013539,783,815,651,630,653,0.452788651106,-0.0155788779864,0.0696629725522,0.999999863488,-0.000145893933343,-0.000497326149142,-6.6377114134e-05,1793248754515210240
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.392116856,745,715,682,660,632,881.607883144,783,815,651,630,653,0.45270091091,-0.0155747366607,0.069654080744,0.999999857632,-0.000144403759418,-0.000509442357581,-6.59638442244e-05,1793248754531877120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.974445675,745,715,682,660,632,881.025554325,783,815,651,630,653,0.452606182454,-0.0155695890219,0.0696457276412,0.999999852311,-0.000142341142851,-0.000520398967982,-6.55949411277e-05,1793248754548543744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.549320084,745,715,681.450679916,660,632.549320084,881.549320084,783,815,651.549320084,630,653,0.452489711811,-0.0155647184087,0.0696379887751,0.999999845454,-0.00014081646854,-0.000533961898495,-6.44024742122e-05,1793248754565210368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.875657008,745,715,681,660,633,881.875657008,783,815.124342992,651.875657008,630,653,0.452365197365,-0.0155594702388,0.0696300090687,0.999999838352,-0.000138723108814,-0.000547797230304,-6.30056778816e-05,1793248754581877248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.298848783,745,715,681,660,633,881.298848783,783,815.701151217,651.298848783,630,653,0.452215043963,-0.0155528019306,0.0696210503962,0.99999983107,-0.000134470546436,-0.000562188500504,-6.10029034388e-05,1793248754598544128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.284225218,660,633,881,783,815.715774782,651,630,653,0.452055218692,-0.0155461300454,0.0696151880087,0.999999825991,-0.000130988084288,-0.000572192674929,-5.87848670955e-05,1793248754615210496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.874035845,660,633,881,783,815.125964155,651,630,653,0.451884994698,-0.0155394543149,0.0696126546,0.999999823437,-0.000128333597505,-0.000577480052199,-5.63353915535e-05,1793248754631876864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.545253858,660,633,881,783,815,651,630,653,0.451695951305,-0.0155301957542,0.0696203375757,0.999999829977,-0.000120547715218,-0.000568090719189,-5.2789421938e-05,1793248754648543488
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881,783,815,651,630,653,0.451499587378,-0.015520213931,0.0696308237199,0.999999838651,-0.000111348179668,-0.000554896597766,-4.88887506787e-05,1793248754665210112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881,783,815,651,630,653,0.451266694145,-0.0155098707992,0.0696417853092,0.999999845502,-0.000101815582521,-0.00054469253372,-4.4046966599e-05,1793248754681876736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.811743169,745,715,681,660.188256831,633,881,783.188256831,814.811743169,651,630,653,0.451023525627,-0.0155003094507,0.0696529616928,0.999999853184,-9.19668060414e-05,-0.000532600533189,-3.88636190298e-05,1793248754698543360
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,744.995806688,715,682,661,633.004193312,881,785,814,651.995806688,631,653,0.447316700683,-0.0154498552477,0.0697983540698,0.999999945673,8.2803030773e-05,-0.000318299902892,2.19600992064e-05,1793248754865210368
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.898718826,681.898718826,660.898718826,633,881,785,814,651,630,653,0.444439251006,-0.0154474900545,0.069770601823,0.999999940672,4.97266546933e-05,-0.000340669375428,1.13148086542e-05,1793248754948543488
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.781311898,634,878.781311898,785,810.781311898,651.218688102,629,652.218688102,0.404157132521,-0.0153561222945,0.069833468315,0.99999993399,0.000240206026296,-0.000272105239414,1.67053393486e-05,1793248755848543488
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.207116949,634,878.207116949,785,810.207116949,651.792883051,629,652.792883051,0.40383886095,-0.015354415472,0.0698470238653,0.999999939816,0.000240525572411,-0.000249419148401,1.7487068439e-05,1793248755865210112
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,744,715.377697069,680,658.377697069,634,878.377697069,785,810.377697069,651.622302931,629,653,0.403528263155,-0.0153517242322,0.0698438404884,0.999999938594,0.000241822682133,-0.000253119742334,1.62482287656e-05,1793248755881876736
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744,715.968502664,680,658.968502664,634,878.968502664,785,810.968502664,651.031497336,629,653,0.403221995165,-0.0153484775536,0.0698312124832,0.999999933303,0.00024367136384,-0.000271708532369,1.38693208106e-05,1793248755898543360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634,878.452239351,785,810.452239351,651,629,652.452239351,0.402946754915,-0.0153452130277,0.0698230177392,0.999999927874,0.000248518942922,-0.000286910550722,1.31397827603e-05,1793248755915210240
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.87444104,634,878.12555896,785,810,651.12555896,629,652,0.402680862308,-0.0153421405017,0.0698150676377,0.999999921903,0.000254822515797,-0.000301820906256,1.28105718108e-05,1793248755931876864
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.299539297,634,878.700460703,785,810,651.700460703,629,652,0.402442169287,-0.01533975869,0.0698070995861,0.999999914556,0.000265732324955,-0.000316370032478,1.35816197958e-05,1793248755948543232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.718392091,744,716,680,658,634,879,785,810,652,629,652.281607909,0.402228216519,-0.0153391533222,0.069801431266,0.999999909878,0.000271603713554,-0.000325965549122,1.48645179031e-05,1793248755965209856
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.451880861,744,716,680,658.451880861,634,879,785.451880861,810,651.548119139,629,652.548119139,0.40187908436,-0.0153418126316,0.0697979007166,0.999999908957,0.000269528857524,-0.000330317341546,1.81854957078e-05,1793248755998543616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744,715.967911261,680,659,634,879,785.967911261,810,651,628.967911261,652.032088739,0.401726071715,-0.0153432673591,0.0697985149081,0.999999910236,0.00026630902959,-0.000328973771972,1.95719653404e-05,1793248756015210240
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744,715.396522629,680,659,634,879,785.396522629,810,651,628.396522629,652.603477371,0.40160608869,-0.0153467553286,0.0698021352074,0.999999913035,0.000264097767799,-0.000322082798819,2.10824039844e-05,1793248756031877120
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744,715.177179905,680,659,634,879,785,810,651,628.177179905,653,0.401490235448,-0.0153485849437,0.0698031810409,0.999999911791,0.000272086612621,-0.000319256184903,2.15106752801e-05,1793248756048544000
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744,715.756129513,680,659,634,879,785,810,651,628.756129513,653,0.401383746798,-0.0153466541074,0.0697983890664,0.999999900821,0.000303205020026,-0.000325645831332,1.94850452496e-05,1793248756065210880
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634,878.100820294,785,810.899179706,651,628,652.899179706,0.400964299444,-0.0153520279864,0.0698108133525,0.99999992561,0.000241832322259,-0.000300473296031,3.56930804047e-06,1793248756298543616
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.210287584,744.789712416,715.789712416,680,659,634.789712416,878.789712416,785,810,651.789712416,628,652.789712416,0.400960953284,-0.0153510053179,0.0698120289628,0.99999992644,0.000242357900466,-0.000297271774261,3.39108343641e-06,1793248756365210112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.799533939,744.200466061,715.200466061,680,659,634.200466061,878.200466061,785,810,651.200466061,628,652.200466061,0.400961378001,-0.0153500706605,0.0698130026864,0.999999926469,0.000243712563349,-0.00029606340289,3.49334381399e-06,1793248756381876736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,878.381913976,785,810,651,628,652,0.400961314407,-0.0153505374724,0.0698135620312,0.999999926574,0.000243892268263,-0.000295561771544,3.43735863185e-06,1793248756398543360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,878.960753598,785,810,651,628,652,0.400960999024,-0.0153517269215,0.0698139077105,0.999999926719,0.000243466131745,-0.00029542455523,3.29977757332e-06,1793248756415210240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744,715.537083759,680,658.462916241,634,878.462916241,785,810,651.537083759,628.537083759,652,0.400960374435,-0.015350669273,0.0698134203788,0.999999925917,0.000245420728549,-0.000296519616655,3.42810902198e-06,1793248756431876864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.887350474,744,715.887350474,679.887350474,658,634,878,785,810,651.887350474,629,652.112649526,0.400959781184,-0.015350200408,0.0698129484208,0.999999925393,0.000246477266458,-0.000297405965506,3.58522561506e-06,1793248756448543744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.314163366,744,715.314163366,679.314163366,658,634,878,785,810,651.314163366,629,652.685836634,0.400959407995,-0.0153528068033,0.0698127870101,0.999999926305,0.000243154417541,-0.000297072630211,3.78095335894e-06,1793248756465210368
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,715.267908229,679.267908229,658,634,878.267908229,785,810,651.267908229,628.732091771,653,0.400959502222,-0.0153536800771,0.0698130108054,0.999999926874,0.000241738384907,-0.000296311327831,3.68607379685e-06,1793248756481876992
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,715.860755559,679.860755559,658,634,878.860755559,785,810,651.860755559,628.139244441,653,0.400960163364,-0.0153524512917,0.0698137018071,0.999999927037,0.000242635081617,-0.00029503095504,3.23872398688e-06,1793248756498543616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.443421409,744,716,680,658.443421409,634.443421409,879,785,810,652,628.443421409,652.556578591,0.40096036201,-0.0153521147043,0.0698146435052,0.999999927503,0.000241717830231,-0.000294204160759,3.16320895463e-06,1793248756515210240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634.977277807,878.977277807,785,810,651.977277807,629,652,0.400960420556,-0.015352100866,0.0698156375048,0.999999928035,0.000240342827221,-0.000293522962298,3.22168967009e-06,1793248756531876864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634.403784847,878.403784847,785,810,651.403784847,629,652,0.40096052454,-0.0153532715367,0.0698160338632,0.99999992794,0.000241369550348,-0.000292995898158,3.76137001854e-06,1793248756548543488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744,715.830062955,680,659,634.169937045,878.169937045,785,810,651.169937045,628.830062955,652.169937045,0.400960503563,-0.0153540631696,0.0698159162679,0.999999927838,0.000241902469681,-0.00029290073588,3.97786759732e-06,1793248756565210624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,744,715.255796445,680,659,634.744203555,878.744203555,785,810,651.744203555,628.255796445,652.744203555,0.400960185262,-0.0153539529615,0.0698145758279,0.999999927722,0.000241260486582,-0.000293833193337,3.42541965993e-06,1793248756581876992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744,715.329472663,680,658.670527337,634.670527337,879,785,810.329472663,651.670527337,628.329472663,652.670527337,0.400960572421,-0.0153528831511,0.0698148068372,0.999999927679,0.000242028933317,-0.000293348177619,3.21981114304e-06,1793248756598543616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744,715.923579167,680,658.076420833,634.076420833,879,785,810.923579167,651.076420833,628.923579167,652.076420833,0.400961526208,-0.015351042584,0.0698163000409,0.999999927692,0.000243930243209,-0.000291724641531,3.2927854607e-06,1793248756615210240
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77d73f676b582e8aacb3b7e680db4c188f4f7175
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+377,6.283333333,pose2_to_pose3_retreat,0.583267498829,-0.0100721292361,1.06004235606,0.553839326714,-0.00139767162383,1.05966574486
+378,6.300000000,pose2_to_pose3_retreat,0.5832593057,-0.0100721627831,1.0600423654,0.553831133816,-0.0013977046596,1.05966575204
+379,6.316666667,pose2_to_pose3_retreat,0.583253980474,-0.0100722270293,1.06004237465,0.55382580976,-0.00139776509834,1.0596657587
+380,6.333333333,pose2_to_pose3_retreat,0.583251143745,-0.0100722285585,1.06004236793,0.553822974216,-0.001397762382,1.05966575342
+381,6.350000000,pose2_to_pose3_retreat,0.583249257903,-0.0100721862776,1.06004237053,0.553821088193,-0.00139772069084,1.05966575551
+382,6.366666667,pose2_to_pose3_retreat,0.583248113146,-0.0100721110795,1.06004238018,0.553819942218,-0.00139764975436,1.05966576319
+383,6.383333333,pose2_to_pose3_retreat,0.583247430485,-0.0100720662361,1.06004238594,0.553819258831,-0.00139760745231,1.05966576777
+384,6.400000000,pose2_to_pose3_retreat,0.583246995761,-0.0100720554124,1.06004239814,0.553818823995,-0.00139759697585,1.05966578109
+385,6.416666667,pose2_to_pose3_retreat,0.583246637714,-0.0100720674302,1.06004241825,0.55381846627,-0.00139760777937,1.05966580433
+386,6.433333333,pose2_to_pose3_retreat,0.58324648264,-0.0100720726353,1.06004242696,0.553818311335,-0.0013976124585,1.0596658144
+387,6.450000000,pose2_to_pose3_retreat,0.583246446031,-0.0100720738641,1.06004242902,0.553818274759,-0.00139761356311,1.05966581677
+388,6.466666667,pose2_to_pose3_retreat,0.583246398529,-0.0100720754585,1.06004243169,0.553818227299,-0.00139761499643,1.05966581986
+389,6.483333333,pose2_to_pose3_retreat,0.583246254878,-0.0100720802801,1.06004243976,0.553818083778,-0.00139761933086,1.05966582918
+390,6.500000000,pose2_to_pose3_retreat,0.583246013438,-0.0100720883841,1.06004245333,0.553817842554,-0.00139762661596,1.05966584485
+391,6.516666667,pose2_to_pose3_retreat,0.583245827471,-0.0100721077804,1.06004245351,0.553817656517,-0.00139764624614,1.05966584511
+392,6.533333333,pose2_to_pose3_retreat,0.583245778514,-0.0100721288872,1.06004244107,0.553817607254,-0.00139766846615,1.05966583081
+393,6.550000000,pose2_to_pose3_retreat,0.583245777786,-0.010072129201,1.06004244088,0.553817606522,-0.00139766879653,1.0596658306
+394,6.566666667,pose2_to_pose3_retreat,0.583245740329,-0.0100721453501,1.06004243136,0.55381756883,-0.00139768579728,1.05966581965
+395,6.583333333,pose2_to_pose3_retreat,0.583245674917,-0.0100721735513,1.06004241474,0.553817503009,-0.00139771548594,1.05966580054
+396,6.600000000,pose2_to_pose3_retreat,0.583245616255,-0.0100721988429,1.06004239983,0.553817443979,-0.00139774211137,1.0596657834
+397,6.616666667,pose2_to_pose3_retreat,0.583245614972,-0.0100721993959,1.06004239951,0.553817442688,-0.00139774269363,1.05966578302
+398,6.633333333,pose2_to_pose3_retreat,0.583245602645,-0.0100722047104,1.06004239638,0.553817430284,-0.00139774828841,1.05966577942
+399,6.650000000,pose2_to_pose3_retreat,0.583245522029,-0.0100721973428,1.06004238528,0.553817349382,-0.00139774193247,1.05966576712
+400,6.666666667,pose2_to_pose3_retreat,0.583245430261,-0.0100721489355,1.06004238158,0.553817257498,-0.00139769389653,1.05966576382
+401,6.683333333,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817214464,-0.00139765651123,1.05966576226
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de836df8021fe24ea3943cce2fa8f6e471b3e7f1
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760d021936a076bf6da2a6ec78dcb893ef6c5014719ea6351019a9b2d2934fae
+size 25616713
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af0109d5cf89366aa89af46260529dd7e5636ef9
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+41,0.683333333,BASELINE,765.201682615,744,716,680,659,634.798317385,878.201682615,785,810,652,628.798317385,652,0.40096052369,-0.0153551178884,0.0698168624171,0.999999929099,0.00023925310802,-0.000290774776625,3.13269978576e-06,1793248757444717056
+42,0.700000000,BASELINE,765.381262949,744,716,679.618737051,658.618737051,634.618737051,878,785,810,651.618737051,629,652,0.400960872764,-0.0153544252333,0.0698171244389,0.999999928917,0.000240883984938,-0.000290054776449,3.17763801816e-06,1793248757461383680
+43,0.716666667,BASELINE,765.95864,744,716,679.04136,658.04136,634.04136,878,785,810,651.04136,629,652,0.40096154329,-0.0153529109054,0.0698181088866,0.99999992878,0.000243976344534,-0.000287929185327,3.43574812155e-06,1793248757478050304
+44,0.733333333,BASELINE,766,744.532344588,716,679.532344588,658,634,878,785,810.532344588,651.532344588,628.467655412,652.532344588,0.400962020157,-0.0153534530096,0.0698184039569,0.999999929077,0.00024312090212,-0.00028762283006,3.4310007598e-06,1793248757494717184
+45,0.750000000,BASELINE,765.890991731,744.890991731,715.890991731,680,658.109008269,634,878,785,811,652,628.109008269,652.890991731,0.400962295071,-0.0153539769303,0.0698185514111,0.999999929284,0.000242360766543,-0.000287544740408,3.38172641674e-06,1793248757511383808
+46,0.766666667,BASELINE,765.299991287,744.299991287,715.299991287,680,658.700008713,634,878,785,811,652,628.700008713,652.299991287,0.400961743102,-0.0153537188393,0.0698182813647,0.99999992895,0.000243368948763,-0.00028785526727,3.22525256818e-06,1793248757528050432
+47,0.783333333,BASELINE,765.285175331,744,715,680,658.714824669,634,878.285175331,785,810.714824669,651.714824669,629,652.285175331,0.400961534615,-0.0153538723548,0.0698183953972,0.999999929025,0.000243184749924,-0.000287749933035,3.29521003082e-06,1793248757544716800
+48,0.800000000,BASELINE,765.864328131,744,715,680,658.135671869,634,878.864328131,785,810.135671869,651.135671869,629,652.864328131,0.400961680211,-0.0153544501816,0.0698189053635,0.99999992952,0.000241771366463,-0.000287215901897,3.59858774779e-06,1793248757561383424
+49,0.816666667,BASELINE,766,744,715.440584017,680,658.440584017,634,879,785,810,651,629,653,0.400961629096,-0.0153549222439,0.0698186567694,0.999999929578,0.000241219328741,-0.000287478457255,3.77476951155e-06,1793248757578050048
+50,0.833333333,BASELINE,765.984118289,744,716,680,658.984118289,634,879,785,810,651,629,652.984118289,0.400961560917,-0.0153553748548,0.0698182188535,0.999999929532,0.000240867817234,-0.000287928869021,3.89548820633e-06,1793248757594716928
+51,0.850000000,BASELINE,765.411342446,744,716,680,658.411342446,634,879,785,810,651,629,652.411342446,0.400963004566,-0.0153562799676,0.0698192796448,0.99999993058,0.000238307871671,-0.000286421271602,3.43585637736e-06,1793248757611383552
+52,0.866666667,BASELINE,765,744,715.83284362,679.83284362,658,634,878.83284362,785,810,651.16715638,629,652,0.400963863731,-0.0153562562109,0.0698201143847,0.999999930905,0.000238224093202,-0.000285358579842,3.17271888894e-06,1793248757628050176
+53,0.883333333,BASELINE,765,744,715.23976231,679.23976231,658,634,878.23976231,785,810,651.76023769,629,652,0.40096323359,-0.0153538656362,0.0698203731314,0.999999929381,0.000244449743799,-0.000285429535673,3.41026132051e-06,1793248757644716800
+54,0.900000000,BASELINE,765.344937488,744,715.344937488,679.344937488,658,634,878.344937488,785.344937488,810,652,629,652.344937488,0.400962768681,-0.015353512861,0.0698200512444,0.999999929011,0.000245212200082,-0.00028606921091,3.68637980017e-06,1793248757661383424
+55,0.916666667,BASELINE,765.923949567,744,715.923949567,679.923949567,658,634,878.923949567,785.923949567,810,652,629,652.923949567,0.400962415898,-0.0153545429366,0.0698193353394,0.999999929434,0.000242267332259,-0.000287094819156,3.9886759778e-06,1793248757678050048
+56,0.933333333,BASELINE,766,744,715.499486369,680,658.500513631,634.500513631,879,785.499486369,810,652,629,653,0.400961779226,-0.0153546688292,0.0698188997563,0.999999929455,0.000241997196378,-0.000287250666075,3.90646027348e-06,1793248757694716928
+57,0.950000000,BASELINE,766,744.078002621,715.078002621,680,659,635,878.921997379,785.078002621,810,651.921997379,629,652.921997379,0.400961295847,-0.0153546808231,0.0698185671193,0.999999929486,0.000241887585615,-0.000287237572966,3.73460686863e-06,1793248757711383808
+58,0.966666667,BASELINE,766,744.663924342,715.663924342,680,659,635,878.336075658,785.663924342,810,651.336075658,629,652.336075658,0.400962090161,-0.0153548414011,0.0698186288227,0.99999992997,0.000240189749836,-0.000286980767839,3.35765557313e-06,1793248757728050176
+59,0.983333333,BASELINE,766,745,716,680,658.764577559,635,878,785.764577559,810,651.235422441,628.764577559,652,0.40096272151,-0.0153549209418,0.0698188871129,0.999999930222,0.00023966860636,-0.000286539489815,3.23008561365e-06,1793248757744716800
+60,1.000000000,BASELINE,766,745,716,680,658.212481043,635,878,785.212481043,810,651.787518957,628.212481043,652,0.400963133647,-0.0153548914766,0.0698194098382,0.999999930163,0.000240730268199,-0.000285850071504,3.43796622171e-06,1793248757761383680
+61,1.016666667,BASELINE,765.628488091,744.628488091,716,680,658.371511909,634.628488091,878.371511909,785,810,652,628.371511909,652,0.400962918061,-0.015355152455,0.0698192186437,0.999999929793,0.000241945100462,-0.000286120776818,3.5092912117e-06,1793248757778050816
+62,1.033333333,BASELINE,765.024539112,744.024539112,716,680,658.975460888,634.024539112,878.975460888,785,810,652,628.975460888,652,0.40096230974,-0.01535559515,0.069818580784,0.999999929225,0.000243255764002,-0.000286992185184,3.49517993025e-06,1793248757794717696
+63,1.050000000,BASELINE,765.55055862,744,716,680,659.55055862,634,879,785,810.55055862,652,629,652,0.400960665554,-0.0153551196916,0.0698179334105,0.99999992905,0.000242089458324,-0.000288585874828,3.327129781e-06,1793248757811384320
+64,1.066666667,BASELINE,766,744,716,679.871529478,659.743058957,634,878.871529478,785,810.871529478,651.871529478,628.871529478,652.128470522,0.400959557588,-0.0153544097507,0.0698175588671,0.999999928909,0.000241442896412,-0.000289614853004,3.22461636865e-06,1793248757828050944
+65,1.083333333,BASELINE,766,744,716,679.279039818,658.558079637,634,878.279039818,785,810.279039818,651.279039818,628.279039818,652.720960182,0.400960544838,-0.0153529933384,0.069818171207,0.999999928843,0.000243052483954,-0.000288493678171,3.38236127982e-06,1793248757844717312
+66,1.100000000,BASELINE,765.693822675,744.306177325,716,679,658,634,878.306177325,785,810,651,628.306177325,652.693822675,0.400960892878,-0.0153531428693,0.0698186254178,0.999999928962,0.000243044667765,-0.000288087058526,3.40710889505e-06,1793248757861383936
+67,1.116666667,BASELINE,765.115079714,744.884920286,716,679,658,634,878.884920286,785,810,651,628.884920286,652.115079714,0.400960671879,-0.0153546864367,0.0698189388584,0.999999929247,0.000241597003924,-0.000288316551331,3.31345945025e-06,1793248757878050560
+68,1.133333333,BASELINE,765.46055129,744.53944871,716,679,658,634,878.53944871,785,810,651,629,652,0.400960466646,-0.0153555991728,0.0698186428486,0.999999929612,0.000240549529028,-0.000287925444329,3.4116799613e-06,1793248757894717184
+69,1.150000000,BASELINE,766,744,715.964728163,679.035271837,658,634,878.035271837,785,810,651,628.964728163,652,0.400960423623,-0.0153562918142,0.069818336864,0.999999930014,0.00023965703329,-0.000287269757419,3.55391204838e-06,1793248757911383552
+70,1.166666667,BASELINE,766,744,715.392111837,679.607888163,658,634,878.607888163,785,810,651,628.392111837,652,0.400962792149,-0.0153560166983,0.0698201833271,0.999999930694,0.000239612386003,-0.000284929925139,3.64114901598e-06,1793248757928050432
+71,1.183333333,BASELINE,766,744,715.187324185,679.812675815,658,634,878.812675815,785.187324185,810,651.187324185,628.187324185,652,0.400964047561,-0.0153556865861,0.0698210592033,0.999999930919,0.000239960394523,-0.000283842638958,3.66834939797e-06,1793248757944717312
+72,1.200000000,BASELINE,766,744,715.781574817,679.218425183,658,634,878.218425183,785.781574817,810,651.781574817,628.781574817,652,0.400962884943,-0.0153552370051,0.0698198266626,0.999999930166,0.000241161373692,-0.000285476272406,3.56513164215e-06,1793248757961383936
+73,1.216666667,BASELINE,766,744,716,679.365139027,658.365139027,634,878.365139027,785.634860973,810,651.634860973,629,652,0.400963332488,-0.0153545646666,0.0698195234175,0.999999929808,0.000242708621678,-0.000285416861978,3.62939435829e-06,1793248757978050304
+74,1.233333333,BASELINE,766,744,716,679.942492382,658.942492382,634,878.942492382,785.057507618,810,651.057507618,629,652,0.400964715841,-0.0153537628644,0.0698197602677,0.999999929679,0.000244457116785,-0.000284373475092,3.79099467904e-06,1793248757994716672
+75,1.250000000,BASELINE,766,744,716,680,658.482452122,634,879,785,810,651,629,652,0.40096343918,-0.0153543929445,0.0698196997851,0.999999930049,0.000241695211621,-0.000285433837801,3.67699070225e-06,1793248758011383296
+76,1.266666667,BASELINE,766,744,716,680,658,634,878.905336216,785,810,651,629,652,0.400962115342,-0.0153549573811,0.0698195627145,0.999999930374,0.000239030951112,-0.000286536749235,3.47412810345e-06,1793248758028049920
+77,1.283333333,BASELINE,766,744,716,680,658,634,878.316128309,785,810,651,629,652,0.400962082323,-0.0153543513598,0.0698191973681,0.999999930236,0.000239483484189,-0.000286646133263,2.96632764264e-06,1793248758044716544
+78,1.300000000,BASELINE,766,744.26817729,716,680,658.26817729,634,878.26817729,785,810,651,628.73182271,652.26817729,0.400961979013,-0.0153542740218,0.0698188715892,0.999999929924,0.000240525846866,-0.000286865368231,2.83682963565e-06,1793248758061383680
+79,1.316666667,BASELINE,766,744.846807732,716,680,658.846807732,634,878.846807732,785,810,651,628.153192268,652.846807732,0.400961794332,-0.0153548087093,0.0698185916151,0.999999929407,0.000242251020719,-0.00028721177119,3.14527027205e-06,1793248758078050560
+80,1.333333333,BASELINE,766,745,716,680,658.57530535,634,879,785,810,651,628.42469465,652.57530535,0.400962527643,-0.0153546659227,0.0698191162665,0.99999992946,0.000243115322177,-0.000286291924332,3.34009605496e-06,1793248758094717184
+81,1.350000000,BASELINE,766,744.997703351,716,680,658.002296649,634.002296649,879,785,810,651,629,652.002296649,0.400963583064,-0.0153542826622,0.0698199266291,0.999999929719,0.000243655454098,-0.000284922811557,3.49312154356e-06,1793248758111383808
+82,1.366666667,BASELINE,766,744.424386821,716,680,658.575613179,634.575613179,879,785,810,651,629,652.575613179,0.400962539129,-0.0153547626445,0.069819737659,0.999999930359,0.000240668579512,-0.000285216271521,3.42492946051e-06,1793248758128050176
+83,1.383333333,BASELINE,766,744,716,679.846569921,659,634.846569921,879,785.153430079,810.153430079,651,628.846569921,652.846569921,0.400961797243,-0.0153548126336,0.0698194025884,0.999999930686,0.000238891714532,-0.000285564454877,3.2825923098e-06,1793248758144716800
+84,1.400000000,BASELINE,766,744,716,679.255928732,659,634.255928732,879,785.744071268,810.744071268,651,628.255928732,652.255928732,0.400961916065,-0.0153536373229,0.0698186511926,0.999999930143,0.000240562866671,-0.000286068576925,2.92897292576e-06,1793248758161383680
+85,1.416666667,BASELINE,766,744,716,679,659,634,878.671607459,785.671607459,811,651,628.328392541,652,0.400961314977,-0.015353182497,0.0698180425566,0.999999929489,0.000241569005959,-0.00028750516628,2.74960712314e-06,1793248758178050304
+86,1.433333333,BASELINE,766,744,716,679,659,634,878.092118571,785.092118571,811,651,628.907881429,652,0.400960163429,-0.01535327857,0.0698175430781,0.999999928748,0.000242066661315,-0.000289654741147,2.70347956181e-06,1793248758194716928
+87,1.450000000,BASELINE,766,744,716,679,658.517442675,634,878.482557325,785,810.517442675,651.482557325,629,652,0.400961134519,-0.0153536122897,0.0698183114706,0.999999929223,0.000241926088954,-0.000288126428948,2.89344420931e-06,1793248758211383552
+88,1.466666667,BASELINE,766,744,716,679.056370926,658.056370926,634,879,785,810,652,629,652.056370926,0.400962351882,-0.0153540107644,0.0698191934274,0.99999992987,0.000241573275096,-0.000286168982541,3.08910670275e-06,1793248758228050432
+89,1.483333333,BASELINE,766,744,716,679.630620167,658.630620167,634,879,785,810,652,629,652.630620167,0.400962145897,-0.0153545914817,0.0698189171107,0.999999930019,0.000240378850216,-0.00028665553388,2.92715438372e-06,1793248758244717312
+90,1.500000000,BASELINE,766,744,715.787164314,679.787164314,659,634,879,785,810,651.787164314,629,653,0.400962062674,-0.0153549939565,0.0698189821635,0.999999930241,0.000239322012614,-0.000286764448798,2.88890769254e-06,1793248758261383936
+91,1.516666667,BASELINE,766,744,715.190585652,679.190585652,659,634,879,785,810,651.190585652,629,653,0.40096220079,-0.0153550750598,0.0698196627059,0.999999930598,0.000238513245155,-0.000286192484779,3.07370240276e-06,1793248758278050560
+92,1.533333333,BASELINE,766,744,715.390999758,679.390999758,658.609000242,634.390999758,878.609000242,785,810,651,628.609000242,652.609000242,0.400963153912,-0.0153555358763,0.0698202706025,0.999999930884,0.000238547892177,-0.000285159643525,3.18790007462e-06,1793248758294717184
+93,1.550000000,BASELINE,766,744,715.965546924,679.965546924,658.034453076,634.965546924,878.034453076,785,810,651,628.034453076,652.034453076,0.400964489623,-0.0153561749419,0.0698208443968,0.999999931137,0.000238978464032,-0.000283910452161,3.26895732437e-06,1793248758311383552
+94,1.566666667,BASELINE,766,744,716,680,658.5367111,634.4632889,878.5367111,785,810,651,628.5367111,652.5367111,0.400964140589,-0.0153556308317,0.0698207627847,0.999999930638,0.000240726796788,-0.000284189333195,3.30878728241e-06,1793248758328050432
+95,1.583333333,BASELINE,765.887561883,744,715.887561883,680,658.887561883,634,879,785,810,651.112438117,629,652.887561883,0.400963633769,-0.0153551151015,0.0698205989992,0.99999993027,0.000241799667912,-0.000284572698956,3.30458365487e-06,1793248758344717056
+96,1.600000000,BASELINE,765.291270832,744,715.291270832,680,658.291270832,634,879,785,810,651.708729168,629,652.291270832,0.400962910439,-0.0153550462924,0.0698202615145,0.999999930681,0.000239604098945,-0.000284986220712,3.12220840942e-06,1793248758361383936
+97,1.616666667,BASELINE,765.296194724,744,715,680,658,634,878.703805276,785,810,652,629,652.296194724,0.400962823544,-0.0153552462505,0.0698198849288,0.999999930994,0.000238368664869,-0.000284926265627,3.01781053867e-06,1793248758378051072
+98,1.633333333,BASELINE,765.875232578,744,715,680,658,634,878.124767422,785,810,652,629,652.875232578,0.400963344398,-0.0153557028608,0.0698194710047,0.999999931216,0.000238050085738,-0.000284414176633,2.98787506092e-06,1793248758394717952
+99,1.650000000,BASELINE,765.548821764,744.451178236,715.451178236,680,658.451178236,634.451178236,878.451178236,785,810,651.548821764,628.548821764,653,0.400962770658,-0.0153553326315,0.0698197120001,0.999999930865,0.000238131736668,-0.000285577174198,2.90771123612e-06,1793248758411384832
+100,1.666666667,BASELINE,765.026355646,744.973644354,716,680,659,635,879,785,810,651,628,652.973644354,0.40096202226,-0.0153548180402,0.0698201445316,0.999999930417,0.000238311247766,-0.000286993259316,2.82684192531e-06,1793248758428051200
+101,1.683333333,BASELINE,765.603225921,744.396774079,716,680,659,635,879,785,810,651,628,652.396774079,0.40096390525,-0.0153560315697,0.069820820603,0.999999931264,0.000238238749819,-0.000284085910543,3.01939453872e-06,1793248758444717568
+102,1.700000000,BASELINE,766,744,716,680,658.815970994,634.815970994,878.815970994,785,810,651.184029006,628.184029006,652.184029006,0.400964257007,-0.0153565598491,0.069820644493,0.999999931323,0.000238865443844,-0.000283350443886,3.11379960517e-06,1793248758461383936
+103,1.716666667,BASELINE,766,744,716,680,658.22650352,634.22650352,878.22650352,785,810,651.77349648,628.77349648,652.77349648,0.40096123527,-0.0153555784383,0.0698185909231,0.999999929648,0.000241032543528,-0.000287399900229,2.99197356517e-06,1793248758478050560
+104,1.733333333,BASELINE,766,744.356703327,716,680,658,634.356703327,878.356703327,785,810,651.643296673,629,653,0.400960602207,-0.0153554462449,0.0698182402708,0.999999929474,0.000240676116823,-0.000288301195293,3.0358258336e-06,1793248758494717440
+105,1.750000000,BASELINE,766,744.93600336,716,680,658,634.93600336,878.93600336,785,810,651.06399664,629,653,0.400961459769,-0.0153558439958,0.0698189523049,0.999999930243,0.000238744912032,-0.000287237916065,3.18306777766e-06,1793248758511384320
+106,1.766666667,BASELINE,766,744.490981171,716,680,658.509018829,634.490981171,879,785,810,651,629,652.490981171,0.400961152093,-0.0153554267847,0.0698186121698,0.99999992982,0.000240091006481,-0.000287585122599,3.28215053363e-06,1793248758528050944
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810,651,629,653,0.40096183623,-0.0153559788369,0.0698181631979,0.999999930427,0.000237391627673,-0.000287717647915,2.96565232208e-06,1793248758571301632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.593995151,744.593995151,716,679.406004849,659,634,878.406004849,785,810,651.593995151,628.406004849,653,0.400962362261,-0.015355638257,0.0698187562588,0.999999930269,0.000239285157218,-0.00028669962289,2.96267135301e-06,1793248758587968000
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.816902233,716,679.183097767,658.816902233,634,878,785.183097767,810.183097767,651.816902233,628,653,0.400962645092,-0.0153553399466,0.0698191988468,0.999999930227,0.000240238780007,-0.00028604721643,2.92854789079e-06,1793248758604634368
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.238365972,716,679.761634028,658.238365972,634,878,785.761634028,810.761634028,651.238365972,628,653,0.40096240268,-0.0153551329261,0.0698193164567,0.999999930446,0.000239162475001,-0.000286184440679,2.82716560355e-06,1793248758621301248
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.663707004,744,716,680,658,634.336292996,878,785.663707004,810.663707004,651,628.336292996,652.663707004,0.400962692911,-0.0153550478364,0.0698196841694,0.999999930285,0.00024034833154,-0.000285750028978,3.08439980783e-06,1793248758637967616
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.091764989,744,716,680,658,634.908235011,878,785.091764989,810.091764989,651,628.908235011,652.091764989,0.400963356378,-0.0153550481867,0.0698202271356,0.999999929852,0.000243119342025,-0.000284915057483,3.59292567591e-06,1793248758654634240
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.495511494,744,716,680,658.495511494,634.504488506,878,785,810,651.495511494,628.504488506,652.495511494,0.400962976932,-0.0153544677778,0.0698194592279,0.999999929178,0.000244580957468,-0.000286027293443,3.63565885135e-06,1793248758671300864
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.915854593,634.084145407,878,785,810,651.915854593,628.084145407,652.915854593,0.400962683206,-0.0153541734507,0.0698188238575,0.999999928783,0.000244939181894,-0.000287099454759,3.57583930161e-06,1793248758687967488
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658.336478938,634.663521062,878,785,810,651.336478938,628.663521062,652.336478938,0.400964066992,-0.0153562160356,0.0698204429163,0.999999930302,0.000240276227207,-0.000285745657013,3.43635084989e-06,1793248758704634368
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634.75901802,878.24098198,785,810,651.24098198,628.75901802,652,0.400971762864,-0.0153574650548,0.0698246740218,0.999999932512,0.000237688800465,-0.00028011845785,3.63156535181e-06,1793248758721300992
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634.18420959,878.81579041,785,810,651.81579041,628.18420959,652,0.400988202716,-0.0153576147666,0.0698325235319,0.999999935609,0.000237976552248,-0.000268571420194,4.29043569004e-06,1793248758737967616
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634.38977993,879,785,810,651.61022007,628.38977993,652.38977993,0.401026251789,-0.0153586700467,0.0698468444766,0.999999941676,0.000238677105747,-0.000244243259726,5.22819588511e-06,1793248758754634240
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658,634.963383296,879,785,810,651.036616704,628.963383296,652.963383296,0.401074491949,-0.0153601524004,0.069864217404,0.999999948409,0.000239572339796,-0.000213887414935,6.29748289531e-06,1793248758771300864
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744,716,680.555036825,658,634.444963175,879,785,810,651,628.444963175,653,0.401133249928,-0.0153640619432,0.0698797020442,0.999999951736,0.000239127437467,-0.000198222187873,7.33488271523e-06,1793248758787967744
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744,715.855635573,680.855635573,658,634.144364427,878.855635573,785,810,651.144364427,628,652.855635573,0.401196554572,-0.0153676113938,0.0698930373113,0.999999954675,0.00023850899301,-0.000183576716711,7.9033104867e-06,1793248758804634624
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744,715.277006938,680.277006938,658,634.722993062,878.277006938,785,810,651.722993062,628,652.277006938,0.401271378676,-0.0153695797812,0.069900294356,0.99999995746,0.00023764340431,-0.000168985430381,7.06755930616e-06,1793248758821300992
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.700979373,744,715.299020627,680,658.299020627,634.700979373,878.299020627,785,810,652,628.299020627,652,0.401355540722,-0.0153743393376,0.0699042995379,0.999999959239,0.000235625444656,-0.000161142001207,5.92024652848e-06,1793248758837967616
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.127340644,744,715.872659356,680,658.872659356,634.127340644,878.872659356,785,810,652,628.872659356,652,0.401448278652,-0.0153816622808,0.0699053182349,0.999999960231,0.000232549157009,-0.000159495749869,4.48679817399e-06,1793248758854634240
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.4496215,744,716,680,659,634,879,785,810,652,629,652.4496215,0.401558139027,-0.0153846086739,0.0699064057731,0.999999960506,0.000231524895656,-0.000159312628652,1.74462097953e-06,1793248758871300864
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,879,785.028127379,810,652,629,652.971872621,0.401674629784,-0.0153865649538,0.0699075873258,0.999999960702,0.000230690864104,-0.000159296951672,-1.36708489126e-06,1793248758887967488
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,879,785.618537331,810,652,629,652.381462669,0.401826002067,-0.0153936914402,0.0699102556229,0.999999963457,0.000221955205402,-0.00015428312101,-4.40110295939e-06,1793248758904634112
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634.203876326,879,785.796123674,810,652,629,652.203876326,0.401987913872,-0.0154007840858,0.0699134789539,0.999999966035,0.00021462341371,-0.000147684474536,-7.54514342526e-06,1793248758921300736
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634.779957511,879,785.220042489,810,652,629,652.779957511,0.402169067034,-0.0154078149497,0.0699177155766,0.999999968373,0.000209854579342,-0.000138192524832,-1.08900448948e-05,1793248758937967360
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.646941777,744,716,680,659,634.646941777,878.646941777,785.353058223,810,651.646941777,629,652.646941777,0.402368851351,-0.0154167889427,0.0699204289965,0.999999970798,0.000201466714606,-0.000132634171059,-1.49149555457e-05,1793248758954633984
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.075683031,744,716,680,659,634.075683031,878.075683031,785.924316969,810,651.075683031,629,652.075683031,0.402580150296,-0.0154269638482,0.0699222010319,0.999999973216,0.000190842180582,-0.000129506896081,-1.9360132496e-05,1793248758971300864
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,715.484297006,680,658.484297006,634.515702994,878.515702994,785.484297006,810,651,629,652.515702994,0.402827337043,-0.0154357983921,0.0699246475238,0.99999997596,0.000179464288535,-0.000123560515054,-2.46014216646e-05,1793248758987967488
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.107968612,744,715,679.892031388,658.107968612,634.892031388,879,785,810,651.107968612,628.892031388,653,0.403090061248,-0.0154449394971,0.0699286867462,0.999999981616,0.000150874329361,-0.000114523737044,-2.9832425947e-05,1793248759004634112
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.690588321,744,715,679.309411679,658.690588321,634.309411679,879,785,810,651.690588321,628.309411679,653,0.403396997036,-0.015456328194,0.0699392751107,0.999999993897,4.71225439236e-05,-9.37936463881e-05,-3.44837272194e-05,1793248759021300736
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744,715.266236589,679.266236589,659,634,879,785.266236589,810,651.733763411,628,652.733763411,0.403712091293,-0.0154662407258,0.069946410538,0.999999995901,-5.48695546083e-06,-8.13392169229e-05,-3.9402185555e-05,1793248759037967360
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744,715.833989576,679.833989576,659,634,879,785.833989576,810,651.166010424,628,652.166010424,0.404036425103,-0.0154744814805,0.0699496354686,0.999999995942,-1.77144636884e-07,-7.82570834394e-05,-4.46232027999e-05,1793248759054633984
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658.593900919,634,879,785.593900919,810,651,628,652.406099081,0.404396104756,-0.0154780966328,0.0699541320996,0.999999996215,-4.45235204444e-06,-7.1159778987e-05,-4.9869576896e-05,1793248759071300608
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.019991203,634,879,785.019991203,810,651,628,652.980008797,0.404770390218,-0.0154798003663,0.06995915423,0.999999996453,-1.26883368255e-05,-6.24033021917e-05,-5.51264289623e-05,1793248759087967232
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.424081183,744,715.424081183,680,658.575918817,634,879,785,810,651.575918817,628,652.424081183,0.405186569163,-0.0154760281208,0.0699641165621,0.999999995855,6.52104273317e-05,-5.58395418558e-05,-3.03259382765e-05,1793248759104634112
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.16729147,744,715.16729147,680,659,634.16729147,879.16729147,785,810,651.83270853,628.16729147,652.16729147,0.405611083184,-0.015476823176,0.0699650340519,0.999999992032,0.000112899950634,-5.47259622676e-05,-1.39685554724e-05,1793248759121300736
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.745566498,744,715.745566498,680,659,634.745566498,879.745566498,785,810,651.254433502,628.745566498,652.745566498,0.406052359442,-0.0154893242001,0.0699560199122,0.999999994448,7.87376843706e-05,-6.68073846773e-05,-2.10182718946e-05,1793248759137967616
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.678520734,744.321479266,716,680,659,634.678520734,879.678520734,785,810.321479266,651,629,652.678520734,0.40650822919,-0.0155041100916,0.0699413925914,0.999999994827,4.04900500322e-05,-8.91760771405e-05,-2.74776840915e-05,1793248759154634496
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.10446387,744.89553613,716,680,659,634.10446387,879.10446387,785,810.89553613,651,629,652.10446387,0.406975564696,-0.0155206911432,0.0699223551444,0.999999992284,-9.67351648606e-07,-0.000119627201715,-3.34733108794e-05,1793248759171301120
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.517752708,634,879.482247292,785,811,651.482247292,629,652.482247292,0.407527466596,-0.0155216356058,0.0699247092004,0.999999993466,-3.41438983029e-06,-0.000108525797162,-3.57550508218e-05,1793248759187967232
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.070447157,745,716,680,658.070447157,634,879.929552843,785,811,652,629,653,0.408103697512,-0.0155188404854,0.0699329997979,0.999999995568,2.34918377844e-06,-8.64669944456e-05,-3.71864690264e-05,1793248759204633856
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.649079608,745,716,680,658.649079608,634,879.350920392,785,811,652,629,653,0.408719724567,-0.015514161671,0.0699497872053,0.999999997895,4.7404588054e-06,-5.20454658377e-05,-3.84437157229e-05,1793248759221300480
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.774747752,680,659,634.225252248,879.225252248,785,811,652,629,652.774747752,0.409325824504,-0.0155113858504,0.0699548731442,0.999999998431,4.0998056293e-06,-3.91259731731e-05,-3.98739751403e-05,1793248759237967104
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.20236589,680,659,634.79763411,879.79763411,785,811,652,629,652.20236589,0.409916626014,-0.0155115426778,0.0699419262928,0.999999997374,-1.2132630653e-06,-5.9342637823e-05,-4.15708593423e-05,1793248759254633984
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.624245254,744.624245254,715,680,659.375754746,634.624245254,879.624245254,785,811,651.624245254,629,652.375754746,0.410555216878,-0.0155137659632,0.0699392365382,0.999999996963,-3.27647625258e-06,-6.54660222837e-05,-4.21492868812e-05,1793248759271300608
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.042986036,744.042986036,715,680,659.957013964,634.042986036,879.042986036,785,811,651.042986036,629,652.957013964,0.411219944255,-0.0155171194174,0.0699421565048,0.999999997066,-3.56230695939e-06,-6.38816336091e-05,-4.21160179187e-05,1793248759287967232
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.544614969,744,715.544614969,680.544614969,659.455385031,634,879,785,811,651,629,653,0.411952639501,-0.0155192567053,0.0699624433589,0.999999998702,-7.56635222856e-06,-2.86930120466e-05,-4.14165213324e-05,1793248759304633600
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744,716,681,659,634.131368925,879.262737849,785,811.131368925,651,629,653,0.412698254179,-0.0155211659388,0.0699854954062,0.999999999043,-1.30520178855e-05,9.5752327506e-06,-4.06381906717e-05,1793248759321300480
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744,716,681,659,634.71347875,880.426957501,785,811.71347875,651,629,653,0.413469573096,-0.0155226259293,0.0700132765043,0.999999997743,-2.26024708748e-05,4.92022490073e-05,-3.97719220386e-05,1793248759337967104
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744,715.708895957,680.708895957,659,634.708895957,880.708895957,785,811.708895957,651,629.291104043,653,0.41421304647,-0.0155211516468,0.0700116919476,0.999999998102,-2.35846925033e-05,3.95712390635e-05,-4.09097149253e-05,1793248759354633984
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744,715.135617566,680.135617566,659,634.135617566,880.135617566,785,811.135617566,651,629.864382434,653,0.414929528561,-0.015516833101,0.0699816425386,0.999999998742,-1.62615166317e-05,-1.78067894609e-05,-4.39900940574e-05,1793248759371300352
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744,715,680,659.439902513,634,880.439902513,785,811.439902513,651,629.560097487,653,0.415679221735,-0.0155155959719,0.0699402588389,0.999999995381,-1.5608361055e-05,-8.12441024205e-05,-4.89362970314e-05,1793248759387966976
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.016469855,715.016469855,680.016469855,660,634,880.983530145,785,811.983530145,651,629,653,0.416442270179,-0.0155154955699,0.069897362362,0.99999998806,-1.72142071392e-05,-0.000143664622204,-5.4255798321e-05,1793248759404634112
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.605293028,715.605293028,680.605293028,660,634,880.394706972,785,811.394706972,651,629,653,0.417311805436,-0.0155217161726,0.0699239470137,0.999999992734,-2.54982145947e-05,-0.000105501104842,-5.24560115013e-05,1793248759421300736
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.80875935,716,680.80875935,660,634,880.19124065,785,811.19124065,651,629,653,0.418182463686,-0.0155262964052,0.069950719129,0.999999995947,-3.04374284887e-05,-6.79324302393e-05,-5.06338846039e-05,1793248759437967360
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.228658775,716,680.228658775,660,634,880.771341225,785,811.771341225,651,629,653,0.419055405326,-0.0155275411843,0.0699778724226,0.999999997904,-2.85754928532e-05,-3.15732839755e-05,-4.87663326203e-05,1793248759454633984
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744,715.652645885,680,660,634,880.652645885,785,812,651,629,653,0.419945527213,-0.0155297525562,0.0700016017628,0.999999998223,-3.58537728183e-05,5.48324907687e-06,-4.73100188767e-05,1793248759471300608
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744,715.079292592,680,660,634,880.079292592,785,812,651,629,653,0.420846827058,-0.0155325928228,0.0700231033734,0.999999996808,-4.90789558266e-05,4.29935218088e-05,-4.61212693145e-05,1793248759487967232
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744,715.506643838,680.506643838,660,634,880,785,811.493356162,651,629,653,0.421711298048,-0.0155331773689,0.0700200732919,0.999999997112,-4.85821033121e-05,3.42602426423e-05,-4.73452221641e-05,1793248759504634112
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.906793849,744.093206151,716,681,660,634,880.093206151,785,811.093206151,651,629,653,0.422563798223,-0.0155325401702,0.0700002531251,0.999999997571,-4.82458894743e-05,-1.67650239021e-06,-5.02790740018e-05,1793248759521300736
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.327499656,744.672500344,716,681,660,634,880.672500344,785,811.672500344,651,629,653,0.423384693532,-0.0155274193638,0.0699134023242,0.99999998647,-6.02327076368e-05,-0.0001407789556,-6.01109585912e-05,1793248759537967360
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.748241969,715.748241969,680.748241969,660,634,880.748241969,785,812,651,629,653,0.42425398805,-0.0155259101695,0.0698636228934,0.999999972693,-6.63404555549e-05,-0.000213973336093,-6.65525790663e-05,1793248759554633728
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.169031686,715.169031686,680.169031686,660,634,880.169031686,785,812,651,629,653,0.425186233721,-0.0155290984631,0.069862060795,0.999999975259,-6.48015196237e-05,-0.000201443574401,-6.85846124145e-05,1793248759571300608
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.405737452,715.405737452,680,660,634,880,785,812.405737452,651,629.405737452,653,0.426144701684,-0.0155322697086,0.0699104433993,0.999999987978,-6.05849643836e-05,-0.00012829489604,-6.25591972362e-05,1793248759587967232
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.978676392,715.978676392,680,660,634,880,785,812.978676392,651,629.978676392,653,0.42711397561,-0.0155354339285,0.0699794078569,0.999999996602,-5.52649810594e-05,-3.01655974436e-05,-5.32133647857e-05,1793248759604633856
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.432579842,715.432579842,680.567420158,660,634,880.567420158,785,813,651.567420158,630,653,0.428054721719,-0.0155361127911,0.0700146949546,0.999999996783,-5.7709643336e-05,1.87836303458e-05,-5.24445724187e-05,1793248759621300224
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.154193227,744.154193227,715,681,660,634,880.845806773,785,813,651.845806773,630,653,0.428998759019,-0.0155371036083,0.07004043928,0.999999995065,-6.21840676806e-05,5.70569764446e-05,-5.24131691159e-05,1793248759637967104
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.733842843,744.733842843,715,681,660,634,880.266157157,785,813,651.266157157,630,653,0.429954920324,-0.0155392202793,0.0700434449183,0.999999993489,-7.14308953931e-05,7.11186792796e-05,-5.3501547272e-05,1793248759654634240
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.69233117,660,634,880,785,813.30766883,651,630,653,0.430816532288,-0.0155369711918,0.0700038837366,0.999999995913,-7.03482786993e-05,3.57102531655e-06,-5.667481952e-05,1793248759671300864
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.123449513,660,634,880,785,813.876550487,651,630,653,0.431597871201,-0.0155310155468,0.069928183049,0.999999987392,-6.04958953281e-05,-0.000133263502042,-6.1618179495e-05,1793248759687967744
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680.448277655,660.448277655,634,880.448277655,785,813.551722345,651,630,653,0.432461831019,-0.0155327285927,0.0699008249833,0.999999981494,-6.30298917175e-05,-0.000169900040992,-6.46034003476e-05,1793248759704634112
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.978059107,745,715.021940893,681,661,633.978059107,881,785,813.021940893,651,630.021940893,653,0.433351434867,-0.015536601131,0.0698899495342,0.999999980237,-6.89227053848e-05,-0.000174135519329,-6.67283894477e-05,1793248759721300736
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.373951295,745,715.626048705,681,661,633.373951295,881,785,813.626048705,651,630.626048705,653,0.43431389817,-0.0155413797605,0.069960921134,0.999999993982,-7.28517079264e-05,-5.54777333879e-05,-6.04278845265e-05,1793248759737967104
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.781431586,715.781431586,681,661,633,881,785,814,651,630.781431586,653,0.435254415602,-0.0155440865788,0.0700130039996,0.999999995119,-7.53046010942e-05,3.10132905601e-05,-5.59386599566e-05,1793248759754633984
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.207739786,715.207739786,681,661,633,881,785,814,651,630.207739786,653,0.436159276193,-0.0155434271815,0.0700343970288,0.999999993553,-7.53591580498e-05,6.52407445211e-05,-5.43923493218e-05,1793248759771301120
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,715,681,660.635960797,633.364039203,881,785,814,651,630,653.364039203,0.437008267821,-0.0155437218477,0.070029639345,0.999999993171,-7.91811531975e-05,6.56387613556e-05,-5.54950264859e-05,1793248759787968000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,715,681,660.065267685,633.934732315,881,785,814,651,630,653.934732315,0.437825544295,-0.0155445581065,0.070010036701,0.999999993591,-8.51418076394e-05,4.68328406772e-05,-5.81014530009e-05,1793248759804634624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.526200243,744.526200243,715.526200243,681,660.526200243,634,881,785,814,651,630,653.473799757,0.438567508623,-0.0155430619617,0.0699604432658,0.999999993791,-8.8474753905e-05,-2.62959781195e-05,-6.24370125488e-05,1793248759821300992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.882400867,680.882400867,661,634,880.882400867,785,814.117599133,651.117599133,630,653,0.439299332044,-0.015541136166,0.0699092075095,0.999999988161,-9.01018533052e-05,-0.000105504217638,-6.65520179255e-05,1793248759837967616
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715.301835243,680.301835243,661,634,880.301835243,785,814.698164757,651.698164757,630,653,0.440029519543,-0.0155387046551,0.0698667528856,0.999999977511,-8.63492124797e-05,-0.000181029478979,-6.8919689627e-05,1793248759854634240
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.726603,744.726603,715,680.273397,661.273397,634,880.273397,785,814.726603,651.726603,630,653,0.440815680625,-0.0155393052369,0.0698754922384,0.999999979768,-8.57019624684e-05,-0.00016876308794,-6.81070226912e-05,1793248759871300864
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.157146273,744.157146273,715,680.842853727,661.842853727,634,880.842853727,785,814.157146273,651.157146273,630,653,0.441662455067,-0.0155431892513,0.0699396691983,0.999999992166,-8.84175186749e-05,-6.14277163218e-05,-6.38503885598e-05,1793248759887967232
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.41626784,744.41626784,715,681.41626784,661.58373216,633.58373216,881,785,814,651,630,653,0.442440332678,-0.0155489901867,0.0699951279547,0.999999993796,-9.30496894298e-05,1.70338357548e-05,-5.88264269808e-05,1793248759904634112
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.991190302,744.991190302,715,681.991190302,661.008809698,633.008809698,881,785,814,651,630,653,0.443191951304,-0.0155555217297,0.0700472638961,0.999999990157,-9.8412350923e-05,8.44905471419e-05,-5.35100089436e-05,1793248759921300736
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.586995273,681.413004727,661,633,881,785,814.586995273,651.586995273,630,653,0.443851153386,-0.0155557547948,0.0700352715299,0.999999991595,-9.92996164995e-05,6.30222783034e-05,-5.45721859765e-05,1793248759937967616
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.821784831,681,661.178215169,633,881.178215169,785,815,651.821784831,630,653,0.444498498876,-0.0155556859846,0.0700163663487,0.999999992661,-0.000102478442245,3.21464845688e-05,-5.60552257306e-05,1793248759954633984
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.241638505,681,661.758361495,633,881.758361495,785,815,651.241638505,630,653,0.445122347666,-0.015555157406,0.0699841212822,0.999999992003,-0.000110982526864,-1.68252711364e-05,-5.82635762266e-05,1793248759971300608
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.665467701,744.665467701,715,681,661.665467701,633,881.665467701,785,815,651,630.334532299,653.334532299,0.445727953164,-0.0155554702383,0.0699602299942,0.999999990764,-0.000111439290773,-4.93777844596e-05,-6.01209791491e-05,1793248759987967232
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.092134796,744.092134796,715,681,661.092134796,633,881.092134796,785,815,651,630.907865204,653.907865204,0.446320535939,-0.0155563836986,0.0699423019212,0.999999989996,-0.000106151601279,-7.02096775985e-05,-6.17278635994e-05,1793248760004633856
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.491382116,744.491382116,715.491382116,681,661.491382116,633.491382116,881,785,815,651,630.508617884,653.508617884,0.446852046916,-0.0155576186246,0.0699347689877,0.999999987364,-0.000115883188837,-8.86861670579e-05,-6.30628056913e-05,1793248760021300480
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715.923640432,681,661.923640432,633.923640432,881,785,815,651,630,653,0.447370067984,-0.0155584956139,0.0699286901791,0.999999984376,-0.000125647648184,-0.000106464014012,-6.42338244482e-05,1793248760037967360
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715.341901935,681,661.341901935,633.341901935,881,785,815,651,630,653,0.44787619897,-0.0155565962621,0.0699190623942,0.999999983596,-0.00011659687662,-0.000122602783307,-6.46645434484e-05,1793248760054634240
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715.237480949,681,661,633.237480949,881,785,815,651.237480949,630,653.237480949,0.448379638953,-0.0155567804239,0.0699216099213,0.999999985025,-0.000108858552188,-0.000118890648903,-6.29678863672e-05,1793248760071301120
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715.813505709,681,661,633.813505709,881,785,815,651.813505709,630,653.813505709,0.448879242701,-0.0155599347637,0.0699415141112,0.999999989226,-0.00010299120322,-8.68798195137e-05,-5.82385227693e-05,1793248760087967488
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,716,681.387476273,661,633.612523727,881,785,815.387476273,651.612523727,630.387476273,653.612523727,0.449347228712,-0.0155672889943,0.0699594896473,0.99999998954,-0.000117467877796,-6.21526373873e-05,-5.70769356097e-05,1793248760104634112
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,716,681.960463407,661,633.039536593,881,785,815.960463407,651.039536593,630.960463407,653.039536593,0.449800077237,-0.0155766539945,0.0699765418095,0.999999987466,-0.000141684599325,-4.09126224902e-05,-5.76234816959e-05,1793248760121300992
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,716,682,661,633,881,785,815.448326754,651,630.448326754,653.551673246,0.450148346362,-0.0155801897856,0.0699554497087,0.999999985675,-0.000139974876425,-7.27367980414e-05,-6.13748243549e-05,1793248760137967616
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.140782733,745,716,682,660.859217267,633.140782733,881,784.859217267,815,651,630,653.859217267,0.450473597553,-0.0155826781536,0.0699257554297,0.999999981596,-0.000136036017633,-0.000118454487779,-6.53512258356e-05,1793248760154634240
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.719165727,745,716,682,660.280834273,633.719165727,881,784.280834273,815,651,630,653.280834273,0.450751393675,-0.0155832536759,0.069878110113,0.999999969962,-0.000131141026915,-0.000195133314688,-6.92888856033e-05,1793248760171300864
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.40734537,745,715.703672685,682,660,633.703672685,881,784,815,651,630.296327315,653,0.451027360327,-0.0155831617711,0.0698402990202,0.999999955972,-0.000141384842611,-0.000251464768547,-6.95060175702e-05,1793248760187967744
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.255327851,745,715.127663925,682,660,633.127663925,881,784,815,651,630.872336075,653,0.45130160026,-0.015582439931,0.0698117697273,0.999999942401,-0.000165917059066,-0.000288591837225,-6.62116183611e-05,1793248760204634368
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.446414554,745,715,682,660.446414554,633,881.892829108,783.553585446,815.446414554,651,630.553585446,653,0.451567451386,-0.0155836726039,0.0698016702449,0.999999941696,-0.000150932019404,-0.000299999032713,-6.18680687045e-05,1793248760221300480
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.979390356,661,633,882.958780711,783,815.979390356,651,630,653,0.451829588808,-0.0155855490877,0.0697969815786,0.999999944293,-0.000125713109332,-0.000303828008122,-5.7427312755e-05,1793248760237967104
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.386701418,661,633,881.773402836,783,815.386701418,651,630,653,0.452054946291,-0.0155898480926,0.0697968180119,0.999999944817,-0.000128764680032,-0.000300589391153,-5.85807045236e-05,1793248760254633728
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681.957141364,660,632.042858636,881.957141364,782,815.957141364,651,630,653,0.453560085638,-0.0156000045799,0.0697510340903,0.999999914577,-0.000162099159989,-0.000374366036051,-6.64774863457e-05,1793248760554633984
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.616990038,745,715,681.616990038,660,632.383009962,881,782,815.616990038,651,630,653,0.452797877118,-0.0155561394152,0.0696219228839,0.99999983057,-0.000137540535199,-0.000562003701032,-6.39933536964e-05,1793248761489681152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,744.796183682,715,681.796183682,660,632.203816318,881,782.203816318,815.796183682,651,630,653,0.452647335809,-0.0155487936207,0.0696129295571,0.999999822871,-0.000133929949858,-0.000576558549507,-6.24573702988e-05,1793248761506347776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,744.219848185,715,681.219848185,660,632.780151815,881,782.780151815,815.219848185,651,630,653,0.452480271153,-0.0155413355077,0.0696054101559,0.999999816484,-0.000131769157295,-0.000588220581517,-6.05465675498e-05,1793248761523014400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.644364489,744,715,681,660,633,881,783,815,651,630,653,0.45229928533,-0.0155336920941,0.0696046606176,0.999999815706,-0.000126137697774,-0.000591073918843,-5.75167261966e-05,1793248761539681024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.069406049,744,715,681,660,633,881,783,815,651,630,653,0.452109714211,-0.0155259344037,0.0696080861007,0.999999818385,-0.000118365853239,-0.000588494873127,-5.37967656539e-05,1793248761556347648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.518456589,744.518456589,715,681.518456589,660,633,881,783,815,651,630,653,0.451895003949,-0.0155157574727,0.0696175402285,0.999999826838,-0.000108029472679,-0.000576370650786,-4.95106879901e-05,1793248761573014272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.893875069,660.106124931,633,881,783,815,651,630,653,0.451669116743,-0.0155059090508,0.0696278021764,0.999999835597,-9.80930015423e-05,-0.000563171776324,-4.49576964322e-05,1793248761589681152
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.314964513,660.685035487,633,881,783,815,651,630,653,0.451408811748,-0.0154990037738,0.0696379757509,0.999999843217,-9.15066281583e-05,-0.000551023303848,-3.95618500942e-05,1793248761606349056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.736802183,744.736802183,715,681,660.736802183,633,881,783.263197817,814.736802183,651,630,653,0.451133764957,-0.0154915469547,0.069649674182,0.999999851889,-8.24972326572e-05,-0.000536901061753,-3.39599962754e-05,1793248761623015680
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,744.990897809,715,681,660,633,881,784,814.990897809,651,630,653,0.450189815091,-0.0154734734016,0.069694929092,0.999999886207,2.2483074684e-05,-0.000476319155426,-1.41736085613e-05,1793248761673014272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.579884736,745,715,681,660,633,881,784,814.420115264,651,630,653,0.449825516133,-0.015472627337,0.0697129233079,0.999999898175,1.76983557536e-05,-0.000450867994193,-7.46133942982e-06,1793248761689681152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.83993744,744.83993744,715,681,660.16006256,633,881,784,814,651,630,653,0.449451238643,-0.0154720310472,0.0697344875282,0.999999912571,1.39405473157e-05,-0.000417927011557,-3.92376520845e-07,1793248761706347520
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,744.295214,715,681.295214,660.704786,633,881,784.295214,814,651,630,653,0.448631957688,-0.0154666119566,0.0697925181474,0.999999946985,4.69907781945e-05,-0.000321879434887,1.46885192665e-05,1793248761739680768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744.892809815,715,681.892809815,660.107190185,633,881,784.892809815,814,651,630,653,0.448186024335,-0.0154560106048,0.069817422574,0.999999953248,0.000110641307412,-0.000284297189476,2.09114964327e-05,1793248761756347392
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.048581041,660.951418959,633,881,784.048581041,813.048581041,651,630,652.048581041,0.447112941612,-0.0154476498988,0.0698001486789,0.99999994903,4.22564171773e-05,-0.000316367392818,8.07016873897e-06,1793248761789681664
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.655184313,744,715,681.655184313,659.655184313,634,880,784.344815687,812,651,630,652.344815687,0.435509172452,-0.0154276064103,0.069744539389,0.999999921274,0.000102047117014,-0.000382991934988,1.88366222208e-05,1793248762056347904
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.080859288,744,715,681.080859288,659.080859288,634,880,784.919140712,812,651,630,652.919140712,0.434695773472,-0.0154283030284,0.0697979250078,0.999999946437,0.000109864608546,-0.000307333242657,2.45442399181e-05,1793248762073014784
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744,716,680.571666755,659,634,879,785,811,651,629.571666755,653,0.412865961686,-0.0153467752996,0.0697564572463,0.999999892008,0.000239701828049,-0.00039791550516,1.38043853205e-05,1793248762489680896
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.757711015,744.757711015,715.242288985,680,659,634,880,785.757711015,810,652,629.242288985,652,0.410271102717,-0.015356448654,0.0698652556195,0.999999948158,0.000240262638063,-0.000213207534793,2.23787083356e-05,1793248762556347904
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.08702206,745,715.91297794,679.08702206,659,634,880,785.08702206,810.91297794,652,629,652.91297794,0.408913005717,-0.0153533950591,0.0697959932363,0.999999916325,0.000236556943182,-0.000333425268464,1.47593319459e-05,1793248762589681152
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744.653971816,715.346028184,680.346028184,658.653971816,634.653971816,879,785,811,651.653971816,629,653,0.407244391597,-0.0153462647077,0.0697860636348,0.99999991161,0.000247372082669,-0.000339749882721,1.25091333191e-05,1793248762639681024
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744,715.391510774,680.391510774,658.391510774,634,879,785,810.608489226,651.608489226,629,653,0.405775654166,-0.0153456318316,0.0698086876236,0.99999991785,0.000246669134487,-0.000321337768045,1.4008934866e-05,1793248762689680896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,715.962648325,680.962648325,658.962648325,634,879,785,810.037351675,651.037351675,629,653,0.405306929803,-0.0153443294195,0.0697976742818,0.999999910463,0.000247508797841,-0.000343008350336,1.25927759813e-05,1793248762706347520
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744.72106054,716,679.72106054,659,635,879,785.72106054,811,651.27893946,628.27893946,652.72106054,0.404225980274,-0.0153458686734,0.0698374986364,0.999999931802,0.000253378168926,-0.000268230976702,1.5707134442e-05,1793248762756347648
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.125339986,716,680,658.125339986,634.125339986,879,785.125339986,810.125339986,651,628.874660014,652.125339986,0.403578501252,-0.0153426615359,0.0698494456546,0.999999938873,0.000251393287405,-0.000242564008416,1.48006980425e-05,1793248762789680896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744,715.551164688,680,658.448835312,634.448835312,879,785.448835312,810,651.448835312,628.551164688,652,0.403267905326,-0.015340180915,0.0698367699591,0.999999932902,0.000253838097165,-0.000263786218961,1.34180503585e-05,1793248762806347776
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,715.797966954,680,658.202033046,634,878,785,810,651.797966954,629,652.202033046,0.402481112968,-0.0153326539785,0.0698121320747,0.999999913107,0.000280016147409,-0.000308529560343,1.36709504104e-05,1793248762856347648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744,715.218985046,680,658.781014954,634,878,785,810,651.218985046,629,652.781014954,0.402270444088,-0.0153331925398,0.0698081592523,0.999999910281,0.000285762745746,-0.000312336300493,1.49411872023e-05,1793248762873014016
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.066559197,634,878,785,810,651.933440803,629,652.066559197,0.40189424059,-0.0153352588083,0.0697975233038,0.999999905287,0.000279199666729,-0.000333440726639,1.70556931574e-05,1793248762906347520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.507620289,715.507620289,680,658,634,878.507620289,785,810,651.492379711,629,652.507620289,0.401750097983,-0.0153384665299,0.0697989211171,0.999999908602,0.000272776039064,-0.000328698635012,1.86382449715e-05,1793248762923014400
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.324532878,744.324532878,716,680,658,634,879,785,810,651.675467122,629,653,0.40150132026,-0.0153399157619,0.0698006394266,0.999999910338,0.000272040558067,-0.000323880312641,2.04706126121e-05,1793248762956347904
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.261646778,744,716,680,658.261646778,634,878.738353222,785,810,651.738353222,628.738353222,652.738353222,0.401400306337,-0.0153393212402,0.0698006110509,0.999999906933,0.000285710666478,-0.000322778354757,1.78215117893e-05,1793248762973014528
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,744.256843962,716,680,659,634,878,785,810,651.743156038,629,652,0.401049510638,-0.0153438221273,0.0698033728975,0.999999920054,0.00024458577436,-0.00031633325978,-1.54136380496e-06,1793248763073014016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634,878.320610113,785,810,651.679389887,629,652.320610113,0.401023301078,-0.0153428538431,0.0698035583582,0.999999920072,0.000246512134233,-0.000314781607003,-9.05235608549e-07,1793248763089680896
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.638935616,680,659,634,878.361064384,785.361064384,810,651.361064384,629,652.361064384,0.400974500878,-0.0153408050215,0.0698088508107,0.999999922336,0.000252429892331,-0.000302665695161,5.94300093609e-07,1793248763156347648
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.196023635,716,680,658.196023635,634,878.803976365,785,810,651,629,652.803976365,0.400965587193,-0.0153424488264,0.0698087233818,0.999999922747,0.000250684260778,-0.00030275957779,6.99051537153e-07,1793248763189680640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.381267258,634.381267258,879,785,810,651.381267258,628.618732742,653,0.400964268131,-0.0153422464562,0.069809881467,0.999999923283,0.000250560717614,-0.000301085326506,7.54462110136e-07,1793248763206347264
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.957741359,634.957741359,879,785,810,651.957741359,628.042258641,653,0.400964134275,-0.0153414917493,0.0698117656991,0.999999923858,0.000251537984803,-0.000298348743281,8.6985926349e-07,1793248763223013888
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.28546279,634.71453721,878,785.71453721,810,651.71453721,629,652.71453721,0.400961121631,-0.0153431217503,0.069811760266,0.999999923638,0.000251864054025,-0.000298807306985,1.33025475673e-06,1793248763289680640
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddbb476479e998fc9080eebcf45d29f7fb8e26ca
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad552682cd6c62556918a0c585ccc22d4dcaf068
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e832f3e19fc142cde0e9bb7d6f86e7fbab79275385f13717e36eabac956d5ca8
+size 25262557
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0582e0dbb092e4e70fbc988e3acfaea0f72e628d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,399 @@
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+20,0.333333333,BASELINE,765,745,715.386651003,680,658.386651003,634,878.613348997,785,810,651,628,653,0.401039942677,-0.0154885037505,0.0798690388351,0.999999979744,0.000135745871295,-0.000142326486688,4.27513515973e-05,1793248765137590528
+21,0.350000000,BASELINE,765,744.798591149,715.201408851,680,658,634,878.798591149,785,810,651,628.201408851,653,0.401040269035,-0.0154879857312,0.0798691442992,0.999999979437,0.000137595779067,-0.000142681102691,4.28523019814e-05,1793248765154257408
+22,0.366666667,BASELINE,765,744.2212407,715.7787593,680,658,634,878.2212407,785,810,651,628.7787593,653,0.401041221834,-0.0154875595662,0.0798696123014,0.999999979443,0.000138270983421,-0.000142065015959,4.25701793976e-05,1793248765170923776
+23,0.383333333,BASELINE,765.353345051,744,716,680,658,634,878,785,810,651,629,653,0.401041153959,-0.0154879165796,0.0798694736294,0.999999979586,0.000137095601504,-0.000142236026673,4.24562237969e-05,1793248765187590400
+24,0.400000000,BASELINE,765.926213228,744,716,680,658,634,878,785,810,651,629,653,0.401040451969,-0.0154887601592,0.0798689580484,0.999999979808,0.000134770503578,-0.000142896038354,4.24467454833e-05,1793248765204257280
+25,0.416666667,BASELINE,765.484566927,744,716,680,658.515433073,634,878.515433073,785,810,651,628.484566927,653,0.401041280382,-0.0154869959672,0.0798694884782,0.999999979652,0.000136697780185,-0.00014215580771,4.24463571897e-05,1793248765220924160
+26,0.433333333,BASELINE,765,744.104816074,716,679.895183926,659,634,878.895183926,785,810,651,628,653,0.401041590089,-0.0154854912836,0.0798697287284,0.999999979432,0.000138518974742,-0.000141941291022,4.24321489561e-05,1793248765237590784
+27,0.450000000,BASELINE,765,744.683996748,716,679.316003252,659,634,878.316003252,785,810,651,628,653,0.401038528295,-0.0154869059141,0.0798679558315,0.999999979198,0.000137014809215,-0.000145042893302,4.234931388e-05,1793248765254257408
+28,0.466666667,BASELINE,765,745,716,679.262540038,658.737459962,634,878.262540038,785,810,651,628.262540038,653,0.401037872457,-0.0154873552075,0.0798675943842,0.999999979191,0.000136924260626,-0.000145209874976,4.22384677206e-05,1793248765270924032
+29,0.483333333,BASELINE,765,745,716,679.84031797,658.15968203,634,878.84031797,785,810,651,628.84031797,653,0.401040105506,-0.015486645398,0.0798689276974,0.999999979457,0.000138531074674,-0.000141853189644,4.20939880105e-05,1793248765287590912
+30,0.500000000,BASELINE,765,744.586508637,716,680,658.413491363,634,879,785,810,651,628.586508637,653,0.401040478243,-0.0154873729243,0.0798692259668,0.999999979577,0.000137939356301,-0.000141506734941,4.2364796901e-05,1793248765304257792
+31,0.516666667,BASELINE,765,744.015093853,716,680,658.984906147,634,879,785,810,651,628.015093853,653,0.401040140475,-0.0154886494077,0.0798691289253,0.999999979641,0.000136507959507,-0.000142309967974,4.27942156284e-05,1793248765320924672
+32,0.533333333,BASELINE,765.576723709,744,716,680,659,634,878.423276291,785,810,651,628.576723709,653,0.401040307841,-0.0154890682975,0.0798698364721,0.999999979367,0.000138725761065,-0.000141986730278,4.31465241356e-05,1793248765337591296
+33,0.550000000,BASELINE,766,744.165437987,716,679.834562013,659,634.165437987,878,785,810,651,629,652.834562013,0.401040324167,-0.0154893448912,0.0798702006367,0.999999979259,0.000139492102921,-0.000141966479679,4.32276067222e-05,1793248765354257920
+34,0.566666667,BASELINE,766,744.744998405,716,679.255001595,659,634.744998405,878,785,810,651,629,652.255001595,0.401039928107,-0.0154893235349,0.079869650607,0.999999979599,0.000136377330754,-0.000142781167588,4.2634996679e-05,1793248765370924288
+35,0.583333333,BASELINE,765.679682435,744.679682435,716,679.320317565,659,634.679682435,878.320317565,785,810,651.320317565,629,652.320317565,0.401040070409,-0.0154891043025,0.0798694369219,0.999999979726,0.000135410519222,-0.000142915623086,4.22653956063e-05,1793248765387590656
+36,0.600000000,BASELINE,765.107695514,744.107695514,716,679.892304486,659,634.107695514,878.892304486,785,810,651.892304486,629,652.892304486,0.401040635696,-0.0154887296016,0.0798694874982,0.999999979694,0.000136131332162,-0.000142515628891,4.20710097252e-05,1793248765404257024
+37,0.616666667,BASELINE,765.466868861,744,716,680,659,634,878.533131139,785,810,651.533131139,628.533131139,653,0.401041025998,-0.0154887306587,0.079870165188,0.999999979789,0.000136049585221,-0.000141834713925,4.23637480467e-05,1793248765420923904
+38,0.633333333,BASELINE,765.956630503,744,716,679.956630503,659,634,878.043369497,785,810,651.043369497,628.043369497,653,0.401041346524,-0.015488827878,0.0798709204352,0.999999979916,0.000135720976001,-0.000141147431906,4.27309516295e-05,1793248765437591040
+39,0.650000000,BASELINE,765.363152821,744,716,679.363152821,659,634,878.636847179,785,810,651.636847179,628.636847179,653,0.401041296824,-0.0154890392867,0.0798708143537,0.999999980061,0.000134622394928,-0.000141205910415,4.26094773221e-05,1793248765454257664
+40,0.666666667,BASELINE,765,744,716,679.224072678,659,634,879,785,810,651.775927322,628.775927322,653,0.401041213785,-0.0154891451863,0.0798705849217,0.999999980054,0.000134562075553,-0.000141317215079,4.2586331507e-05,1793248765470924544
+41,0.683333333,BASELINE,765,744,716,679.801440334,659,634,879,785,810,651.198559666,628.198559666,653,0.401041078179,-0.01548908473,0.0798701610031,0.999999979808,0.000136138781549,-0.000141511810638,4.27182200515e-05,1793248765487591168
+42,0.700000000,BASELINE,765.378038737,744.378038737,716,679.621961263,658.621961263,634,879,785,810,651,628,653,0.401040093477,-0.0154892014662,0.0798694502065,0.999999979625,0.000136410126285,-0.000142563132437,4.2641038919e-05,1793248765504257792
+43,0.716666667,BASELINE,765.954233902,744.954233902,716,679.045766098,658.045766098,634,879,785,810,651,628,653,0.401038663703,-0.0154894110814,0.0798685890371,0.999999979474,0.000135997240229,-0.000144063524117,4.24542698047e-05,1793248765520924160
+44,0.733333333,BASELINE,766,745,716,679.540802354,658,634,879,785,810.540802354,651,628.540802354,653,0.401038973551,-0.0154879164463,0.0798685242413,0.999999979392,0.000136611783114,-0.000144088652268,4.23274803864e-05,1793248765537591040
+45,0.750000000,BASELINE,766,745,716,680,658,634,879,785,811,651.126442344,629,653,0.401039271161,-0.0154872881126,0.0798686385005,0.999999979365,0.000136965126491,-0.000143947965978,4.23079873108e-05,1793248765554257408
+46,0.766666667,BASELINE,766,745,716,680,658,634,879,785,811,651.705554052,629,653,0.401038987606,-0.0154902876055,0.0798691477924,0.999999979513,0.000136066000083,-0.000143669351947,4.26540928841e-05,1793248765570924032
+47,0.783333333,BASELINE,766,744.716266799,716,680,658.283733201,634,879,785,810.716266799,652,628.716266799,653,0.401038934588,-0.0154909379366,0.0798697899389,0.999999979658,0.000135194107198,-0.000143457161983,4.27401429858e-05,1793248765587590912
+48,0.800000000,BASELINE,766,744.139052177,716,680,658.860947823,634,879,785,810.139052177,652,628.139052177,653,0.401039120028,-0.0154891583959,0.0798705695044,0.9999999798,0.000134350383389,-0.000143313678185,4.25572029341e-05,1793248765604258048
+49,0.816666667,BASELINE,766,744,716,680,658.563473101,634,878.563473101,785,810,651.563473101,628,653,0.401039737674,-0.0154880016113,0.0798707022968,0.999999979752,0.00013547158399,-0.000142695260558,4.22176391548e-05,1793248765620924672
+50,0.833333333,BASELINE,765.988133732,744,716,679.988133732,658.011866268,634.011866268,878.011866268,785,810.011866268,651,628,653,0.401040458854,-0.0154870772322,0.079870609128,0.999999979642,0.000137157666999,-0.000141959216446,4.18422376924e-05,1793248765637591296
+51,0.850000000,BASELINE,765.399208378,744,716,679.399208378,658.600791622,634.600791622,878.600791622,785,810.600791622,651,628,653,0.40103954462,-0.0154878438252,0.0798695090243,0.999999979665,0.000135989536717,-0.00014283259666,4.21412062255e-05,1793248765654257920
+52,0.866666667,BASELINE,765.186806426,744,716,679.186806426,659,634.813193574,879,785,810.813193574,651,628,653,0.401039416037,-0.0154881004126,0.0798691106873,0.999999979707,0.000135533351396,-0.000142931278912,4.22880677307e-05,1793248765670924288
+53,0.883333333,BASELINE,765.766696727,744,716,679.766696727,659,634.233303273,879,785,810.233303273,651,628,653,0.401040940641,-0.0154872838303,0.0798701890298,0.99999997979,0.000136575262818,-0.000141399817627,4.21148608916e-05,1793248765687590912
+54,0.900000000,BASELINE,765.656690951,744.343309049,716,680,658.656690951,634,878.656690951,785,810,651,628.343309049,653,0.401040712147,-0.0154874250758,0.0798702250105,0.999999979691,0.000137054423642,-0.00014160047725,4.22346884057e-05,1793248765704257280
+55,0.916666667,BASELINE,765.082285207,744.917714793,716,680,658.082285207,634,878.082285207,785,810,651,628.917714793,653,0.401039303564,-0.0154882110781,0.0798695593308,0.999999979469,0.000137154771799,-0.000142967105086,4.25517704728e-05,1793248765720923904
+56,0.933333333,BASELINE,765.491744418,744.508255582,716,680,658.491744418,634,878,785.491744418,810.491744418,651,629,653,0.401039210692,-0.0154876473745,0.0798699751873,0.999999979333,0.000138376506909,-0.000142762992217,4.24811915195e-05,1793248765737591040
+57,0.950000000,BASELINE,765.932196199,744.067803801,716,680,658.932196199,634,878,785.932196199,810.932196199,651.067803801,629,653,0.401039372098,-0.0154870255723,0.0798704574977,0.999999979248,0.000139427141073,-0.000142371542924,4.23558706104e-05,1793248765754257920
+58,0.966666667,BASELINE,765.33995115,744.66004885,716,680,658.33995115,634,878,785.33995115,810.33995115,651.66004885,629,653,0.401039798677,-0.0154876999451,0.0798700550776,0.999999979462,0.000137704092984,-0.000142562515027,4.23084926622e-05,1793248765770924544
+59,0.983333333,BASELINE,765,744.753074205,716,680,658.246925795,634,878.246925795,785,810,651.753074205,629,653,0.401040155148,-0.0154879359742,0.0798698992282,0.999999979572,0.000137023595884,-0.000142432528672,4.23463754612e-05,1793248765787591424
+60,1.000000000,BASELINE,765,744.17343038,716,680,658.82656962,634,878.82656962,785,810,651.17343038,629,653,0.401040417151,-0.0154875813611,0.0798700756185,0.999999979546,0.000137747874866,-0.000141870069645,4.24991421114e-05,1793248765804257792
+61,1.016666667,BASELINE,765,744,716,679.598551917,659,634.401448083,879,785,810,651.401448083,629,653,0.401041178829,-0.0154877619419,0.0798706503208,0.999999979664,0.000138011589205,-0.000140709009216,4.27216845213e-05,1793248765820924928
+62,1.033333333,BASELINE,765,744,716,679.025708032,659,634.974291968,879,785,810,651.974291968,629,653,0.40104215384,-0.0154881710205,0.0798713950801,0.999999979843,0.000138078668242,-0.000139292379616,4.29740172558e-05,1793248765837592064
+63,1.050000000,BASELINE,765,744.562582453,716,679.562582453,659,634.437417547,878.437417547,785,810.562582453,651.437417547,629,653,0.401041784057,-0.0154878879555,0.079871941104,0.99999997984,0.000137848222658,-0.00013961596798,4.27273097013e-05,1793248765854258688
+64,1.066666667,BASELINE,765,744.850085236,716,680,659,634,878.149914764,785,810.850085236,651,629,653,0.401041195538,-0.0154874072034,0.0798719678012,0.999999979803,0.000137668430347,-0.000140155534394,4.24031711184e-05,1793248765870925056
+65,1.083333333,BASELINE,765,744.267611779,716,680,659,634,878.732388221,785,810.267611779,651,629,653,0.4010401582,-0.0154864498888,0.0798705229947,0.999999979692,0.000137675127597,-0.000141082348959,4.19232723907e-05,1793248765887591424
+66,1.100000000,BASELINE,765.309216484,744.309216484,716,680,659,634.309216484,879,785,810,651,629,653,0.401040345963,-0.0154868621414,0.0798703071261,0.999999979661,0.000137923954575,-0.000141022917561,4.20351997957e-05,1793248765904258304
+67,1.116666667,BASELINE,765.881246673,744.881246673,716,680,659,634.881246673,879,785,810,651,629,653,0.40104157498,-0.0154884384364,0.079871135774,0.999999979699,0.00013837857592,-0.000140125241818,4.26501405722e-05,1793248765920925184
+68,1.133333333,BASELINE,765.543806011,744.543806011,716,679.543806011,659,635,879,785,810.456193989,651,629,653,0.401040822437,-0.0154881146599,0.0798707928807,0.99999997941,0.000139512275408,-0.000140999895802,4.28403124299e-05,1793248765937591552
+69,1.150000000,BASELINE,765,744,716,679.032728694,659,634.967271306,879,785,810.967271306,651,629,653,0.401039694017,-0.0154873304413,0.0798702528298,0.999999979082,0.000140666312533,-0.000142161865989,4.28917723339e-05,1793248765954258176
+70,1.166666667,BASELINE,765,744,716,679.623292342,659,634.376707658,879,785,810.376707658,651,629,653,0.401041007476,-0.0154871829086,0.079871583771,0.999999979576,0.000139134639122,-0.00014030677262,4.24757539467e-05,1793248765970924288
+71,1.183333333,BASELINE,765,744.209699398,716,680,658.790300602,634,878.790300602,785,810,651,629,653,0.401041269891,-0.0154871896791,0.0798718082432,0.999999979725,0.000138470529834,-0.000139972983524,4.22287442693e-05,1793248765987590912
+72,1.200000000,BASELINE,765,744.788784707,716,680,658.211215293,634,878.211215293,785,810,651,629,653,0.401039680891,-0.0154874682551,0.0798700836682,0.999999979272,0.00013933463623,-0.000142318974643,4.22794437037e-05,1793248766004257536
+73,1.216666667,BASELINE,765,745,716,679.634246198,658.365753802,634,878,785.365753802,810,651,628.634246198,653,0.401040054488,-0.0154872836186,0.0798704360529,0.999999979229,0.000139652177792,-0.000142295027918,4.23291802511e-05,1793248766020924160
+74,1.233333333,BASELINE,765,745,716,679.058492178,658.941507822,634,878,785.941507822,810,651,628.058492178,653,0.401041554926,-0.0154868330251,0.0798719809394,0.999999979422,0.000139655905103,-0.000140910363915,4.2378363947e-05,1793248766037591296
+75,1.250000000,BASELINE,765,745,716,679.527031689,659,634,878,785.472968311,810.527031689,651,628.527031689,653,0.401040768811,-0.0154866734454,0.0798710391048,0.999999979333,0.000139544829164,-0.000141694732448,4.22427720367e-05,1793248766054258176
+76,1.266666667,BASELINE,765,744.88784751,716,680,659,634.11215249,878.11215249,785,810.88784751,651,628.88784751,653,0.401039960041,-0.0154864547952,0.0798700464408,0.999999979226,0.000139506284577,-0.000142523219073,4.21033107467e-05,1793248766070925056
+77,1.283333333,BASELINE,765,744.309001228,716,680,659,634.690998772,878.690998772,785,810.309001228,651,628.309001228,653,0.401040132951,-0.0154858534009,0.0798700124028,0.999999979186,0.000139823581837,-0.000142514642537,4.20346951275e-05,1793248766087591424
+78,1.300000000,BASELINE,765.270174417,744,716,679.729825583,659,634.729825583,879,785,810,651,628.270174417,653,0.401040231442,-0.0154859977319,0.0798700230576,0.999999979331,0.000138922505741,-0.000142390949757,4.19925027452e-05,1793248766104258048
+79,1.316666667,BASELINE,765.849727177,744,716,679.150272823,659,634.150272823,879,785,810,651,628.849727177,653,0.401040244714,-0.0154869959975,0.0798700848905,0.999999979684,0.000136626262989,-0.000142135436677,4.19805677746e-05,1793248766120924416
+80,1.333333333,BASELINE,765.575557984,744,716,679,659,634,878.575557984,785,810,651.424442016,628.575557984,653,0.401040027131,-0.0154877231418,0.0798701572784,0.999999979704,0.000136621005477,-0.000141999333497,4.19884112462e-05,1793248766137590784
+81,1.350000000,BASELINE,765.002536651,744,716,679,659,634,878.002536651,785,810,651.997463349,628.002536651,653,0.401039728736,-0.015488355378,0.079870233361,0.999999979608,0.000137417725458,-0.000141905030683,4.20031783184e-05,1793248766154257152
+82,1.366666667,BASELINE,765.586616518,744.586616518,716,679.586616518,658.413383482,634,878.586616518,785,810.586616518,652,628,653,0.40103936201,-0.0154868082986,0.0798697630081,0.999999979299,0.000138770059103,-0.000142746234535,4.2056784783e-05,1793248766170924800
+83,1.383333333,BASELINE,766,745,716,680,658.173444882,634,878.826555118,785,811,652,628.173444882,653,0.401039029098,-0.0154856848178,0.0798693992912,0.999999979005,0.000140064177123,-0.000143519260182,4.21110404283e-05,1793248766187591936
+84,1.400000000,BASELINE,766,745,716,680,658.754639379,634,878.245360621,785,811,652,628.754639379,653,0.401038776392,-0.0154855799507,0.0798692919756,0.999999978754,0.000141215629028,-0.000144122227603,4.21664162404e-05,1793248766204258560
+85,1.416666667,BASELINE,766,745,716,680,659,634.331961662,878.331961662,785.331961662,810.668038338,651.668038338,629,653,0.401038926159,-0.0154862196921,0.0798696788176,0.999999978942,0.000140461880392,-0.000143526401811,4.22605270383e-05,1793248766220924928
+86,1.433333333,BASELINE,766,745,716,680,659,634.906454866,878.906454866,785.906454866,810.093545134,651.093545134,629,653,0.401039369973,-0.0154874034453,0.0798704266917,0.999999979446,0.000138316190151,-0.000142054736393,4.23829376543e-05,1793248766237591296
+87,1.450000000,BASELINE,766,744.518657263,716,680,658.518657263,635,878.518657263,785.518657263,810,651.481342737,628.518657263,653,0.401039019105,-0.0154875753173,0.0798700205798,0.999999979507,0.000137327784736,-0.000142691299681,4.20232972605e-05,1793248766254257664
+88,1.466666667,BASELINE,765.942193436,744.057806564,716,679.942193436,658,634.942193436,878,785.057806564,810,652,628.057806564,653,0.401038605311,-0.015487508061,0.0798695032453,0.999999979454,0.000136905761988,-0.000143569215454,4.16690507507e-05,1793248766270924288
+89,1.483333333,BASELINE,765.351920257,744.648079743,716,679.351920257,658,634.351920257,878,785.648079743,810,652,628.648079743,653,0.401039035637,-0.0154870510245,0.0798700288861,0.999999979151,0.000139627413292,-0.000142893194148,4.22281252456e-05,1793248766287590656
+90,1.500000000,BASELINE,765,745,716,679.23407997,658.23407997,634,878.23407997,785.76592003,810,651.76592003,629,653,0.401039022667,-0.0154866864564,0.0798698994539,0.99999997889,0.000141272240343,-0.000143048522588,4.24156477053e-05,1793248766304257280
+91,1.516666667,BASELINE,765,745,716,679.813771274,658.813771274,634,878.813771274,785.186228726,810,651.186228726,629,653,0.401038355187,-0.015486458415,0.0798688028281,0.999999978699,0.000141327171755,-0.000144431311494,4.20545858241e-05,1793248766320924160
+92,1.533333333,BASELINE,765.389797616,744.610202384,716,679.610202384,659,634,879,785.389797616,810.389797616,651,629,653,0.401037470252,-0.0154869271238,0.079868322758,0.999999978731,0.000140272786889,-0.000145214860253,4.21329116066e-05,1793248766337591040
+93,1.550000000,BASELINE,765.964089355,744.035910645,716,679.035910645,659,634,879,785.964089355,810.964089355,651,629,653,0.401036482395,-0.0154877256095,0.0798681345082,0.999999978866,0.000138693354348,-0.000145714784297,4.24192028205e-05,1793248766354258176
+94,1.566666667,BASELINE,766,744,716,679.548332925,659,634,879,785.451667075,810.451667075,651,629,653,0.401038317582,-0.0154863006456,0.0798693844648,0.99999997888,0.000139856755968,-0.000144555248633,4.22464170856e-05,1793248766370924544
+95,1.583333333,BASELINE,766,744,716,680,659,634,879,785,810,651,629,653,0.401039935814,-0.0154854123162,0.079870464304,0.999999978976,0.000140452916381,-0.000143337965066,4.21347324841e-05,1793248766387591168
+96,1.600000000,BASELINE,766,744,716,680,659,634,879,785,810,651,629,653,0.401040180284,-0.0154868458475,0.0798706422773,0.999999979387,0.000138506025953,-0.000142300140837,4.23339737949e-05,1793248766404257792
+97,1.616666667,BASELINE,765.703926614,744.296073386,716,680,658.703926614,634.296073386,879.296073386,785,810,651.296073386,629,653,0.401039554397,-0.0154877891879,0.079870218223,0.999999979518,0.000137401536413,-0.000142491137404,4.22096176223e-05,1793248766420924416
+98,1.633333333,BASELINE,765.132033505,744.867966495,716,680,658.132033505,634.867966495,879.867966495,785,810,651.867966495,629,653,0.401038117691,-0.01548827587,0.0798692333243,0.999999979388,0.000137081821271,-0.000143826894171,4.17838004753e-05,1793248766437590784
+99,1.650000000,BASELINE,765.444392775,745,716,680,658.444392775,634.555607225,879.11121445,785.444392775,810.444392775,652,629,652.555607225,0.401038294093,-0.0154876044369,0.0798690346042,0.999999979357,0.000137395405422,-0.00014379779423,4.16052020763e-05,1793248766454257664
+100,1.666666667,BASELINE,765.977289046,745,716,680,659,634,878.022710954,786,811,651.977289046,628.977289046,652.022710954,0.401038979505,-0.0154865559519,0.0798691203842,0.999999979344,0.000138018905639,-0.000143313051504,4.15224151922e-05,1793248766470924288
+101,1.683333333,BASELINE,765.385664763,745,716,680,659,634,878.614335237,786,811,651.385664763,628.385664763,652.614335237,0.401040286182,-0.0154847705322,0.0798704213809,0.999999979051,0.000141643852501,-0.000141677225214,4.19807968341e-05,1793248766487591168
+102,1.700000000,BASELINE,765.201684901,744.798315099,716,680,659,634.201684901,878.798315099,785.798315099,810.798315099,651,628.201684901,653,0.401040778076,-0.0154841568149,0.0798709481204,0.999999978867,0.000143277785742,-0.00014127832106,4.21721266249e-05,1793248766504258048
+103,1.716666667,BASELINE,765.78103016,744.21896984,716,680,659,634.78103016,878.21896984,785.21896984,810.21896984,651,628.78103016,653,0.401039744268,-0.0154857371418,0.0798700250423,0.999999978905,0.000141183492434,-0.000143195586806,4.18633946457e-05,1793248766520924672
+104,1.733333333,BASELINE,766,744.356375247,716,680,659,634.643624753,878.356375247,785,810.356375247,651,629,653,0.401039929816,-0.0154863115061,0.0798701526518,0.999999979046,0.000140011885284,-0.000143361350984,4.18585309485e-05,1793248766537591040
+105,1.750000000,BASELINE,766,744.929289819,716,680,659,634.070710181,878.929289819,785,810.929289819,651,629,653,0.401040856262,-0.0154862746316,0.0798709186758,0.999999979252,0.000139400916867,-0.000142462874852,4.20383024724e-05,1793248766554257408
+106,1.766666667,BASELINE,766,745,716,680,658.496278714,634,878.496278714,785,810.496278714,651,629,653,0.401040224597,-0.0154868703929,0.0798705557967,0.999999979415,0.00013851458051,-0.000142239860831,4.18397293242e-05,1793248766570924032
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,716,680,659,635,879,786,810,652,629,653,0.401037643396,-0.015487383602,0.0798701465329,0.999999979085,0.000138181660084,-0.000144768943316,4.21548139711e-05,1793248766613393152
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634.421518398,879,785.421518398,810,651.421518398,629,653,0.401038341663,-0.0154878283003,0.0798703826103,0.999999979147,0.000138651294724,-0.000143950148164,4.19504786382e-05,1793248766630059776
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844973965,744.155026035,716,680,659,634.155026035,879,785,810.155026035,651,628.844973965,653,0.401038914234,-0.01548780428,0.0798704643177,0.99999997922,0.00013890658677,-0.000143239250328,4.18083338102e-05,1793248766646726400
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.2736316,744.7263684,716,680,659,634.7263684,879,785,810.7263684,651,628.2736316,653,0.401039149251,-0.0154865215347,0.0798701314707,0.999999979323,0.000138586270298,-0.000142818106316,4.18331990965e-05,1793248766663392768
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.693075394,716,680,659,634.693075394,878.693075394,785.306924606,810.693075394,651,628,653,0.40103973142,-0.0154858874822,0.0798702043397,0.999999979409,0.0001385952312,-0.000142195989112,4.18652038684e-05,1793248766680058880
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.104050608,716,680,659,634.104050608,878.104050608,785.895949392,810.104050608,651,628,653,0.401040632662,-0.0154858496555,0.0798706501098,0.999999979479,0.000138906837152,-0.000141389153694,4.19037706744e-05,1793248766696725248
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.477855946,744,716,679.522144054,659,634,878.477855946,785.522144054,810,651,628,653,0.401039655042,-0.0154861666961,0.0798705237746,0.999999979322,0.000138240076793,-0.000143161178958,4.18382095173e-05,1793248766713392128
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.942255297,744.057744703,716,679.057744703,659,634,879,785,810.057744703,651,628.057744703,653,0.401038391273,-0.015486448988,0.0798703347218,0.999999979054,0.00013759524369,-0.000145659186711,4.17549815539e-05,1793248766730058752
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366765189,744.633234811,716,679.633234811,659,634,879,785,810.633234811,651,628.633234811,653,0.401038176164,-0.0154857370715,0.079870683878,0.99999997826,0.000139029064689,-0.000149705562399,4.1713658669e-05,1793248766746725120
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.792611661,716,680,659,634.207388339,879,785.207388339,810.792611661,651,628.792611661,653,0.401042807582,-0.0154856973651,0.0798725974914,0.999999977719,0.000140148146193,-0.00015221648547,4.18379980688e-05,1793248766763392000
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.220806792,716,680,659,634.779193208,879,785.779193208,810.220806792,651,628.220806792,653,0.401055955171,-0.0154868388459,0.079877260122,0.999999977651,0.000140714176803,-0.000152029357109,4.2253434242e-05,1793248766780058880
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.366289355,744.366289355,715.633710645,680,658.633710645,634.633710645,878.633710645,785.633710645,810.366289355,651,628,653,0.401086004843,-0.0154883617219,0.0798869389982,0.999999978821,0.0001405376933,-0.000144194446994,4.26089663893e-05,1793248766796727296
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.963005037,744.963005037,715.036994963,680,658.036994963,634.036994963,878.036994963,785.036994963,810.963005037,651,628,653,0.401126687326,-0.0154901245273,0.0798997735084,0.999999980641,0.000139894106987,-0.000131548449014,4.29268139804e-05,1793248766813396992
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.462228647,744.462228647,715.537771353,680,658,634,878,785,810.462228647,651,628.537771353,653,0.401190637369,-0.0154923899113,0.0799143682648,0.999999982994,0.000139631076732,-0.000112664710792,4.26801930037e-05,1793248766830061056
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.111770006,716,680,658.111770006,634,878.111770006,785,810,651,629,653,0.40126113595,-0.0154948693176,0.0799287579812,0.999999985083,0.000139161415473,-9.31661027339e-05,4.22791999333e-05,1793248766846725120
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.688611145,716,680,658.688611145,634,878.688611145,785,810,651,629,653,0.401352483724,-0.0154981010443,0.0799418104336,0.999999987007,0.000137727309043,-7.28245441533e-05,4.13911103934e-05,1793248766863391744
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.727821901,716,679.727821901,659,634,878.727821901,785,810.272178099,651,628.727821901,653,0.401447315944,-0.0155013852591,0.0799501960516,0.99999998809,0.000136489728936,-6.02346947028e-05,3.95261800448e-05,1793248766880058624
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.136365266,716,679.136365266,659,634,878.136365266,785,810.863634734,651,628.136365266,653,0.401546235587,-0.0155047310449,0.0799531072382,0.999999988546,0.000135482684179,-5.67379894098e-05,3.65153665886e-05,1793248766896725248
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.444265254,716,679.444265254,659,634,878,785,810.555734746,651,628,653,0.401666342743,-0.0155073165359,0.0799562177846,0.9999999889,0.000135825566746,-5.16780337144e-05,3.2869741313e-05,1793248766913391872
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.97840461,716,680,659,634,878,785,810,651,628,653,0.40179386462,-0.0155096283492,0.0799594264844,0.999999989203,0.000136473416361,-4.61404723247e-05,2.89895974668e-05,1793248766930058752
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.402522034,716,680,659,634,878,785,810,651,628,653,0.401948747889,-0.0155107630726,0.0799636212197,0.999999989844,0.000134566633086,-4.03670927029e-05,2.39723766013e-05,1793248766946725376
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.173367238,744.173367238,716,679.826632762,658.826632762,634.173367238,878,785,810,651,628.173367238,653,0.402111989268,-0.015511919312,0.0799658454082,0.999999990415,0.000131795452136,-3.81444861843e-05,1.85738441824e-05,1793248766963392000
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.749271976,744.749271976,716,679.250728024,658.250728024,634.749271976,878,785,810,651,628.749271976,653,0.402294637134,-0.0155131255089,0.0799634942276,0.999999990882,0.000127017245884,-4.4166340908e-05,1.22899537196e-05,1793248766980058880
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.665802236,744.665802236,716,679.334197764,658.334197764,634.665802236,878,785,810,651,629,653,0.402487161055,-0.0155138842707,0.0799584055743,0.999999993734,9.68574002694e-05,-5.59094256808e-05,5.0399206069e-06,1793248766996725504
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.073920689,744.073920689,716,679.926079311,658.926079311,634.073920689,878,785,810,651,629,653,0.402687299944,-0.0155142980369,0.0799512061877,0.999999996289,4.71269956242e-05,-7.20638756123e-05,-2.95505919985e-06,1793248767013391872
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.506017663,716,680,658.493982337,634,878.506017663,785,810,651,628.493982337,653,0.402928924172,-0.0155103913181,0.0799481844791,0.99999999602,3.97555225117e-05,-7.90637397369e-05,-1.13763359162e-05,1793248767030058496
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,879,785,810,651,628.083713069,653,0.403184610068,-0.0155058076945,0.0799466205889,0.999999995651,3.75014955283e-05,-8.31037313619e-05,-1.96347935015e-05,1793248767046725120
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,879,785,810,651,628.65825154,653,0.403488028839,-0.0155008704741,0.0799501084308,0.999999996203,2.98075969779e-05,-7.74496634692e-05,-2.65819057334e-05,1793248767063392256
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,716,679.761608442,658,634,878.761608442,785,810,651,629,652.761608442,0.403806399061,-0.0154987080614,0.0799528664276,0.999999996561,2.57304275589e-05,-7.31852830328e-05,-2.93080425389e-05,1793248767080059136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,716,679.173245081,658,634,878.173245081,785,810,651,629,652.173245081,0.40414671881,-0.0155006192177,0.079954552972,0.999999996785,2.69628141298e-05,-7.09610398892e-05,-2.58375569075e-05,1793248767096726016
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,716,679.408724292,658.408724292,634,878,785,810,651,629,652.408724292,0.404524544287,-0.015503645891,0.0799549524227,0.999999997181,2.39187998688e-05,-6.53996225398e-05,-2.80923475088e-05,1793248767113392640
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,716,679.98802519,658.98802519,634,878,785,810,651,629,652.98802519,0.404918022359,-0.0155071381131,0.0799548147191,0.999999997574,1.90900765354e-05,-5.84454721445e-05,-3.27365195114e-05,1793248767130059008
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.434364994,716,680,659,634,878.565635006,785,810,651,629,653,0.405331996231,-0.015507110688,0.0799478959489,0.999999996866,-3.3612509822e-07,-6.94710516372e-05,-3.79733999031e-05,1793248767146725632
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810.141825476,651,628.858174524,653,0.40575829872,-0.0155069684689,0.0799411722465,0.999999995914,-5.63007575276e-06,-8.08890350573e-05,-3.99699508759e-05,1793248767163392256
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810.71381911,651,628.28618089,653,0.406220682671,-0.0155067034002,0.07993547433,0.999999994681,3.28747791704e-05,-9.23461358228e-05,-3.21003736509e-05,1793248767180058880
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.295756892,716,680,659,634.295756892,879,785,811,651,628.295756892,653,0.406703875125,-0.0155134178116,0.0799323747047,0.999999994153,3.16273504814e-05,-9.89507639812e-05,-3.00498646167e-05,1793248767196725504
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.887651702,716,680,659,634.887651702,879,785,811,651,628.887651702,653,0.407207902945,-0.0155271206949,0.0799318767174,0.999999994314,-9.42357043029e-06,-0.000100696669416,-3.38259195882e-05,1793248767213392384
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.53058746,679.53058746,659.46941254,634.53058746,879,785,811,651,628.53058746,653,0.407730099,-0.0155371807993,0.079919835334,0.999999991494,-2.1989675323e-05,-0.000123497089465,-3.57440718738e-05,1793248767230059264
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.048458948,679.048458948,660,634,879,785,811,651.048458948,628.048458948,653,0.408262856649,-0.0155454599478,0.0799070106001,0.999999988014,-2.74601585584e-05,-0.000147768058442,-3.71790298924e-05,1793248767246725888
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.62380639,679.62380639,660,634,879,785,811,651.62380639,628.62380639,653,0.408864169658,-0.015543654237,0.0799150730983,0.999999989842,-2.83402167048e-05,-0.000134395941004,-3.80929140139e-05,1793248767263392256
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659.800880262,634,879,785,810.800880262,652,629,653,0.409498206296,-0.0155427967735,0.079934795168,0.999999993745,-2.82020396569e-05,-0.000101333738882,-3.80232242498e-05,1793248767280058880
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659.225631351,634,879,785,810.225631351,652,629,653,0.410194056518,-0.0155437305111,0.0799765416986,0.999999998524,-2.61404571547e-05,-3.10777594418e-05,-3.60956028171e-05,1793248767296725504
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.640631542,716,680,659.359368458,634,879.359368458,785,810.359368458,651.640631542,628.640631542,653,0.410873122486,-0.015543780766,0.0799924456743,0.999999998904,-2.89872517145e-05,-7.13108779243e-06,-3.60627790752e-05,1793248767313392128
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.049338856,716,680,659.950661144,634,879.950661144,785,810.950661144,651.049338856,628.049338856,653,0.411541356438,-0.015543260851,0.0799916717388,0.999999998608,-3.50017466655e-05,-1.30708771343e-05,-3.72527937176e-05,1793248767330058496
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529291966,744.529291966,716,680,660,634,879.470708034,785,811,651,628.529291966,653,0.412209503697,-0.0155405273601,0.0799570658358,0.999999996384,-3.41099028763e-05,-6.55687921378e-05,-4.20560515104e-05,1793248767346725632
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,680.105953781,660,634,879,785,811,651,629,653,0.412890022429,-0.0155383710512,0.0799241748931,0.999999991961,-3.40946102028e-05,-0.000112788378139,-4.68475824342e-05,1793248767363392512
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,680.679016746,660,634,879,785,811,651,629,653,0.413625116797,-0.015539647745,0.0799124231887,0.999999990946,-4.07155866817e-05,-0.000118051501555,-5.01372197843e-05,1793248767380059392
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.740183535,745,716,680.740183535,660,634,879,785,811,651,629,653,0.414392569799,-0.0155407465053,0.0799177597333,0.999999992526,-4.3663738098e-05,-0.000102295629478,-5.07666716559e-05,1793248767396726016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.149532215,745,716,680.149532215,660,634,879,785,811,651,629,653,0.415201226465,-0.0155416186961,0.0799448554376,0.999999996182,-4.19351330813e-05,-5.97754175732e-05,-4.80088017301e-05,1793248767413392384
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,716,680,660,634,879.432172806,785,811,651,629,653,0.415985397567,-0.0155383391408,0.0799485671581,0.999999995872,-3.88445971164e-05,-6.65506188964e-05,-4.81556811257e-05,1793248767430058752
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.989175384,680,660,634,880,785,811.010824616,651,629,653,0.416762860554,-0.0155337935911,0.0799446342655,0.999999994208,-3.54709611193e-05,-8.88706720499e-05,-4.92757547104e-05,1793248767446725632
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.411598205,680,660,634,880,785,811.588401795,651,629,653,0.417623684551,-0.0155366503689,0.0799554755545,0.999999996643,-4.14469656113e-05,-5.01682136215e-05,-4.97953583813e-05,1793248767463392256
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.1643669,680.1643669,660,634,880,785,811.8356331,651,629,653,0.418485308447,-0.0155394991751,0.0799681202983,0.999999997549,-4.6703512225e-05,-1.3937595454e-05,-5.02569778959e-05,1793248767480058880
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.736334314,680.736334314,660,634,880,785,811.263665686,651,629,653,0.419348915901,-0.0155423282131,0.0799852372866,0.999999997332,-5.01759317312e-05,1.61632985062e-05,-5.05748071754e-05,1793248767496725760
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.318913313,745,715.681086687,680.681086687,660,634,880,785.318913313,811.318913313,651,629,653,0.420206466881,-0.0155431755236,0.079979360629,0.99999999745,-4.88882636392e-05,6.93329360285e-06,-5.15964981972e-05,1793248767513392384
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.910567517,745,715.089432483,680.089432483,660,634,880,785.910567517,811.910567517,651,629,653,0.421058838205,-0.0155423280219,0.0799538193554,0.999999996991,-4.35296754742e-05,-3.5933265478e-05,-5.32201454624e-05,1793248767530059008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508205772,745,715,680,660,634,880,785.508205772,811.508205772,651,629,653,0.421958549278,-0.0155447557516,0.0799658486109,0.999999997394,-4.80381138601e-05,-1.38490918037e-05,-5.20916300432e-05,1793248767546725632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880.070713965,785,811.070713965,651,629,653,0.422864649836,-0.0155471431823,0.0799839748579,0.999999997208,-5.23274101139e-05,1.69243722876e-05,-5.05857697039e-05,1793248767563392256
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880.646419017,785,811.646419017,651,629,653,0.423756178206,-0.0155450777723,0.0799978639216,0.999999997484,-4.25040251126e-05,2.71541877091e-05,-4.98850435901e-05,1793248767580058880
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880.778046874,785,812,651,629.221953126,653,0.424620894329,-0.0155427852034,0.079985992079,0.99999999809,-3.4295935342e-05,-5.24059645404e-06,-5.11422370008e-05,1793248767596725760
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880.202784784,785,812,651,629.797215216,653,0.425442930377,-0.0155401310384,0.0799331135659,0.999999992485,-2.8659099697e-05,-0.000105485980736,-5.55160813559e-05,1793248767613392384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.382312189,660,633.617687811,880,785,812,651,629.617687811,653,0.426343521671,-0.0155398490326,0.0799130965708,0.999999989878,-3.32484641115e-05,-0.000125302478408,-5.86296599293e-05,1793248767630058752
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.972763451,660,633.027236549,880,785,812,651,629.027236549,653,0.427286880101,-0.0155408584821,0.0799109701042,0.99999999206,-4.34051947468e-05,-0.000101331734779,-6.1057122309e-05,1793248767646725632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.448165379,660,633.551834621,880,785,812.551834621,651,629.551834621,653,0.428170969688,-0.0155432807739,0.079915782191,0.999999991179,-4.84287945095e-05,-0.000108182339921,-5.99415425464e-05,1793248767663392512
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880,785,812.870237202,651,630,653,0.429063396603,-0.0155454713209,0.0799277199718,0.999999991676,-5.20863070513e-05,-0.000102645024875,-5.83086004583e-05,1793248767680059392
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880,785,812.294346647,651,630,653,0.429994341438,-0.0155466302249,0.0799630024652,0.999999995894,-5.19006101981e-05,-4.93933786483e-05,-5.54860190021e-05,1793248767696726016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.28683275,660.28683275,634,880.28683275,785,812.28683275,651,630,653,0.430908848808,-0.0155494377249,0.0799988482656,0.999999997241,-5.23853808893e-05,4.87470463246e-06,-5.24494079106e-05,1793248767713392384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.873541454,660.873541454,634,880.873541454,785,812.873541454,651,630,653,0.431806171192,-0.0155539687878,0.080035282986,0.999999995543,-5.35711074386e-05,6.02054422045e-05,-4.91890347499e-05,1793248767730059008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.454492951,745,715,681,661,634,880.545507049,785.454492951,813,651,629.545507049,653,0.43263852229,-0.0155507780554,0.0799977120634,0.999999996579,-6.36172468063e-05,-8.29101215699e-07,-5.28599860992e-05,1793248767746725376
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.966376322,745,715.033623678,681,661,634,880.033623678,785.966376322,813,651,629.033623678,653,0.433454181711,-0.0155458074788,0.0799414229318,0.999999991422,-7.48986624903e-05,-9.02669788026e-05,-5.82992612304e-05,1793248767763392000
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.391095131,745,715.608904869,681,661,634,880.608904869,785.391095131,813,651,629.608904869,653,0.43428852484,-0.0155463431024,0.0799111604832,0.999999988404,-6.68614305765e-05,-0.000122206334032,-6.15455596347e-05,1793248767780058880
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,716,680.815293076,661,634,881,785,813,651,630,653,0.435127784568,-0.0155463737552,0.0799025175777,0.999999987908,-6.21848135763e-05,-0.000127672196547,-6.33844250719e-05,1793248767796725760
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,716,680.238384927,661,634,881,785,813,651,630,653,0.435977484211,-0.015545332168,0.0799397809655,0.999999993015,-6.46440254762e-05,-7.69250330548e-05,-6.22347895649e-05,1793248767813392128
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.654194812,680.345805188,661,634,881,785,813,651,630,653,0.436805328786,-0.0155469863334,0.0799723254866,0.999999995822,-6.18326916759e-05,-3.34471951933e-05,-5.84242740205e-05,1793248767830058496
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.06487684,680.93512316,661,634,881,785,813,651,630,653,0.437617783174,-0.0155505388225,0.0800015470237,0.999999997068,-5.53098886645e-05,4.91164835696e-06,-5.27399916744e-05,1793248767846725376
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.517279548,681,661,633.482720452,880.482720452,785,813.517279548,651,630,653,0.438437301267,-0.0155563768388,0.0800172859835,0.999999995403,-6.99303507997e-05,3.69217520677e-05,-5.4235250692e-05,1793248767863392000
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.902740333,681,661,633.097259667,880.097259667,785,814,651,630,653,0.439235708186,-0.0155609981016,0.0800232740919,0.999999993665,-8.13895098815e-05,5.38101779655e-05,-5.61256479819e-05,1793248767880058624
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.329080575,681,661,633.670919425,880.670919425,785,814,651,630,653,0.439926427527,-0.0155582745278,0.0799896699767,0.999999996371,-6.45522635233e-05,4.76143985188e-07,-5.56011279474e-05,1793248767896725248
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.249363905,745,715,681,661,634,881,785,814,651,630,653,0.440574857625,-0.0155545057008,0.0799373148495,0.999999993102,-6.10649210611e-05,-8.08992649491e-05,-5.93443963407e-05,1793248767913392128
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.834246171,745,715,681,661,634,881,785,814,651,630,653,0.441166387623,-0.0155493304891,0.0798597302966,0.999999974777,-7.55398337786e-05,-0.000200004251976,-6.88299604415e-05,1793248767930059520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.584060809,745,715,681.415939191,661,633.584060809,881,785,814,651,630,653,0.441828984663,-0.0155495603605,0.0798415758002,0.999999970087,-7.78288704056e-05,-0.000220740500357,-7.10021067514e-05,1793248767946726144
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003628999,745,715,681.996371001,661,633.003628999,881,785,814,651,630,653,0.442519686831,-0.0155519277945,0.0798469242656,0.999999974177,-7.52987265066e-05,-0.00020257460328,-7.0281996605e-05,1793248767963392512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715.573723187,681.426276813,661,633.573723187,881,785.573723187,814,651,630,653,0.443239657874,-0.0155566950411,0.0799234267653,0.999999990642,-7.94989132219e-05,-9.10016750189e-05,-6.41408878417e-05,1793248767980058880
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715.849640723,681,660.849640723,634,881,785.849640723,814,651,630,653,0.443928757078,-0.0155613623193,0.0799861840657,0.999999994717,-8.41187290142e-05,5.73150458663e-07,-5.9081054519e-05,1793248767996725504
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715.274970633,681,660.274970633,634,881,785.274970633,814,651,630,653,0.444530217084,-0.0155657048819,0.0800088893934,0.999999993754,-8.98032378716e-05,3.40553467809e-05,-5.71688071658e-05,1793248768013392128
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.307906773,634,881,785,814,651,630,653,0.445085603888,-0.015568164572,0.080011412359,0.999999993796,-8.88620889222e-05,3.59953335036e-05,-5.67122993883e-05,1793248768030059008
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.898314257,634,881,785,814,651,630,653,0.445598719053,-0.0155688967493,0.079995418252,0.999999994952,-8.18419793677e-05,8.99572536558e-06,-5.75914150541e-05,1793248768046725632
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681.479544413,661,633.520455587,881,785,814.479544413,651,630,653,0.44610251511,-0.0155686493543,0.0799850893567,0.999999994458,-8.735852467e-05,-4.20515427921e-06,-5.86152848313e-05,1793248768063392256
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.058696017,715,681.941303983,661,633.058696017,881.058696017,785,815,651,630,653.058696017,0.44660189569,-0.0155684171594,0.079976574664,0.999999993694,-9.43162881629e-05,-1.28547643232e-05,-5.95874216106e-05,1793248768080058880
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.636352775,715,681.363647225,661,633.636352775,881.636352775,785,815,651,630,653.636352775,0.447079380327,-0.0155701213805,0.0799736784951,0.999999994051,-9.09541034796e-05,-6.64852451362e-06,-5.98358710538e-05,1793248768096725248
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.211435657,745.788564343,715.211435657,681.211435657,661,633.788564343,881.788564343,785,815,651,630,653.788564343,0.447521585203,-0.0155723213436,0.0799656691738,0.999999993779,-9.27511568811e-05,-1.22730458827e-05,-6.07418200584e-05,1793248768113391872
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.782144925,745.217855075,715.782144925,681.782144925,661,633.217855075,881.217855075,785,815,651,630,653.217855075,0.447903842303,-0.0155753636761,0.0799489715324,0.999999991971,-0.000103314840174,-3.80005170617e-05,-6.27649989214e-05,1793248768130058496
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.633032979,745,715.633032979,682,661,633,881,784.633032979,815,651,630,653,0.448242603694,-0.0155777841649,0.0799204999281,0.999999988007,-0.000110937945005,-8.62937536229e-05,-6.50616055151e-05,1793248768146725120
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.03949745,745,715.03949745,682,661,633,881,784.03949745,815,651,630,653,0.448554510509,-0.0155798207224,0.0798847589789,0.999999979876,-0.000116745512801,-0.000148519284779,-6.75270286893e-05,1793248768163391488
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681.459471796,660.459471796,633,881,784,814.459471796,651,630,653,0.448862042501,-0.0155840240623,0.0798620104557,0.999999974526,-0.00011807480276,-0.000179617504673,-6.88752816505e-05,1793248768180058368
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.118956416,745,715,681.118956416,660.118956416,633,881,784,814.118956416,651,630,653,0.44916786233,-0.0155888218243,0.0798457596325,0.999999970153,-0.000121092041174,-0.000200406208765,-6.97716527216e-05,1793248768196725248
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.694947712,745,715,681.694947712,660.694947712,633,881,784,814.694947712,651,630,653,0.449468302316,-0.0155953098995,0.0798509145863,0.999999970844,-0.000131821036714,-0.000190111135266,-6.92378697672e-05,1793248768213391616
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.72426861,745,715,681.72426861,660.72426861,633,881.27573139,784,814.72426861,651,630,653,0.449743655661,-0.0155998382955,0.0798545666317,0.999999970949,-0.000140479801294,-0.000183389295683,-6.88236015723e-05,1793248768230058240
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.138089188,745,715,681.138089188,660.138089188,633,881.861910812,784,814.138089188,651,630,653,0.449990763752,-0.0156021602739,0.0798565265409,0.99999997055,-0.000146807676746,-0.000180690587507,-6.85438959808e-05,1793248768246725120
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,744.557420174,715,681,660.442579826,633,881.557420174,784,814.442579826,651,630,653,0.450205763133,-0.0156061572432,0.0798557758724,0.999999968615,-0.000151491841854,-0.000187663886541,-6.78413426787e-05,1793248768263391744
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.021502231,744.021502231,715,681.021502231,660.978497769,633,881,784,814.978497769,651,630,653,0.450409665647,-0.0156105953037,0.0798538794174,0.999999966094,-0.00015565313653,-0.000197704704148,-6.70577512323e-05,1793248768280058368
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.599171643,744.599171643,715,681.599171643,660.400828357,633,881,784,814.400828357,651,630,653,0.450582482048,-0.0156130909835,0.0798439527335,0.999999962967,-0.000159392210711,-0.000209992461392,-6.75486069446e-05,1793248768296724992
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.824633719,660.175366281,632.824633719,881,783.824633719,814.175366281,651,630,653,0.450746060932,-0.0156156097602,0.079834820444,0.999999959801,-0.000162733267032,-0.000222022470092,-6.79797234029e-05,1793248768313391616
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681.081352786,660.918647214,633,881,783,815,651,630,653,0.451284755635,-0.0156230691738,0.0798065385751,0.999999943895,-0.000176780054001,-0.000276027744363,-6.90519103489e-05,1793248768396725248
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.140350011,745,715.140350011,681,660,632.140350011,881,783,815,651,630,653.140350011,0.451548579197,-0.0156258485612,0.0797718408102,0.999999925665,-0.000184558991976,-0.000331052432482,-7.07966841374e-05,1793248768513392128
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.104942462,745,715,681,660,632.895057538,881.895057538,783,815.104942462,651,629.104942462,653,0.451588175215,-0.0156179896316,0.0797591245773,0.999999921474,-0.000174020998832,-0.000349169766692,-6.96372276293e-05,1793248768713392384
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.259687588,660,632.259687588,881,782.740312412,815.740312412,651,629.740312412,653,0.451589497705,-0.0156222201914,0.079759343667,0.999999920466,-0.000179565768956,-0.000349374849376,-6.90053545783e-05,1793248768746725376
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.84381122,660,632.84381122,881,782.15618878,815.15618878,651,629.15618878,653,0.451590787259,-0.0156215897881,0.079759432212,0.999999920625,-0.000179479805532,-0.000348918799378,-6.92272335889e-05,1793248768763391744
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,881,783,815,651,630,653,0.451591917045,-0.0156201015208,0.0797608702291,0.999999922366,-0.000174729773948,-0.000346523585818,-6.82610113385e-05,1793248768796725248
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,881,783,815,651,630,653,0.451590718196,-0.0156190168313,0.0797597206679,0.999999921759,-0.00017415515132,-0.000348495039558,-6.85862065727e-05,1793248768813392128
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+241,4.016666667,HOLD_POSE2,765,745,715,681,660.577799259,632,881.422200741,783,815,651,630,653,0.451592906785,-0.0156198540638,0.0797596765227,0.999999921785,-0.000174645249499,-0.000348199561757,-6.84580948678e-05,1793248768871014912
+242,4.033333333,HOLD_POSE2,765,745,715,681,660.840918776,632.159081224,881,783,815,651,629.840918776,653,0.451593610653,-0.0156188237401,0.0797605514048,0.999999922632,-0.000172399136834,-0.000346934308904,-6.81985724474e-05,1793248768887682048
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+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.657155461,660,632.342844539,881.342844539,783,815,650.657155461,630,653,0.451592921189,-0.0156187393613,0.0797569455015,0.999999920461,-0.000174549794244,-0.000352199828602,-6.75760232064e-05,1793248769275265792
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.761027695,660,632.238972305,881,783,814.761027695,651,630,653,0.451590495418,-0.0156177832445,0.0797553413349,0.999999919886,-0.000174255863129,-0.00035392419211,-6.7824226595e-05,1793248769291932416
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.172400315,660,632.827599685,881,783,814.172400315,651,630,653,0.451584412764,-0.0156159184635,0.0797522125272,0.999999918596,-0.000173599146531,-0.000357809202284,-6.81482668259e-05,1793248769308599040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.409542017,660,632.590457983,881,783,814.409542017,651,630,653,0.451563829237,-0.0156147010296,0.0797421987271,0.99999991293,-0.000172103764985,-0.000373927270609,-6.85457567052e-05,1793248769325265920
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.988715466,660,632.011284534,881,783,814.988715466,651,630,653,0.45153723948,-0.0156137517252,0.0797293331775,0.99999990507,-0.000170261010079,-0.000395112245791,-6.89736692738e-05,1793248769341932544
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.56185628,745,715,681.43814372,660.56185628,632.56185628,881,783.56185628,815,651,630,653,0.451484652582,-0.0156125068885,0.0797095781057,0.999999890426,-0.000172100277769,-0.000429610683111,-7.04572853039e-05,1793248769358599168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.138777438,660.861222562,633,881,783.861222562,814.861222562,651,630,653,0.451428703032,-0.0156106569456,0.079690804893,0.999999876161,-0.000173011933058,-0.00046112051813,-7.15041837569e-05,1793248769375265792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.728368463,660.271631537,633,881,783.271631537,814.271631537,651,630,653,0.451363508137,-0.0156068604131,0.0796756659303,0.999999866718,-0.000170672597642,-0.000482062606494,-7.10642752492e-05,1793248769391932672
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.687681976,660,633,881,783,814,651,630,653,0.451291842731,-0.0156040091852,0.0796667275145,0.999999861017,-0.000169754101274,-0.00049421729527,-6.99937161044e-05,1793248769408599296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.108551931,660,633,881,783,814,651,630,653,0.4512146496,-0.0156019655273,0.0796630862015,0.99999985877,-0.000170049422128,-0.000498864943072,-6.83843947219e-05,1793248769425265920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.530497999,745,715,681,660,633,881,783,814.469502001,651,630,653,0.45112045557,-0.0155977415956,0.0796628007362,0.999999859106,-0.000166839840323,-0.000499542725719,-6.6401043843e-05,1793248769441932544
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.046999461,745,715,681,660.046999461,633,881,783,815,651,630,653,0.451020751389,-0.015592985384,0.0796635303126,0.99999986029,-0.000162826402459,-0.00049878747829,-6.41770899764e-05,1793248769458598912
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.200403866,681,660.799596134,633,881.200403866,783,815,651,630,653,0.450774443755,-0.0155823701787,0.0796692528928,0.999999867713,-0.000154366632648,-0.00048740236204,-5.64321966885e-05,1793248769491932416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.790106289,681,660.209893711,633,881.790106289,783,815,651,630,653,0.450623750355,-0.0155759761845,0.0796693299783,0.999999869461,-0.000148824796458,-0.000485926869872,-5.29605655526e-05,1793248769508598784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.626905167,745,715.626905167,681,660,633,881.626905167,783.373094833,814.626905167,651,630,653,0.450449562573,-0.0155677288057,0.0796711956549,0.99999987235,-0.000140753802469,-0.000482838217394,-4.85366069131e-05,1793248769525265664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.04762686,745,715.04762686,681,660,633,881.04762686,783.95237314,814.04762686,651,630,653,0.450262391071,-0.01555845719,0.0796740497609,0.99999987578,-0.000131285118959,-0.000478858083625,-4.35863630038e-05,1793248769541932544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.528536051,660,633,881,784,814,651,630,653.528536051,0.450040126237,-0.015549355394,0.0796794085679,0.999999880877,-0.000119961307161,-0.000471682032256,-3.7030157258e-05,1793248769558599424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881,784,814,651,630,653.8955568,0.449809810289,-0.0155395613069,0.0796853974731,0.999999886397,-0.00010700192575,-0.000463503737175,-3.03458608748e-05,1793248769575266048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881,784,814,651,630,653.319544144,0.449557337172,-0.0155265727795,0.0796932182384,0.999999893704,-8.74081630193e-05,-0.000452092893933,-2.37327923157e-05,1793248769591932672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.737938454,745,715,681.737938454,660,633,881,784,814,651,630,653.262061546,0.449287945799,-0.0155140067485,0.0796995106215,0.999999899935,-4.8428521481e-05,-0.000444407617805,-1.69071813737e-05,1793248769608599552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.14936422,745,715,681.14936422,660,633,881,784,814,651,630,653.85063578,0.448997475328,-0.0155019671231,0.0797038987334,0.999999902443,1.47047404955e-05,-0.000441364170481,-9.81675595326e-06,1793248769625267200
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.43148958,745,715,681.43148958,660.43148958,633,881.43148958,784.43148958,814,651,630,653.56851042,0.448672832439,-0.015490645173,0.0797117757166,0.999999906764,3.69574285085e-05,-0.000430232245091,-2.56425788126e-06,1793248769641933824
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.990324067,661,633,881.990324067,785,813.990324067,651,630,653,0.448335703881,-0.0154795122181,0.0797206994757,0.999999912203,4.55172279582e-05,-0.000416534340339,4.67611297882e-06,1793248769658599680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.414589558,661,633,881.414589558,785,813.414589558,651,630,653,0.447948000532,-0.0154651576722,0.0797214504949,0.999999912218,6.63367063502e-05,-0.000413642108311,7.98260235375e-06,1793248769675266048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.160807385,660.839192615,633,881,784.839192615,813,651,630,652.839192615,0.447558689127,-0.0154541222038,0.0797274676122,0.999999916021,7.99916108498e-05,-0.000401848569637,8.75395063846e-06,1793248769691932416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.735335755,660.264664245,633,881,784.264664245,813,651,630,652.264664245,0.447165240621,-0.015451625972,0.0797470332073,0.999999929766,7.52136860228e-05,-0.000367153985302,3.00295450229e-06,1793248769708599296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.32000928,745,715,682,660.32000928,633,881,784,813,651,630,652.32000928,0.446748317027,-0.0154546100515,0.0797705941913,0.999999942255,6.92792894192e-05,-0.000332667062991,4.76648345118e-06,1793248769725266432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.913348152,745,715,682,660.913348152,633,881,784,813,651,630,652.913348152,0.446311342606,-0.0154622750301,0.0797975677597,0.999999953463,6.23571147991e-05,-0.000298357507173,1.29483945933e-05,1793248769741933312
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.506670733,745,715,682,660.506670733,633.493329267,881,784.493329267,813,651,630,653,0.445805257177,-0.0154659130178,0.07981284774,0.999999957601,7.10002502504e-05,-0.000281919917667,1.67044677185e-05,1793248769758599680
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.78016946,744.78016946,715.78016946,682,660.78016946,634,880.21983054,785,812.78016946,651,630.78016946,653,0.444112118164,-0.0154511042439,0.0798176411039,0.999999954638,9.04219169812e-05,-0.000286502083116,2.15352489941e-05,1793248769808599552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.186907037,744.186907037,715.186907037,682,660.186907037,634,880.813092963,785,812.186907037,651,630.186907037,653,0.443505982226,-0.0154448797329,0.079805442479,0.999999946599,0.000105083400347,-0.000308659740488,2.21191900358e-05,1793248769825266176
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744.396177693,715,682,660,633.603822307,881,784.603822307,812,651,630,653,0.442876000163,-0.0154455796174,0.079793326429,0.99999994201,0.000101430681326,-0.000324336577788,2.23131050599e-05,1793248769841933056
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,744.97458108,715,682,660,633.02541892,881,784.02541892,812,651,630,653,0.442235049864,-0.0154494644436,0.0797812483604,0.999999938963,8.93541704912e-05,-0.000337032499691,2.23276238942e-05,1793248769858599936
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.870309851,745,715,682,660.129690149,634,881,785,812,651,630,653,0.440875903465,-0.0154537829607,0.0797891218711,0.999999943977,9.67576886347e-05,-0.000319394242929,2.58917608457e-05,1793248769891933440
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.284358961,745,715,682,660.715641039,634,881,785,812,651,630,653,0.440104807622,-0.0154475453779,0.0797444552906,0.999999917002,0.000110294663297,-0.000391431733183,2.47268907991e-05,1793248769908599808
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744.122239911,715,682,660.122239911,633.122239911,881,785,812,651,630,653,0.43855760893,-0.0154356218735,0.0796844308597,0.999999876776,0.000118598655652,-0.000481572794675,2.16763652438e-05,1793248769941932544
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,744.456026904,715,682,660,633,880.543973096,784.543973096,812,651,630,653,0.437831924177,-0.0154386662079,0.0797264200675,0.999999904658,0.000118506869848,-0.000419484501457,2.59514212731e-05,1793248769958599424
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.516228528,715.516228528,682,660,633,880,785,811.516228528,651,630,653,0.432024138084,-0.0154283997366,0.0797468906325,0.999999900464,0.000172746134835,-0.000409615900107,3.80106225666e-05,1793248770075266048
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.361381973,744,715.680690986,681,659.680690986,634,879.680690986,785,811,651,629,653,0.423069729332,-0.0154250893701,0.0797379945349,0.999999891879,0.000202085454491,-0.000416335004588,4.54769589612e-05,1793248770241933056
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.202842271,744,715.101421135,681,659.101421135,634,879.101421135,785,811,651,629,653,0.422194649941,-0.0154209351408,0.0797455636594,0.999999896557,0.000201528109174,-0.000405246094929,4.52475384439e-05,1793248770258599424
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.474914929,744,715.474914929,681,659,634,879,785,811,651,629.474914929,652.525085071,0.421392765935,-0.0154242947128,0.0797986806846,0.999999931547,0.000196555245411,-0.000309703399771,4.85310812379e-05,1793248770275266304
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744,715.949047006,681,659,634,879.050952994,785,811,651,630,652.050952994,0.420600163211,-0.0154287071653,0.079856312905,0.999999959106,0.000191442063247,-0.000205916133296,5.23036191482e-05,1793248770291932928
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744,715.369641969,681,659,634,879.630358031,785,811,651,630,652.630358031,0.419742697606,-0.0154274994922,0.0798605104437,0.999999959131,0.000194593377037,-0.000202527382133,5.34147144568e-05,1793248770308599552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,634,880,785,811,651,629.787852661,653,0.418880605533,-0.0154256631149,0.0798463410798,0.999999952765,0.000197405897529,-0.000229671388394,5.24503148772e-05,1793248770325266176
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,681,659,634,880,785,811,651,629.201861721,653,0.41801036061,-0.0154227188422,0.0797998057722,0.99999993069,0.000199621400012,-0.000310619867256,4.78285020136e-05,1793248770341932544
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.37972974,744.37972974,715.37972974,681,659,634,879.62027026,785,811,651,629,653,0.417155088094,-0.0154210628265,0.0797935816017,0.999999925421,0.000198798835103,-0.000327791432095,4.6801365221e-05,1793248770358599168
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.959009221,744.959009221,715.959009221,681,659,634,879.040990779,785,811,651,629,653,0.416307683701,-0.015420083796,0.0798085411234,0.999999931082,0.000196379751972,-0.000311447928644,4.76632477513e-05,1793248770375265792
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.462322752,744.462322752,716,680.462322752,659.537677248,634,879.537677248,785,811,651,629,653,0.415481125975,-0.0154153579426,0.0797964336152,0.99999992116,0.000204608400441,-0.000336897330666,4.81304366152e-05,1793248770391932416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.115513491,716,680.115513491,659.884486509,634,880,785,810.884486509,651,629.115513491,652.884486509,0.414673927682,-0.0154112632393,0.0797838907844,0.999999911801,0.000211706095185,-0.000359544652559,4.80326133766e-05,1793248770408599040
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.690228213,716,680.690228213,659.309771787,634,880,785,810.309771787,651,629.690228213,652.309771787,0.413937378352,-0.0154108117878,0.0797778111479,0.999999912447,0.00021108462317,-0.000358401302151,4.58081771638e-05,1793248770425265920
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.27111982,744.72888018,715.72888018,680.72888018,659,634,879.72888018,785.27111982,810.27111982,651,629.72888018,652.27111982,0.413210968536,-0.0154113917071,0.079783542965,0.99999991772,0.000210471487187,-0.000343765283823,4.56763074157e-05,1793248770441932544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.859233414,744.140766586,715.140766586,680.140766586,659,634,879.140766586,785.859233414,810.859233414,651,629.140766586,652.859233414,0.412496413911,-0.0154131775069,0.0798030847549,0.999999927731,0.00020986809761,-0.000313353614136,4.7991070206e-05,1793248770458599168
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,744.439935541,715.439935541,680.439935541,659,634,879,785.560064459,811,651,629,653,0.411774685092,-0.0154121159689,0.0797968162626,0.999999922651,0.000211393814337,-0.000328191727713,4.79722052829e-05,1793248770475265792
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.981653392,744.981653392,716,681,659,634,879,785,811,651,629,652.981653392,0.411052587633,-0.0154101956736,0.0797828400304,0.999999912554,0.00021358339279,-0.000356432829448,4.72293925692e-05,1793248770491932672
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.401986121,744.401986121,716,681,659,634,879,785,811,651,629,652.401986121,0.41038828229,-0.0154094139579,0.0797815295647,0.999999911188,0.000215586225055,-0.000359103774295,4.68039887043e-05,1793248770508599040
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744,715.824559307,681,659,634,879.175440693,785,810.824559307,651.175440693,629.175440693,652,0.409751717997,-0.0154092005201,0.0797885484608,0.999999915203,0.000217134760217,-0.000346717235257,4.72559595089e-05,1793248770525265664
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744,715.252201195,681,659,634,879.747798805,785,810.252201195,651.747798805,629.747798805,652,0.409177914984,-0.0154102727556,0.0798144117235,0.999999929999,0.000217655492679,-0.000300264610806,4.96929045919e-05,1793248770541932544
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.331723737,744,715.331723737,681,659,634,879.336552526,785,810,651.668276263,629.668276263,652.331723737,0.408598127607,-0.0154094883859,0.0798317591924,0.999999937463,0.000219289613765,-0.000272687346863,5.1254334251e-05,1793248770558599424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.924760309,744,715.924760309,681,659,634,878.150479383,785,810,651.075239691,629.075239691,652.924760309,0.408013626128,-0.0154072414896,0.0798423984085,0.999999940249,0.000221800798424,-0.000259979006756,5.21260832468e-05,1793248770575266304
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744,715.079265753,680,659,634,880,785,810.920734247,651.920734247,629,652.920734247,0.406856201625,-0.0153939687487,0.0797720197111,0.999999896408,0.000239913952852,-0.000383971078685,4.6808313765e-05,1793248770608600832
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.761690116,744,716,680.238309884,659,634,879.761690116,785,810,651,629,652,0.405903892065,-0.0153964411736,0.0797662967519,0.999999899969,0.000234335283014,-0.000378430805742,4.40379597349e-05,1793248770641933312
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.403170834,744,715.596829166,680.596829166,659,634,878.596829166,785,810.403170834,651,629,652.403170834,0.405095943471,-0.0153985709924,0.0798037494111,0.999999925433,0.000229989814778,-0.000306644347461,4.69805892989e-05,1793248770675266560
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744,715.557174279,680,659,634.557174279,878.557174279,785,810.442825721,651,629,653,0.404327223814,-0.0153959966108,0.0798257513894,0.99999992964,0.000242565957383,-0.000281636533167,5.06136496592e-05,1793248770708599808
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.706960041,716,680,659,634.293039959,878.293039959,785,810,651,629,653,0.403635007238,-0.0153915976602,0.0798313275213,0.999999922432,0.000261910457234,-0.000289119657448,5.42964288329e-05,1793248770741933312
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.710160189,745,715.710160189,680,658.710160189,634,878.289839811,784.710160189,810,651,629,653,0.403327573209,-0.0153900496938,0.0798313688032,0.999999923158,0.000254789238879,-0.000293474474623,5.13748199073e-05,1793248770758599680
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.533039226,715.466960774,680,658,634,879,784.933921548,810.466960774,651,629,652.533039226,0.402789632188,-0.0153868755129,0.0798308579429,0.999999928451,0.000233308170618,-0.000294371371058,4.48391091933e-05,1793248770791932928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.045690658,744.045690658,716,680,658.045690658,634.045690658,878.954309342,785.954309342,810.954309342,651,629,652.045690658,0.402541520259,-0.0153849806004,0.0798316331788,0.999999924959,0.000246476182983,-0.000294977927916,4.81572909503e-05,1793248770808599808
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.800205167,716,680,658.800205167,634.800205167,878.199794833,785,810,651,629,653,0.402154783268,-0.0153850359012,0.0798380146949,0.999999924024,0.00026419149948,-0.00028200016073,5.12921440047e-05,1793248770841932544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744.212914197,716,680,658.212914197,634.212914197,878.787085803,785,810,651,629,653,0.401992318128,-0.0153870965068,0.0798408402928,0.99999992674,0.000259470683643,-0.000276731974015,5.11232946059e-05,1793248770858599168
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.052610359,744,716,680,658.947389641,634,878.052610359,785,810,651,629,652.052610359,0.401710535448,-0.0153855443684,0.0798474142037,0.999999931082,0.000256055659879,-0.000263880914463,5.13640056117e-05,1793248770891933184
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,716,680,658.473035191,634,878,785,810.526964809,651,629,652,0.401591139094,-0.0153876444784,0.0798490429415,0.999999933545,0.000247975169964,-0.00026244827888,5.03907426096e-05,1793248770908599808
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.105520194,716,680,658.105520194,634,878,785,810.894479806,651,628.894479806,652.105520194,0.401477815154,-0.0153895838136,0.0798494347405,0.999999935151,0.000240998658595,-0.000263075257255,4.90889782283e-05,1793248770925266688
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.259362323,744.740637677,716,680,658.740637677,634.259362323,878,785,810,651,628.259362323,652.740637677,0.401299816427,-0.0153888094467,0.0798411341117,0.99999993006,0.000246200523783,-0.000277845525546,4.54649596673e-05,1793248770958599424
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7626fcf49ab8aaf8e14b4ea585cb33e482a04987
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,399 @@
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+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4392cbf453dac9e66c863a80b82e4ba163312616
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8be3eef5ba9b2da1e505b441172b1fedbb1a6621e1781af9f11f9d34edb8af
+size 25394144
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8848f2c808faeac05efeaa51bbfca3216867c36f
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,401 @@
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+13,0.216666667,BASELINE,766,744.46382568,716,680,659,634.53617432,879,785.53617432,810,651,628.53617432,653,0.400980431276,-0.015392416454,0.0798403496922,0.99999992991,0.000252016624409,-0.000273384585843,4.39210719494e-05,1793248771856908544
+14,0.233333333,BASELINE,766,744,716,680,659,634.88818529,879.11181471,785.88818529,810,651,629,653,0.400979632119,-0.0153930106011,0.0798398137345,0.999999929787,0.000251334477545,-0.000274475715185,4.38122513763e-05,1793248771873575680
+15,0.250000000,BASELINE,766,744,716,680,659,634.313777922,879.686222078,785.313777922,810,651,629,653,0.400980249192,-0.0153936349488,0.0798405806133,0.999999930661,0.000248809147755,-0.000273648501871,4.34598474259e-05,1793248771890241792
+16,0.266666667,BASELINE,766,744,715.731352501,680,659,634,879.462705003,785,810,651.268647499,628.731352501,653,0.400980875722,-0.0153941516581,0.079841013875,0.999999931276,0.00024712721115,-0.000272953903819,4.32762769038e-05,1793248771906908672
+17,0.283333333,BASELINE,766,744,715.139273994,680,659,634,878.278547987,785,810,651.860726006,628.139273994,653,0.400981513639,-0.0153945387789,0.079841045487,0.999999931585,0.000246460655486,-0.000272418964435,4.32959689174e-05,1793248771923575808
+18,0.300000000,BASELINE,765.559102802,744,715.440897198,680,659,634,878.440897198,785,810,651.559102802,628.440897198,653,0.400981082296,-0.0153951038616,0.0798407538778,0.999999931347,0.00024729655067,-0.000272497996836,4.35403531623e-05,1793248771940242432
+19,0.316666667,BASELINE,765,744.017458919,715.982541081,679.982541081,659,634.017458919,879,785,810,651,629,652.982541081,0.400980400323,-0.0153956581104,0.0798404185797,0.999999930963,0.000248564949103,-0.0002727035009,4.38501619244e-05,1793248771956908800
+20,0.333333333,BASELINE,765,744.595723139,715.404276861,679.404276861,659,634.595723139,879,785,810,651,629,652.404276861,0.400982231996,-0.0153941061095,0.0798418733314,0.999999931364,0.000248881852413,-0.000270905454138,4.40415549676e-05,1793248771973575168
+21,0.350000000,BASELINE,765.176423997,745,715.176423997,679,659,635,879,785,810,651,628.823576003,652.176423997,0.400983408706,-0.0153932041431,0.0798429803702,0.999999931793,0.000248766845041,-0.000269420207519,4.40722094804e-05,1793248771990241536
+22,0.366666667,BASELINE,765.762786544,745,715.762786544,679,659,635,879,785,810,651,628.237213456,652.762786544,0.400983063543,-0.0153938125963,0.0798432794634,0.999999932289,0.000247648250578,-0.000268661783121,4.37293721455e-05,1793248772006908160
+23,0.383333333,BASELINE,766,745,715.655266242,679.344733758,659,634.655266242,878.655266242,785,810,651,628.344733758,653,0.400983111595,-0.0153939708479,0.079843295294,0.99999993228,0.000247450960887,-0.00026891095764,4.35238152942e-05,1793248772023574784
+24,0.400000000,BASELINE,766,745,715.076318765,679.923681235,659,634.076318765,878.076318765,785,810,651,628.923681235,653,0.4009834268,-0.0153938232304,0.0798431186748,0.999999931927,0.000247879609829,-0.00026984469947,4.34115274067e-05,1793248772040241408
+25,0.416666667,BASELINE,766,744.498924876,715,680,658.498924876,634,878.501075124,785,810,651,629,652.498924876,0.400983103728,-0.0153943357647,0.0798423020025,0.999999932183,0.000246818742538,-0.000269880601483,4.33530264944e-05,1793248772056908288
+26,0.433333333,BASELINE,766,744.077928049,715.077928049,680,658.077928049,634.077928049,879,785,810,651,629,652.077928049,0.40098269762,-0.0153948242296,0.0798415302431,0.999999932442,0.000245783129361,-0.000269870282737,4.33130766527e-05,1793248772073575424
+27,0.450000000,BASELINE,766,744.652835677,715.652835677,680,658.652835677,634.652835677,879,785,810,651,629,652.652835677,0.40098238002,-0.0153945199416,0.0798416647014,0.999999932149,0.000246350932768,-0.000270434610974,4.33393504934e-05,1793248772090242048
+28,0.466666667,BASELINE,766,744.765371525,715.765371525,680,659,634.765371525,879,785,810,651.234628475,629,652.765371525,0.400982494619,-0.0153943817268,0.0798420248234,0.999999932109,0.000246665458198,-0.000270278579664,4.34539160097e-05,1793248772106908416
+29,0.483333333,BASELINE,766,744.17308324,715.17308324,680,659,634.17308324,879,785,810,651.82691676,629,652.17308324,0.400983268048,-0.0153944966687,0.0798427289398,0.999999932454,0.000246593895107,-0.000269024456286,4.3703070406e-05,1793248772123575040
+30,0.500000000,BASELINE,765.592051785,744,715.407948215,680,658.592051785,634,879,785,810,652,629,652.407948215,0.400983658791,-0.0153941497481,0.0798432917387,0.999999932289,0.000248167836466,-0.000268193679499,4.36763182085e-05,1793248772140241920
+31,0.516666667,BASELINE,765.015668114,744,715.984331886,680,658.015668114,634,879,785,810,652,629,652.984331886,0.400983891529,-0.0153936121316,0.0798437961898,0.999999931909,0.000250421180949,-0.000267537695946,4.35356484754e-05,1793248772156909056
+32,0.533333333,BASELINE,765,744.560408553,716,680,658,634,878.439591447,785,810,651.439591447,628.439591447,653,0.400982548808,-0.0153941853278,0.0798422858209,0.999999931694,0.000249240271886,-0.000269429548446,4.35844608133e-05,1793248772173575168
+33,0.550000000,BASELINE,765.13942536,745,715.86057464,680,658.13942536,634,878,785,810,651,628.13942536,653,0.400981390923,-0.015394750543,0.0798409474985,0.999999931432,0.000248346012356,-0.000271217894573,4.36039684968e-05,1793248772190241280
+34,0.566666667,BASELINE,765.727939878,745,715.272060122,680,658.727939878,634,878,785,810,651,628.727939878,653,0.400980970192,-0.015395190073,0.0798403446811,0.999999931019,0.000248684150138,-0.000272443529156,4.35120315971e-05,1793248772206907648
+35,0.583333333,BASELINE,765.68865521,744.68865521,715.31134479,680,659,634,878.31134479,785,810.31134479,651,629,653,0.400981379436,-0.0153945301241,0.0798409009444,0.999999931048,0.000249208432258,-0.000271859800781,4.34934297384e-05,1793248772223574272
+36,0.600000000,BASELINE,765.10964303,744.10964303,715.89035697,680,659,634,878.89035697,785,810.89035697,651,629,653,0.400982502222,-0.0153929249382,0.0798424536853,0.999999931454,0.000249892745256,-0.000269720538372,4.35378750107e-05,1793248772240240896
+37,0.616666667,BASELINE,765.468735645,744,716,679.531264355,659,634,879,785.468735645,810.531264355,651,629,653,0.400982035799,-0.0153926748116,0.0798416839462,0.999999931257,0.000250098647684,-0.000270284295511,4.33985946279e-05,1793248772256907520
+38,0.633333333,BASELINE,766,744,716,679.04662454,659,634,879,785.95337546,810,651,629,653,0.400981320243,-0.0153927543489,0.0798405725428,0.999999930942,0.000250278674385,-0.000271302637125,4.32511962572e-05,1793248772273574400
+39,0.650000000,BASELINE,766,744,716,679.620647595,659,634,879,785.379352405,810,651,629,653,0.400981985843,-0.0153929823707,0.0798417331777,0.999999930909,0.000251430134672,-0.000270320729238,4.34974382875e-05,1793248772290241024
+40,0.666666667,BASELINE,765.800285214,744,716,680,659,634.199714786,878.800285214,785,810,651.199714786,629,653,0.400982066813,-0.01539333475,0.079842244627,0.999999930964,0.000251513713553,-0.000270018672798,4.36189773489e-05,1793248772306907648
+41,0.683333333,BASELINE,765.211388613,744,716,680,659,634.788611387,878.211388613,785,810,651.788611387,629,653,0.400981008522,-0.0153939294631,0.0798414910159,0.999999931193,0.000249516324634,-0.000271041434806,4.34975092107e-05,1793248772323574272
+42,0.700000000,BASELINE,765.371512384,744,716,680,658.628487616,634.628487616,878,785,810,651.628487616,629,652.628487616,0.40098192657,-0.0153938265481,0.0798417669521,0.999999931367,0.000249588095807,-0.000270341460351,4.34319991334e-05,1793248772340241152
+43,0.716666667,BASELINE,765.951056076,744,716,680,658.048943924,634.048943924,878,785,810,651.048943924,629,652.048943924,0.400983951284,-0.0153933329906,0.0798426193915,0.99999993151,0.000250818509656,-0.000268676825912,4.33978232204e-05,1793248772356907776
+44,0.733333333,BASELINE,766,744,716,680,658.526868504,634.526868504,878.526868504,785,810,651,628.473131496,652.526868504,0.400983302267,-0.0153934323626,0.0798429422909,0.999999931406,0.000251137672728,-0.000268753122035,4.34680777428e-05,1793248772373574400
+45,0.750000000,BASELINE,765.895694536,744.104305464,716,680,658.895694536,634.895694536,878.895694536,785,810,651,628.104305464,653,0.400982562324,-0.0153935023509,0.0798429852604,0.99999993125,0.000251346666983,-0.000269129840787,4.35141852163e-05,1793248772390241024
+46,0.766666667,BASELINE,765.309155845,744.690844155,716,680,658.309155845,634.309155845,878.309155845,785,810,651,628.690844155,653,0.400982542257,-0.0153931836271,0.0798419598648,0.999999930957,0.000251434935168,-0.000270153053767,4.34041183655e-05,1793248772406907648
+47,0.783333333,BASELINE,765,744.726015231,716,679.726015231,658.273984769,634.273984769,878.273984769,785,810,651,629,652.726015231,0.400982169297,-0.0153936400795,0.0798413354395,0.999999931108,0.000250028370401,-0.000270910749002,4.33202772678e-05,1793248772423574272
+48,0.800000000,BASELINE,765,744.146661856,716,679.146661856,658.853338144,634.853338144,878.853338144,785,810,651,629,652.146661856,0.400981403021,-0.0153949605014,0.079841157914,0.999999931749,0.000246955745675,-0.000271372512644,4.32656659617e-05,1793248772440240896
+49,0.816666667,BASELINE,765,744,716,679.432354671,659,634.567645329,879,785,810,651,629,652.432354671,0.400982379493,-0.0153949960012,0.0798423276201,0.99999993234,0.000246483317307,-0.00026960738936,4.33334546735e-05,1793248772456907520
+50,0.833333333,BASELINE,765.011177432,744,716,680,658.988822568,634.011177432,879,785,810,651,629,653,0.400983901375,-0.0153945858417,0.0798439045602,0.99999993288,0.000246928057758,-0.000267169014286,4.34385200383e-05,1793248772473574144
+51,0.850000000,BASELINE,765.585988538,744,716,680,658.414011462,634.585988538,879,785,810,651,629,653,0.400983139074,-0.0153936647733,0.0798429897777,0.999999931878,0.000249179356003,-0.000268843229286,4.33312348995e-05,1793248772490240768
+52,0.866666667,BASELINE,765.835556334,744,716,680,658.164443666,634.835556334,879,785,810,651,628.835556334,653,0.400982664032,-0.0153937266118,0.0798423722492,0.999999931469,0.000249773310352,-0.000269814692248,4.32970568938e-05,1793248772506907648
+53,0.883333333,BASELINE,765.247718968,744,716,680,658.752281032,634.247718968,879,785,810,651,628.247718968,653,0.400982928596,-0.0153963191449,0.0798425200618,0.999999932599,0.00024610009524,-0.000268976776892,4.34511080946e-05,1793248772523574528
+54,0.900000000,BASELINE,765,744,716,680,659,634.335251441,879,785,810,651,628.335251441,653,0.400982840116,-0.0153968258631,0.0798426323036,0.999999932795,0.000245570842311,-0.000268717777917,4.35371738305e-05,1793248772540241152
+55,0.916666667,BASELINE,765,744,716,680,659,634.914677064,879,785,810,651,628.914677064,653,0.400982494504,-0.0153958134165,0.0798427186381,0.999999932316,0.000247331436216,-0.000268880422013,4.35737236048e-05,1793248772556907776
+56,0.933333333,BASELINE,765.492075203,744.492075203,716,679.507924797,658.507924797,634.507924797,878.507924797,785,810,651,629,653,0.400982197077,-0.0153947445787,0.0798423970935,0.99999993181,0.0002487263055,-0.000269466304237,4.36195755129e-05,1793248772573574400
+57,0.950000000,BASELINE,766,745,715.931076984,679.068923016,658,634,878.068923016,785,810,651,629,653,0.400981988398,-0.01539394958,0.0798420738433,0.999999931457,0.000249565714381,-0.00027000072006,4.36223013293e-05,1793248772590241024
+58,0.966666667,BASELINE,766,745,715.355700662,679.644299338,658,634,878.644299338,785,810,651,629,653,0.400982370697,-0.0153952383343,0.0798422556132,0.999999932263,0.000246787607284,-0.000269619912904,4.32963288555e-05,1793248772606907648
+59,0.983333333,BASELINE,766,745,715.224901294,680,658.224901294,634,878.775098706,785,810,651,629,653,0.400982471385,-0.0153966665976,0.0798424187509,0.999999932872,0.000244531693348,-0.000269445977195,4.31289123395e-05,1793248772623574272
+60,1.000000000,BASELINE,766,745,715.813964733,680,658.813964733,634,878.186035267,785,810,651,629,653,0.400982116085,-0.0153983207554,0.0798425517191,0.999999933168,0.000243121318715,-0.000269607009483,4.32182309674e-05,1793248772640241152
+61,1.016666667,BASELINE,766,744.603474435,716,680,658.603474435,634,878.396525565,785,810,651,629,652.603474435,0.400982064239,-0.0153968433851,0.0798427738659,0.999999932807,0.000244832002239,-0.000269386997328,4.32887315414e-05,1793248772656907776
+62,1.033333333,BASELINE,766,744.0239152,716,680,658.0239152,634,878.9760848,785,810,651,629,652.0239152,0.400982152466,-0.0153939205214,0.079843037177,0.999999932134,0.000247983346363,-0.000268991097478,4.3350545816e-05,1793248772673574400
+63,1.050000000,BASELINE,766,744.551239423,716,680,658.551239423,634,879,785,810,651,629,652,0.40098024427,-0.0153958264089,0.0798413213861,0.999999931937,0.000245817336249,-0.00027170331292,4.33198600675e-05,1793248772690241024
+64,1.066666667,BASELINE,765.875300962,744.875300962,716,680,659,634,879,785,810,651,629,652.124699038,0.40097926397,-0.0153974501953,0.0798403323724,0.999999932007,0.000243888192976,-0.000273186024623,4.32938428563e-05,1793248772706907648
+65,1.083333333,BASELINE,765.307194421,744.307194421,716,680,659,634,879,785,810,651,629,652.692805579,0.400981888645,-0.015397331868,0.079842230539,0.999999932987,0.000243615097006,-0.000269821161084,4.32985827386e-05,1793248772723574272
+66,1.100000000,BASELINE,765.274819488,744,716,679.725180512,659,634,879,785,810,651.274819488,629,653,0.400983088887,-0.0153967470373,0.0798431557256,0.999999933209,0.000244461756525,-0.000268223837315,4.33095446027e-05,1793248772740240896
+67,1.116666667,BASELINE,765.873207703,744,716,679.126792297,659,634,879,785,810,651.873207703,629,653,0.40098261202,-0.015395612952,0.0798429353388,0.999999932547,0.000246626800945,-0.00026870759107,4.33278321433e-05,1793248772756907520
+68,1.133333333,BASELINE,765.543387845,744,716,679,659,634,879,785,810,651.543387845,629,652.543387845,0.400982450799,-0.0153949558419,0.0798425694186,0.999999932237,0.000247665910805,-0.000268896552131,4.3387189484e-05,1793248772773574144
+69,1.150000000,BASELINE,765.035559547,744.035559547,716,679.035559547,659,634,878.964440453,785,810,651,629,652,0.400982325258,-0.0153945015535,0.0798421283149,0.999999932026,0.000248281546797,-0.000269106566825,4.3423993328e-05,1793248772790240768
+70,1.166666667,BASELINE,765.60803546,744.60803546,716,679.60803546,659,634,878.39196454,785,810,651,629,652,0.400981457062,-0.0153951734002,0.0798411428032,0.99999993188,0.00024707385587,-0.000270831184746,4.2953536958e-05,1793248772806907392
+71,1.183333333,BASELINE,766,745,716,680,659,634.186012649,878.186012649,785,810,651,629,652.186012649,0.400981282692,-0.0153957820164,0.079840944356,0.99999993216,0.000245660756391,-0.000271120143862,4.27046354273e-05,1793248772823574272
+72,1.200000000,BASELINE,766,745,716,680,659,634.775935488,878.775935488,785,810,651,629,652.775935488,0.400982614905,-0.0153962533333,0.0798424549506,0.999999933368,0.000243801629984,-0.000268291695836,4.29368207529e-05,1793248772840241152
+73,1.216666667,BASELINE,766,744.640624674,716,680,658.640624674,634.640624674,878.640624674,785,810,651,628.640624674,653,0.400982251006,-0.0153962433329,0.0798426298124,0.999999932984,0.000244903663071,-0.000268682989645,4.31675883698e-05,1793248772856907520
+74,1.233333333,BASELINE,766,744.061155289,716,680,658.061155289,634.061155289,878.061155289,785,810,651,628.061155289,653,0.400980848349,-0.0153959385568,0.0798419866244,0.999999931618,0.000247819214242,-0.000271046166495,4.33974877179e-05,1793248772873574144
+75,1.250000000,BASELINE,766,744,715.483537807,680,658,634,878,785,810,651,628.516462193,653,0.400982188794,-0.0153960396561,0.0798426134462,0.999999932609,0.00024609079496,-0.000268997733422,4.31506095301e-05,1793248772890240768
+76,1.266666667,BASELINE,766,744,715.093176284,680,658,634,878.093176284,785,810,651,628.906823716,653,0.400983282812,-0.0153962226889,0.0798431659376,0.999999933531,0.000244315015257,-0.000267209690126,4.29716676082e-05,1793248772906907648
+77,1.283333333,BASELINE,766,744,715.666362076,680,658,634,878.666362076,785,810,651,628.333637924,653,0.400981439979,-0.0153965811076,0.0798425635512,0.999999932715,0.000245118018572,-0.000269444607457,4.34325099439e-05,1793248772923574272
+78,1.300000000,BASELINE,765.75281978,744.24718022,716,680,658.24718022,634,879,785.24718022,810,651,628.24718022,653,0.400981043262,-0.0153963246038,0.0798426949925,0.999999932375,0.000245878993931,-0.000269996262204,4.35304910953e-05,1793248772940241152
+79,1.316666667,BASELINE,765.161371483,744.838628517,716,680,658.838628517,634,879,785.838628517,810,651,628.838628517,653,0.400982660669,-0.0153952116475,0.0798438484956,0.999999932702,0.00024658143346,-0.000268203499515,4.31230858063e-05,1793248772956907776
+80,1.333333333,BASELINE,765.421286991,744.578713009,716,680,659,634.421286991,878.578713009,785.578713009,810,651,629,653,0.400982841144,-0.0153953862271,0.0798436239815,0.99999993261,0.000246996484118,-0.000268177696074,4.30496115817e-05,1793248772973574400
+81,1.350000000,BASELINE,766,744,716,680,659,634.999359502,878.000640498,785.000640498,810,651,629,652.999359502,0.40098248287,-0.0153960418948,0.0798428831512,0.999999932361,0.000247304599806,-0.000268814232511,4.31012099296e-05,1793248772990241024
+82,1.366666667,BASELINE,766,744,716,680,659,634.426206652,878.573793348,785.573793348,810,651,629,652.426206652,0.400982490777,-0.0153948961299,0.0798428014064,0.999999932077,0.00024841518479,-0.000268869175241,4.29529954617e-05,1793248773006907648
+83,1.383333333,BASELINE,765.852414512,744,716,680,659,634,878.852414512,785.852414512,810,651,629,652,0.400982435532,-0.0153939093987,0.0798427068517,0.999999931843,0.0002492770938,-0.000268960323454,4.28321237646e-05,1793248773023574272
+84,1.400000000,BASELINE,765.276768019,744,716,680,659,634,878.276768019,785.276768019,810,651,629,652,0.400982197122,-0.0153933839326,0.0798425751425,0.999999931757,0.000249417736445,-0.000269156483057,4.27905577561e-05,1793248773040241920
+85,1.416666667,BASELINE,765,744,716,680,659,634,878.307741086,785,810,651,629,652.307741086,0.400981583893,-0.0153941220939,0.0798423448984,0.999999931903,0.000248381598279,-0.000269553058524,4.29203202674e-05,1793248773056908800
+86,1.433333333,BASELINE,765,744,716,680,659,634,878.90045713,785,810,651,629,652.90045713,0.400980623574,-0.0153960304016,0.0798420234087,0.999999932259,0.00024625573541,-0.000270135223438,4.32087367267e-05,1793248773073575168
+87,1.450000000,BASELINE,765.479826808,744,716,680,659,634.479826808,879,785,810,651,629,653,0.400981332282,-0.0153967531719,0.0798426108752,0.999999932545,0.000245519535995,-0.000269717739067,4.3397788413e-05,1793248773090242048
+88,1.466666667,BASELINE,765.943753876,744,716,680,659,634.943753876,879,785,810.056246124,651.056246124,628.943753876,653,0.400982240428,-0.0153970959246,0.0798432946153,0.999999932793,0.00024508802493,-0.000269170000432,4.35216201461e-05,1793248773106909184
+89,1.483333333,BASELINE,765.369695998,744,716,680,659,634.369695998,879,785,810.630304002,651.630304002,628.369695998,653,0.400981883256,-0.0153961431206,0.0798431756546,0.999999932827,0.000244879270446,-0.000269280655881,4.32296640638e-05,1793248773123575552
+90,1.500000000,BASELINE,765.205409804,744.205409804,716,680,658.794590196,634,879,785,810.794590196,651.794590196,628.205409804,653,0.400981377962,-0.0153953221945,0.0798428020412,0.999999932479,0.000245903789226,-0.000269657212289,4.31164186076e-05,1793248773140241920
+91,1.516666667,BASELINE,765.782411265,744.782411265,716,680,658.217588735,634,879,785,810.217588735,651.217588735,628.782411265,653,0.400980604711,-0.0153947398388,0.0798419677545,0.999999931432,0.000249159331306,-0.000270514790403,4.33264653351e-05,1793248773156908288
+92,1.533333333,BASELINE,766,744.633248862,716,679.633248862,658.366751138,634,879,785,810.366751138,651,629.366751138,653,0.400981267038,-0.0153946803194,0.0798423033448,0.999999931853,0.000248250330058,-0.00026980410235,4.32560677833e-05,1793248773173574912
+93,1.550000000,BASELINE,766,744.044466251,716,679.044466251,658.955533749,634,879,785,810.955533749,651,629.955533749,653,0.400982798466,-0.0153949373257,0.0798433471796,0.999999933156,0.000244820110807,-0.000268143984613,4.30158890298e-05,1793248773190241792
+94,1.566666667,BASELINE,766,744,716,679,659,634.535144677,879,785,810.464855323,651,629.464855323,653,0.400983595903,-0.0153957270962,0.0798434943887,0.999999933622,0.000244113842121,-0.000267020644478,4.31739485576e-05,1793248773206908160
+95,1.583333333,BASELINE,765.886796525,744.113203475,716,679.113203475,659,635,878.886796525,785,810,651,629,653,0.400984071166,-0.0153961617206,0.0798435159261,0.999999933775,0.00024408699128,-0.000266456677982,4.32654686764e-05,1793248773223575040
+96,1.600000000,BASELINE,765.312011249,744.687988751,716,679.687988751,659,635,878.312011249,785,810,651,629,653,0.400983477269,-0.0153949707928,0.0798433237044,0.999999932928,0.00024592310015,-0.00026799473274,4.29530264083e-05,1793248773240241920
+97,1.616666667,BASELINE,765,744.729224613,715.729224613,680,659,635,878.270775387,785,810,651,628.729224613,653,0.400983136339,-0.0153947899011,0.0798430571935,0.999999932513,0.000246698703796,-0.000268839073091,4.28802524062e-05,1793248773256908800
+98,1.633333333,BASELINE,765,744.136937401,715.136937401,680,659,635,878.863062599,785,810,651,628.136937401,653,0.400983095774,-0.0153958083009,0.0798427024734,0.999999932618,0.000246215090334,-0.000268859714465,4.3092054442e-05,1793248773273575680
+99,1.650000000,BASELINE,765.443813195,744.443813195,715.443813195,680,658.556186805,635,879,785,810,651,628,652.556186805,0.400981820315,-0.0153953875906,0.0798419986864,0.999999932409,0.000245826881406,-0.000270029201684,4.28512213744e-05,1793248773290242048
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+101,1.683333333,BASELINE,766,745,716,680,658.596016593,634.403983407,879,785,810,651,628,652,0.400980491719,-0.0153958104881,0.0798413334433,0.999999932364,0.000244623953808,-0.000271286158685,4.28415790779e-05,1793248773323575296
+102,1.700000000,BASELINE,765.829281957,745,716,679.829281957,658.829281957,634,879,785,810,651.170718043,628.170718043,652.170718043,0.40098072412,-0.0153965208465,0.0798413255676,0.999999932468,0.000244483496644,-0.00027098431778,4.31248416938e-05,1793248773340241920
+103,1.716666667,BASELINE,765.255298519,745,716,679.255298519,658.255298519,634,879,785,810,651.744701481,628.744701481,652.744701481,0.400980917409,-0.0153960714991,0.0798410393713,0.999999932248,0.000245963239312,-0.000270431327574,4.32715429586e-05,1793248773356908288
+104,1.733333333,BASELINE,765,745,716,679,658.328282215,634,878.671717785,785,810,651.671717785,629,652.671717785,0.400981881125,-0.0153960108657,0.0798420631707,0.999999932238,0.000247643045806,-0.000268898916571,4.34809750159e-05,1793248773373575168
+105,1.750000000,BASELINE,765,745,716,679,658.919551407,634,878.080448593,785,810,651.080448593,629,652.080448593,0.400983462032,-0.0153962616313,0.079844136408,0.99999993239,0.000249483123648,-0.000266581891226,4.37406607444e-05,1793248773390242048
+106,1.766666667,BASELINE,765.499046494,744.500953506,716,679,659,634,878.499046494,785,810,651,629,652,0.400982390468,-0.0153968746213,0.0798432599032,0.999999932796,0.000246198487091,-0.000268151986813,4.34702255334e-05,1793248773406908672
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,878,785,810,651,629,653,0.400984647555,-0.015397447171,0.079844387139,0.999999934459,0.000242682615835,-0.00026518213361,4.31963806756e-05,1793248773450214656
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.586212322,744,715.413787678,680,658.413787678,634,878.586212322,785,810,651,628.413787678,653,0.400982331184,-0.0153969195977,0.0798426433391,0.99999993292,0.000245282277346,-0.000268607017751,4.29848175038e-05,1793248773466880768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.828550889,744,715,680,658.171449111,634,878.828550889,785,810,651,628.171449111,652.828550889,0.400981165665,-0.0153962575893,0.0798419154692,0.999999931934,0.000247405248764,-0.000270340431458,4.28780660062e-05,1793248773483547136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.24565508,744,715,680,658.75434492,634,878.24565508,785,810,651,628.75434492,652.24565508,0.400982761979,-0.0153952729608,0.0798436256463,0.999999932311,0.00024838425116,-0.000268014624333,4.30228434309e-05,1793248773500213504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.331012394,744,715.331012394,680,658.668987606,634,878,785,810,651,628.668987606,652,0.400983388209,-0.0153947563727,0.0798437904595,0.999999932396,0.000248514600945,-0.000267561700895,4.31265182032e-05,1793248773516880128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.90314295,744,715.90314295,680,658.09685705,634,878,785,810,651,628.09685705,652,0.400983307803,-0.0153945807176,0.0798428295888,0.999999932269,0.00024802676972,-0.000268473035492,4.32002527102e-05,1793248773533547264
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.520495092,744,716,680,658,634,878.479504908,785,810,651,628,652,0.400982600053,-0.0153952340963,0.0798428478806,0.999999932498,0.000247002348456,-0.000268599110533,4.29973526611e-05,1793248773550214144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,716,679.941772379,658.058227621,634,879,785,810,651,628.058227621,652,0.400982290103,-0.0153958475005,0.0798432942336,0.999999932813,0.000246147624326,-0.000268247334458,4.27619205027e-05,1793248773566881024
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,716,679.349301422,658.650698578,634,879,785,810,651,628.650698578,652,0.400986803024,-0.015394543999,0.0798458372363,0.999999933264,0.000247853207565,-0.000264979521005,4.27452578035e-05,1793248773583547648
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.236662253,744,716,679.236662253,659,634,878.763337747,785,810,651,628.763337747,652,0.40099997174,-0.0153947400801,0.0798515429034,0.999999935673,0.000247906899562,-0.000255617926248,4.308701987e-05,1793248773600214016
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.813278477,744,716,679.813278477,659,634,878.186721523,785,810,651,628.186721523,652,0.401025574091,-0.0153970902397,0.0798617915861,0.999999940674,0.000245587728844,-0.000237502907245,4.39436419075e-05,1793248773616880640
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744,716,679.611741139,659,634,878.388258861,785,810,651,628,652.388258861,0.401070922883,-0.0153992409622,0.0798773389865,0.999999947315,0.000245355844509,-0.000207758136064,4.48018960451e-05,1793248773633547264
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744,716,679.037544113,659,634,878.962455887,785,810,651,628,652.962455887,0.401125728299,-0.015401296174,0.0798954239575,0.999999953801,0.000246123566546,-0.000172443844899,4.56609318336e-05,1793248773650214144
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.46199572,744,716,679,659,634,878.46199572,785,810,651,628.53800428,652.46199572,0.401196019915,-0.0154054262743,0.0799114873922,0.999999958234,0.000244456965753,-0.000147203006476,4.58656179213e-05,1793248773666881024
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,716,679.117180699,658.882819301,634,878.117180699,785,810.117180699,651,629,652,0.401269627647,-0.0154090562484,0.0799255973089,0.999999961578,0.000242863489535,-0.000125643458037,4.55534897009e-05,1793248773683547648
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,716,679.710721534,658.289278466,634,878.710721534,785,810.710721534,651,629,652,0.401352311744,-0.015410063027,0.0799323407589,0.999999962967,0.000242259595831,-0.000116184115793,4.33265168628e-05,1793248773700214272
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,716,680,658.293952421,634,879,785,810.706047579,651,628.706047579,652.293952421,0.401447119589,-0.0154136923107,0.0799376961193,0.999999964546,0.000240449758834,-0.000106824347792,4.09906099621e-05,1793248773716880640
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,716,680,658.867381056,634,879,785,810.132618944,651,628.132618944,652.867381056,0.401553454121,-0.0154198149494,0.0799417317484,0.999999966296,0.000237493367388,-9.75592508925e-05,3.85511337826e-05,1793248773733547264
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.433050512,744,715.566949488,679.566949488,659,634.433050512,878.566949488,785,810,651,628.433050512,653,0.401673622246,-0.0154242372361,0.0799439187673,0.999999967616,0.000234246152248,-9.32034587843e-05,3.47689699744e-05,1793248773750213888
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.996385586,744,715.003614414,679.003614414,659,634.996385586,878.003614414,785,810,651,628.996385586,653,0.401797952248,-0.0154281479665,0.0799455496261,0.999999968793,0.000230911441966,-9.03246460984e-05,3.05828545592e-05,1793248773766880768
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+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.799320511,716,680,658.200679489,634,878.200679489,785,810,651,629,653,0.402133647118,-0.0154392514754,0.0799584147288,0.999999973373,0.000219871008314,-6.67139237413e-05,2.14672891112e-05,1793248773800217600
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.221464819,716,680,658.778535181,634,878.778535181,785,810,651,629,653,0.402315890104,-0.0154458419628,0.0799571915318,0.999999975723,0.000208477112653,-6.97329454484e-05,1.51414927915e-05,1793248773816881408
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,716,679.330608503,659,634,879,785,810,651,628.669391497,652.669391497,0.403536791237,-0.0154841741773,0.0799468394603,0.999999995438,3.53204851377e-05,-8.53289297773e-05,-2.44056610867e-05,1793248773900214016
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.256340227,744.256340227,715.743659773,679.256340227,659,634,879,785,810,651,629,653,0.403858340547,-0.0154948860408,0.0799505600275,0.999999996122,2.95140651555e-05,-7.93789628831e-05,-2.41670526492e-05,1793248773916880384
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.833794101,744.833794101,715.166205899,679.833794101,659,634,879,785,810,651,629,653,0.404205109358,-0.0155062830037,0.0799543356559,0.999999996597,3.27804931869e-05,-7.41711832845e-05,-1.5139541897e-05,1793248773933547008
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.590525908,659.409474092,634.409474092,879.409474092,785,810,651,628.590525908,653,0.404590891474,-0.0155098220685,0.0799546429074,0.999999997003,2.95328431128e-05,-6.93787858166e-05,-1.7582115094e-05,1793248773950213376
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.015562847,659.984437153,634.984437153,879.984437153,785,810,651,628.015562847,653,0.404992440811,-0.0155101853632,0.0799535484142,0.99999999732,2.36525280417e-05,-6.47542651749e-05,-2.46603233771e-05,1793248773966880000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.426847783,744.426847783,715.573152217,679.573152217,659.426847783,635,879.426847783,785,810,651,628.573152217,653,0.405405528539,-0.0155137467309,0.0799476824276,0.999999996909,1.35271281744e-06,-7.30058362514e-05,-2.9160549532e-05,1793248773983546624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,635,879,785,810,651,628.840439884,653,0.405832537761,-0.0155127089492,0.0799411995213,0.999999996032,-1.98913612766e-06,-8.34867610179e-05,-3.10031506132e-05,1793248774000213504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,716,680,659,635,879,785,810,651,628.261108298,653,0.40629532714,-0.0154993376356,0.0799334428492,0.999999993725,4.57454735651e-05,-9.88902698625e-05,-2.60427429174e-05,1793248774016880896
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.314129925,744,716,680,659,634.685870075,879.314129925,784.685870075,810,651,628,653,0.406780021541,-0.0154922285417,0.0799300024966,0.99999999228,5.81845257279e-05,-0.000106437180597,-2.69273482158e-05,1793248774033548032
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.886009529,744,716,680,659,634.113990471,879.886009529,784.113990471,810,651,628,653,0.407282689486,-0.0154902577187,0.079930103767,0.999999992818,4.16628957802e-05,-0.000107537602486,-3.26078991796e-05,1793248774050214400
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.463411301,715.536588699,680,659,634,879.536588699,784.463411301,810,651,628.463411301,653,0.407819296199,-0.0154989923917,0.0799198008639,0.99999999085,2.7741201501e-05,-0.000127759085166,-3.47430546128e-05,1793248774066880768
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.956888413,744.956888413,715,680,659,634,879,785,810.043111587,651,628.956888413,653,0.408368818153,-0.0155095222626,0.0799086379022,0.999999988044,1.56147889963e-05,-0.00014957798455,-3.59802614111e-05,1793248774083547392
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.365438017,744.365438017,715,680,659,634,879,785,810.634561983,651,628.365438017,653,0.408975147205,-0.0155089876906,0.079919479372,0.999999990548,1.80902728142e-05,-0.000131169976784,-3.70224815668e-05,1793248774100214272
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.221062367,715.221062367,680,659,634,879,785,811,651,628,653,0.409614008974,-0.0155091616478,0.0799414323533,0.999999994758,1.89765427413e-05,-9.36856721101e-05,-3.66960093432e-05,1793248774116880896
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.799559074,715.799559074,680,659,634,879,785,811,651,628,653,0.410305472651,-0.015510481221,0.0799813514663,0.999999998946,1.72932225988e-05,-2.53570246704e-05,-3.41565069199e-05,1793248774133547520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.623789931,716,680,659,634,879,785,811.376210069,651,628.376210069,653,0.410975819113,-0.0155121962702,0.0799911786761,0.999999999281,1.01754266526e-05,-1.20750476056e-05,-3.44660840339e-05,1793248774150214656
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.048117531,716,680,659,634,879,785,811.951882469,651,628.951882469,653,0.411634969444,-0.0155141209961,0.0799850514973,0.99999999895,1.76333069187e-07,-2.79781958608e-05,-3.62862110783e-05,1793248774166881536
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,715.47344498,680,659,634,879,785,810.94688996,651,628.47344498,653,0.412321935733,-0.0155119160709,0.0799485192354,0.99999999594,2.35216928974e-06,-8.0036996521e-05,-4.13273254702e-05,1793248774183548160
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,715.104272152,680,659,634,879,785,810.104272152,651,628.104272152,653,0.413020868054,-0.0155100408909,0.0799154127284,0.999999991126,3.45999172117e-06,-0.000124862617,-4.63137484733e-05,1793248774200214784
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,715.696668471,680,659,634,879,785,810.696668471,651,628.696668471,653,0.413763939577,-0.0155114725701,0.0799113251209,0.999999991504,-5.63016135028e-06,-0.000120390496516,-4.96688802836e-05,1793248774216880640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.281299111,744,716,680,659.281299111,634,879.281299111,785,811,651,629,653,0.414533705748,-0.0155139621778,0.0799232000062,0.999999994126,-9.86878544656e-06,-9.58194429914e-05,-4.96856563979e-05,1793248774233547008
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.857780869,744,716,680,659.857780869,634,879.857780869,785,811,651,629,653,0.415331484174,-0.0155175619284,0.0799518252137,0.999999997634,-9.01643412799e-06,-5.01574715133e-05,-4.61993123817e-05,1793248774250213632
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.566218566,744,716,680,659.566218566,634,879.566218566,785,811,651,629,653,0.416111629757,-0.015515184428,0.0799521955031,0.999999996986,-7.6513551276e-06,-6.15590242021e-05,-4.66908927066e-05,1793248774266880256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715.99015028,680,659.00984972,634,879.00984972,785,811,651,629,653,0.416887680808,-0.0155109832371,0.0799436982615,0.999999994719,-6.21651043568e-06,-9.04099241615e-05,-4.84648118637e-05,1793248774283546880
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,715.4008245,680,659.5991755,634,879.5991755,785,811,651,629,653,0.417762580587,-0.0155146556807,0.0799579001717,0.999999997666,-1.05560185343e-05,-4.63854884648e-05,-4.90377375198e-05,1793248774300214016
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.185221987,715.185221987,680,660,634,880,785,811,651,629,653,0.418638100277,-0.0155186650901,0.0799722180985,0.99999999861,-1.66182827762e-05,-8.15980034911e-06,-4.93758846716e-05,1793248774316881152
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.76429543,715.76429543,680,660,634,880,785,811,651,629,653,0.419514938076,-0.0155233910152,0.0799867827193,0.999999998285,-2.63437728732e-05,1.77355714364e-05,-4.92148047261e-05,1793248774333547520
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.342397508,745,716,680.342397508,660,634,880,785,811,651,629,653,0.420370289315,-0.0155251911718,0.0799789887022,0.999999998295,-2.87860501337e-05,5.30021235569e-06,-5.0524510148e-05,1793248774350213632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.91983277,745,716,680.91983277,660,634,880,785,811,651,629,653,0.421210891132,-0.015524982943,0.0799558466639,0.9999999977,-2.62287870957e-05,-3.34471644355e-05,-5.2843831792e-05,1793248774366880000
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,716,681,660,634,880.503765824,785,811.503765824,651.503765824,629,653,0.422116245263,-0.0155286977986,0.07997176861,0.99999999828,-2.86035475923e-05,-8.14177122332e-06,-5.0545370164e-05,1793248774383546624
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.912162182,744.912162182,715.912162182,680.912162182,660,634,880.912162182,785,812,651.912162182,629.087837818,653,0.423027841888,-0.0155323536094,0.0799915539668,0.999999998144,-3.04129041748e-05,2.18694828948e-05,-4.80580717001e-05,1793248774400213504
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.333170961,744.333170961,715.333170961,680.333170961,660,634,880.333170961,785,812,651.333170961,629.666829039,653,0.423915972635,-0.0155321427967,0.0799977276847,0.999999998303,-2.46147748672e-05,2.04535752571e-05,-4.86775795004e-05,1793248774416880896
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.245627619,715,680,660,634,880.245627619,785.245627619,812,651,629.754372381,653,0.424786239787,-0.0155303953543,0.07997922448,0.99999999833,-1.81905794726e-05,-2.02466966745e-05,-5.09744326386e-05,1793248774433547776
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.824165185,715,680,660,634,880.824165185,785.824165185,812,651,629.175834815,653,0.425632295744,-0.0155265652498,0.0799272755541,0.999999991878,-1.09178481418e-05,-0.00011419080093,-5.55446656891e-05,1793248774450213888
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.598625445,715,680.401374555,660,634,880.598625445,786,812,651,629.401374555,653,0.426533167774,-0.0155266011021,0.0799106539167,0.999999990245,-1.66395574971e-05,-0.000125839272087,-5.82902833435e-05,1793248774466880512
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.021996048,715,680.978003952,660,634,880.021996048,786,812,651,629.978003952,653,0.427457974458,-0.0155283249731,0.0799094574712,0.999999992636,-2.8035116343e-05,-0.000101554448412,-6.02392068803e-05,1793248774483546880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,715,680.435638948,660,634,880.564361052,785.435638948,812,651,630,653,0.428353045187,-0.0155292756418,0.0799168643294,0.999999992119,-2.76388291951e-05,-0.000107524155128,-5.86199158506e-05,1793248774500213504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.148868744,715,680.148868744,660,634,881,785,812,651,630,653,0.429259482304,-0.0155305142715,0.0799323201599,0.999999993221,-2.8285647818e-05,-9.7613703349e-05,-5.68265271301e-05,1793248774516881152
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.726932239,715,680.726932239,660,634,881,785,812,651,630,653,0.430202089084,-0.015532671511,0.0799699978283,0.999999997197,-3.32880364326e-05,-3.84608623995e-05,-5.49391890818e-05,1793248774533552384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.304745425,634,881,785,812.304745425,651,630,653.304745425,0.431128853937,-0.0155370642938,0.0800034582964,0.999999997957,-3.43681946575e-05,1.20107647016e-05,-5.2535325229e-05,1793248774550219008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.882334474,634,881,785,812.882334474,651,630,653.882334474,0.432041435199,-0.0155434585955,0.0800331430332,0.99999999676,-3.19367148582e-05,5.47099541201e-05,-4.96690074275e-05,1793248774566881536
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.457503737,745,715.457503737,681,661,634,881,785,813,651,630,654,0.43285056289,-0.0155396482311,0.0799862311791,0.999999997621,-3.93154669754e-05,-1.80059117355e-05,-5.3733634736e-05,1793248774583547136
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.967036433,745,716,681,661,634,881,785.032963567,813.032963567,651,630,653.967036433,0.433638336878,-0.0155336889123,0.0799226715101,0.999999990443,-4.86048636563e-05,-0.000115014700401,-5.93531797865e-05,1793248774600214016
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.376182211,745,716,681,661,634,881,785.623817789,813.623817789,651,630,653.376182211,0.434512654221,-0.0155355449511,0.0799090126736,0.999999989365,-4.77535005394e-05,-0.000123431642371,-6.12785293085e-05,1793248774616880384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.78973899,680.78973899,661,634,881,785.78973899,813.78973899,651,630,653,0.435379026371,-0.0155373401379,0.0799144445277,0.999999990736,-4.91622376782e-05,-0.000110821235486,-6.18769242874e-05,1793248774633547008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.211025328,680.211025328,661,634,881,785.211025328,813.211025328,651,630,653,0.436231475843,-0.0155390286905,0.0799533301125,0.999999994821,-5.45314803311e-05,-6.13633778215e-05,-6.01500195094e-05,1793248774650213632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.365460383,680,661,634,881,785,813.365460383,651,630,653,0.437075154571,-0.0155425922843,0.0799860353493,0.999999996799,-5.44461300734e-05,-1.48258663497e-05,-5.67208460938e-05,1793248774666880256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.940667384,680,661,634,881,785,813.940667384,651,630,653,0.437913799505,-0.0155472320099,0.0800151935315,0.999999996868,-5.12302556796e-05,3.00355843079e-05,-5.23146992957e-05,1793248774683546880
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.485447891,680.514552109,661,634,881,785,814,651,630,653,0.438696851104,-0.0155507894047,0.0800220408537,0.999999995716,-6.25082037478e-05,4.19775838207e-05,-5.38385645797e-05,1793248774700213760
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.091372272,744.908627728,715,681,661,634,881,785,813.908627728,651,630,653,0.439461645962,-0.0155532901715,0.0800180749559,0.999999995186,-7.1581262268e-05,3.70300147735e-05,-5.59723725296e-05,1793248774716880896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.685169643,744.314830357,715,681,661,634,881,785,813.314830357,651,630,653,0.440161211583,-0.0155506653877,0.079968760695,0.999999995774,-5.93641804656e-05,-3.99685975965e-05,-5.77097823881e-05,1793248774733547520
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.728533615,744.271466385,715,681,661,634,881,785,813.271466385,651,630,653,0.440828790717,-0.0155466251744,0.0799086197517,0.99999998767,-5.73659261999e-05,-0.000132017015536,-6.27722327045e-05,1793248774750213888
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.150701804,744.849298196,715,681,661,634,881,785,813.849298196,651,630,653,0.441460271216,-0.0155409875676,0.0798362602779,0.999999966147,-6.69002070956e-05,-0.000241049998655,-7.15871820384e-05,1793248774766880256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,881,785,814.424846871,651,630,653,0.442157037529,-0.0155418705325,0.0798448730377,0.999999970251,-7.54535866765e-05,-0.000220634723332,-7.15900052185e-05,1793248774783546880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,881,785,814.999590047,651,630,653,0.442876838315,-0.0155450541133,0.0798820547642,0.999999982213,-8.36608811003e-05,-0.000154546964122,-6.8483696697e-05,1793248774800213504
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,881,785,814.426606184,651,630,653,0.443566386735,-0.0155546205774,0.0799492362321,0.999999993549,-7.72836296501e-05,-5.6374926311e-05,-6.12452095493e-05,1793248774816880384
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.151548748,745,715,681,661,634,881,785,814,651,630.151548748,653,0.444234839407,-0.0155616126973,0.0800013176505,0.99999999549,-7.40742775e-05,1.96402228053e-05,-5.61015950696e-05,1793248774833547008
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.742316306,745,715,681,661,634,881,785,814,651,630.742316306,653,0.444842215092,-0.0155611306465,0.0800095740377,0.999999994675,-8.00763074022e-05,3.13738923276e-05,-5.70378917825e-05,1793248774850214144
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.673667686,745,715,681,661,634,881,785,814,651,630.673667686,653,0.445411992235,-0.0155604426398,0.0800061949055,0.999999994788,-8.07423308647e-05,2.35730382457e-05,-5.78646384967e-05,1793248774866881024
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.094874916,745,715,681,661,634,881,785,814,651,630.094874916,653,0.445952681982,-0.0155595952996,0.0799938141864,0.999999995296,-7.72802594571e-05,6.59690608467e-07,-5.86066339739e-05,1793248774883547904
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,881,785,814.480812315,651,630,653,0.446463453616,-0.0155590894283,0.0799819201068,0.999999995416,-7.47626410258e-05,-9.38446513873e-06,-5.9085725493e-05,1793248774900214272
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715.057219673,681,661,634,881.057219673,785,815,651,630,653,0.44696268611,-0.0155590083352,0.0799701087805,0.999999995394,-7.31780788652e-05,-1.73905387571e-05,-5.96211525732e-05,1793248774916880640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715.645972464,681,661,634,881.645972464,785,815,651,630,653,0.447409215354,-0.0155622512577,0.0799581798957,0.999999994598,-7.85409296773e-05,-2.99019246249e-05,-6.11587084478e-05,1793248774933547264
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.230912198,745,715.769087802,681,661,633.769087802,881.769087802,784.769087802,814.769087802,651,630,653,0.447834237893,-0.0155670706381,0.0799408060904,0.999999992535,-8.93936962481e-05,-5.46341213693e-05,-6.28856614719e-05,1793248774950213632
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.810100782,745,715.189899218,681,661,633.189899218,881.189899218,784.189899218,814.189899218,651,630,653,0.448226822619,-0.0155742677315,0.0799152199128,0.999999987223,-0.00010852670053,-9.7798517131e-05,-6.48982750384e-05,1793248774966880256
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.38702486,661,633.38702486,880.61297514,784,814,651,630,653,0.448577099261,-0.0155781653757,0.0798837287546,0.999999980045,-0.000114914644287,-0.000148840953668,-6.7464354869e-05,1793248774983547136
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.962844339,661,633.962844339,880.037155661,784,814,651,630,653,0.448906737629,-0.015580453516,0.0798493570852,0.999999970154,-0.000115085420806,-0.000203726381316,-7.03004211684e-05,1793248775000214016
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.11385761,744.11385761,715,680.11385761,661,633,881.11385761,784,814,651,630,653,0.449565379798,-0.0155973451894,0.0798454385915,0.999999968215,-0.000132599239779,-0.000203161243347,-6.86517982644e-05,1793248775033547520
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.870628663,660.129371337,632.129371337,881.129371337,784,814,651,630,653,0.450408254386,-0.0155960886403,0.0798545610782,0.999999967659,-0.000146352144255,-0.000195342763681,-7.14479917206e-05,1793248775083547136
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.55392465,660,632.44607535,881.44607535,784,814.44607535,651,630,653,0.450632965163,-0.0155983475189,0.0798510605666,0.99999996696,-0.000144218108045,-0.000200782403991,-7.04766540745e-05,1793248775100213760
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.979108705,745,715,681,660.020891295,633,881.979108705,784,814.979108705,651,630,653,0.450844582397,-0.015602354453,0.0798457052161,0.999999965775,-0.000143287055549,-0.000207858121701,-6.86536251336e-05,1793248775116880384
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.391323249,745,715,681,660.608676751,633,881.391323249,784,814.391323249,651,630,653,0.451007090914,-0.01560998115,0.0798331294339,0.999999960117,-0.000147513897316,-0.000232017567542,-6.46051506997e-05,1793248775133547264
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.806741037,633,881.193258963,784,814.193258963,651,630,653.193258963,0.451160844559,-0.0156148081341,0.0798204946377,0.99999995356,-0.000153780282879,-0.000255465497785,-6.30073494542e-05,1793248775150214144
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.228539273,633,881.771460727,784,814.771460727,651,630,653.771460727,0.451297159797,-0.01561405851,0.0798077422963,0.999999945835,-0.000164109132648,-0.000277496193175,-6.62909212985e-05,1793248775166881024
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,881.650267524,783.650267524,815,651,630,653.650267524,0.451416118747,-0.0156162627535,0.0797948180099,0.999999938629,-0.000170314117741,-0.000298332849865,-6.87882522284e-05,1793248775183547904
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,881.071949977,783.071949977,815,651,630,653.071949977,0.451523733644,-0.0156203976441,0.0797817813391,0.999999931703,-0.000173823746765,-0.000318389085277,-7.07716965839e-05,1793248775200214272
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.502066841,745,715,681,660,633,881,783,814.497933159,651,630,653,0.45161511734,-0.0156235943473,0.0797752906037,0.999999927344,-0.000178811266902,-0.000328840790845,-7.21256742113e-05,1793248775216880384
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.922217911,744.922217911,715,681,660,632.922217911,881,783,814,651,630,653,0.451701380969,-0.0156260464526,0.0797697406906,0.999999923613,-0.000182745698328,-0.000337656262816,-7.32533810077e-05,1793248775233547008
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.331265224,744.331265224,715,681,660,632.331265224,881,783,814,651,630,653,0.451769080675,-0.0156244655447,0.0797642614178,0.999999921994,-0.000178346889986,-0.00034468036129,-7.34783490889e-05,1793248775250213888
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765.218982052,745,715,681.781017948,660,632,881,782.218982052,814.781017948,650,630,653,0.452048501096,-0.0156251914291,0.0797358890961,0.999999904196,-0.000187538287001,-0.000388806293627,-7.25732772113e-05,1793248775466880768
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.525133719,745,715,681,660,632,881,783,814.525133719,651,629.474866281,653,0.452051030034,-0.0156224732685,0.0797351899686,0.999999904472,-0.000182884762076,-0.000390431028393,-7.1915096908e-05,1793248775533546752
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+240,4.000000000,HOLD_POSE2,766,745,715,682,660,633,881,782,814,651,629,654,0.452057233502,-0.0156202797954,0.0797361231339,0.99999990601,-0.000178044709128,-0.000388858566613,-7.11957577029e-05,1793248775690391296
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+244,4.066666667,HOLD_POSE2,765,745,715,681.690704987,660,632.690704987,881.309295013,782.309295013,814.690704987,650.309295013,629.309295013,653,0.452054682678,-0.0156178911206,0.0797340535236,0.999999904585,-0.000179772053312,-0.000391642264598,-7.16132232254e-05,1793248775757058304
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+256,4.266666667,HOLD_POSE2,765,745,715,681,660,632.724857627,881,782.724857627,814,651,630,653,0.452055210325,-0.0156200583817,0.0797325421641,0.999999903076,-0.00018203626602,-0.000394680574595,-7.02728793503e-05,1793248775957057536
+257,4.283333333,HOLD_POSE2,765,745,715,681,660,632.135772279,881,782.135772279,814,651,630,653,0.452054162503,-0.0156192731372,0.0797326733683,0.999999902969,-0.000180712256017,-0.000395532977133,-7.04224695625e-05,1793248775973724160
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,881,782,814,650,629,653,0.452055866347,-0.0156175438712,0.0797331063549,0.999999903322,-0.000179627823164,-0.000395052226581,-7.08785889601e-05,1793248776006387200
+259,4.316666667,POSE2_TO_POSE3_RETREAT,765.422752072,745,715,681,660,632.577247928,881,782,814.577247928,650.577247928,629.577247928,653,0.452055499103,-0.0156181797433,0.079732786212,0.999999903206,-0.000180569484841,-0.000394974535952,-7.05547468444e-05,1793248776023053824
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765.153173198,745,715,681.153173198,660,632.846826802,881,782.153173198,815,651,630,653,0.452055323276,-0.0156189137955,0.0797324185388,0.999999903112,-0.000181477172432,-0.000394832135582,-7.03486358043e-05,1793248776039720192
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765.725479365,745,715,681.725479365,660,632.274520635,881,782.725479365,815,651,630,653,0.452055671228,-0.0156199165013,0.0797319208069,0.999999903082,-0.000182291895808,-0.000394512667762,-7.04646761885e-05,1793248776056386816
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.691704067,745,715,681.691704067,660,632,881,783,814.691704067,651,630,653,0.452055425544,-0.0156200331823,0.0797318937509,0.999999903105,-0.000181841776125,-0.0003947017069,-7.02444689721e-05,1793248776073053440
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.099198272,745,715,681.099198272,660,632,881,783,814.099198272,651,630,653,0.452054632603,-0.0156193330602,0.0797323005987,0.999999903175,-0.000180225631057,-0.000395359525163,-6.97142839856e-05,1793248776089720320
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.482414426,881,782.517585574,814,651,629.517585574,653,0.452055298711,-0.0156185849345,0.0797325196058,0.999999903901,-0.000178388626509,-0.000394327260906,-6.98682672376e-05,1793248776106386688
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.061437395,745,715,681.061437395,660,633,881,782.061437395,814,651,629.061437395,653,0.452055565811,-0.0156179742566,0.0797323078755,0.999999904407,-0.000176957647577,-0.000393632328565,-7.01790274916e-05,1793248776123053056
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.63711853,745,715,681.63711853,660,633,881,782.63711853,814,651,629.63711853,653,0.452050037337,-0.0156185948426,0.0797288069475,0.999999901987,-0.00017929692661,-0.000398605595111,-7.06504866265e-05,1793248776139719424
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.783466941,745,715,681.783466941,660,633,881,782.783466941,814,650.783466941,630,652.783466941,0.45203905955,-0.0156180333378,0.0797228916067,0.999999898242,-0.000180497063672,-0.00040726294586,-7.12254615645e-05,1793248776156386304
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.197686015,745,715,681.197686015,660,633,881,782.197686015,814,650.197686015,630,652.197686015,0.452018789199,-0.015615456046,0.0797128590347,0.999999892126,-0.000179754653027,-0.000422202663437,-7.19769590953e-05,1793248776173052928
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.383105982,745,715,681,660,633,881,782.383105982,814.383105982,650.383105982,630,652.383105982,0.451977380634,-0.0156130427168,0.0796947817908,0.999999879337,-0.000177978179664,-0.000452011342793,-7.30428722545e-05,1793248776189720064
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.961356794,745,715,681,660,633,881,782.961356794,814.961356794,650.961356794,630,652.961356794,0.451925204777,-0.0156107129058,0.0796726067867,0.999999862058,-0.000175674979745,-0.000489393908993,-7.4268941044e-05,1793248776206387712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881,782.459043971,814.459043971,650.459043971,630,653,0.451862337164,-0.0156097044359,0.0796567287768,0.99999985064,-0.000176519763703,-0.000511894374649,-7.43247156337e-05,1793248776223054080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.880514928,745,715,681,660,633,881,782.119485072,814.119485072,650.119485072,630,653,0.451795365391,-0.0156082520486,0.079642773757,0.999999840282,-0.000177177822152,-0.00053156960506,-7.40143389915e-05,1793248776239719936
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.306424884,745,715,681,660,633,881,782.693575116,814.693575116,650.693575116,630,653,0.451715691665,-0.0156047506646,0.0796344194053,0.99999983356,-0.000176267721293,-0.000544550564094,-7.262973427e-05,1793248776256386048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,881,783,814.725666099,651,630,653,0.451629196043,-0.0156005950427,0.0796290022025,0.999999829116,-0.000174271404153,-0.000553495788833,-7.09856891865e-05,1793248776273052416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,881,783,814.137272932,651,630,653,0.451534890675,-0.0155956904449,0.0796269474679,0.999999827408,-0.000171031579495,-0.000557820877502,-6.90446351502e-05,1793248776289719296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.444362944,660,633,881,783,814.444362944,651,630,653,0.451419040129,-0.015593045524,0.0796263217102,0.99999982645,-0.000170404314874,-0.000560106675461,-6.58940539114e-05,1793248776306385920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.023771559,745,715,681.976228441,660,632.976228441,881,783,815,651,630.023771559,653,0.45129587969,-0.0155908972258,0.0796264179561,0.999999826003,-0.000170323187107,-0.000561333568952,-6.23584887159e-05,1793248776323053056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.599210562,745,715,681.400789438,660,632.400789438,881,783,815,651,630.599210562,653,0.451155224929,-0.015584316797,0.079633178689,0.999999832202,-0.000164467033567,-0.00055238738767,-5.84299631852e-05,1793248776339719936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.825693183,745,715,681.174306817,660,632.174306817,881,783.174306817,814.825693183,651,630.825693183,653,0.451007636659,-0.0155769560548,0.0796413527136,0.999999840212,-0.000157762360227,-0.00054013903759,-5.41863387432e-05,1793248776356386816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.251383555,745,715,681.748616445,660,632.748616445,881,783.748616445,814.251383555,651,630.251383555,653,0.450844137251,-0.0155678046346,0.0796527699877,0.999999852309,-0.000149110487269,-0.000520312804885,-4.92196194771e-05,1793248776373053440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880.667190877,783.667190877,814,651,630,653,0.450661447389,-0.0155595640327,0.0796637975902,0.999999864158,-0.000138688774928,-0.000500574173678,-4.32942832614e-05,1793248776389719808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880.075304621,783.075304621,814,651,630,653,0.450463818592,-0.0155520324615,0.0796745218519,0.999999875645,-0.000126889320231,-0.000480903734151,-3.6622705759e-05,1793248776406385920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.505283258,745.505283258,715,682,660,633,881.010566516,783.505283258,814,651,630,653,0.450213814433,-0.0155392857099,0.0796807208987,0.999999881239,-0.000106333755107,-0.000474673242836,-3.00226200488e-05,1793248776423052544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.916323308,745.916323308,715,682,660,633,881.916323308,784,814,651,629.916323308,653,0.449952554604,-0.0155261129142,0.0796869637056,0.999999886767,-7.973024763e-05,-0.000468583547102,-2.32023450376e-05,1793248776439719424
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.341145116,745.341145116,715,682,660,633,881.341145116,784,814,651,629.341145116,653,0.449670027594,-0.0155149031315,0.0796973382904,0.999999897505,-2.50996913928e-05,-0.000451812837153,-1.50275006716e-05,1793248776456386304
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.234122689,745,715,682,660,633,881,784.234122689,814,651,629.234122689,653,0.449368605906,-0.0155036529864,0.0797049384571,0.999999903263,1.47901501044e-05,-0.000439544421707,-7.54532123447e-06,1793248776473053184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.809521085,745,715,682,660,633,881,784.809521085,814,651,629.809521085,653,0.449039641864,-0.0154923440062,0.0797084944125,0.99999990534,3.31927591885e-05,-0.000433838908643,-1.07282540039e-06,1793248776489720320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.605113656,744.605113656,715,682,660.394886344,633,881.394886344,785,813.605113656,651,630,653,0.448686545754,-0.0154806391223,0.0797141922749,0.999999907788,4.72934992219e-05,-0.00042681594373,4.00864974373e-06,1793248776506386944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.014816275,744.014816275,715,682,660.985183725,633,881.985183725,785,813.014816275,651,630,653,0.448321507807,-0.0154687383242,0.0797209500683,0.999999910369,5.92654421322e-05,-0.00041914103281,8.40177271521e-06,1793248776523053568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.565300819,744.565300819,715.565300819,682,661,633,882,784.434699181,813.565300819,651,630,653,0.44789925044,-0.0154581211093,0.0797223708134,0.999999912486,5.32228413441e-05,-0.000414963106228,-6.33231917635e-08,1793248776539719680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.856375387,745,715.856375387,682,661,633.143624613,881.856375387,784,814,651,630,653,0.447476198684,-0.0154507673313,0.0797298305514,0.999999918349,5.18789192139e-05,-0.00040073468101,-4.70968828572e-06,1793248776556386048
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.282637197,745,715.282637197,682,661,633.717362803,881.282637197,784,814,651,630,653,0.447055179737,-0.0154530876253,0.079755786795,0.9999999344,6.59951087712e-05,-0.000356138338974,3.07131331041e-06,1793248776573052672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.298062776,661,634,881,784.298062776,813.701937224,651,630,653,0.4466075419,-0.0154589836692,0.0797790950567,0.999999946195,6.66552826124e-05,-0.000321054950832,9.56158998818e-06,1793248776589719552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.885522186,661,634,881,784.885522186,813.114477814,651,630,653,0.446134059065,-0.0154683514988,0.0797998323295,0.999999954845,5.42506746468e-05,-0.00029520792358,1.47986703549e-05,1793248776606386432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.468240201,744.531759799,715,682.531759799,660.531759799,634,881.468240201,785,813,651,630.468240201,653,0.445591408224,-0.0154654443312,0.0798125430663,0.999999958274,6.65765211062e-05,-0.000280600861149,1.68139424234e-05,1793248776623053312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.950610568,744,715,682,660,634,881.950610568,785,812.950610568,651,630.950610568,653,0.445027000213,-0.0154595575705,0.0798223276989,0.999999959725,8.37679893952e-05,-0.000270556414562,1.82335770278e-05,1793248776639720448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.373957535,744,715,682,660,634,881.373957535,785,812.373957535,651,630.373957535,653,0.444409041396,-0.0154535787636,0.0798216138497,0.999999956556,8.90027722856e-05,-0.000280178166674,2.16191410885e-05,1793248776656387072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744.200738964,715,682,660.200738964,633.799261036,881,785,812,651,630,653,0.443781858962,-0.0154483803634,0.079814348589,0.999999951055,9.56121025466e-05,-0.000296975982095,2.35179183158e-05,1793248776673053440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,744.771825774,715,682,660.771825774,633.228174226,881,785,812,651,630,653,0.443137659705,-0.0154446217534,0.0797949964812,0.999999940787,0.000104757365933,-0.000327013078047,2.26736887262e-05,1793248776689719552
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.355671425,745,715,681.644328575,660.644328575,633.355671425,881,785,812,651,630,653,0.442494089515,-0.0154451790848,0.0797880681897,0.999999940043,9.90817291582e-05,-0.00033108014976,2.19644591888e-05,1793248776706386176
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.948006793,745,715,681.051993207,660.051993207,633.948006793,881,785,812,651,630,653,0.441850937932,-0.015448608246,0.0797894067126,0.999999945763,8.35442577168e-05,-0.000317866753309,2.13450587897e-05,1793248776723052800
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.471895772,745,715,681.528104228,660,634,881,785,812,651,630,653,0.441134809616,-0.0154503292994,0.0797843490225,0.999999944544,8.31677224873e-05,-0.00032162045205,2.35495600629e-05,1793248776739719424
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.893676743,880.893676743,785,812,651,630,653.106323257,0.440391384514,-0.0154501045776,0.0797686877371,0.999999936385,8.85957033174e-05,-0.00034461327399,2.495027408e-05,1793248776756386048
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.318548052,880.318548052,785,812,651,630,653.681451948,0.439558563188,-0.0154420251513,0.0797089863096,0.999999894243,0.00011318489735,-0.000445237500606,2.16087949701e-05,1793248776773052672
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.262054556,880.262054556,785.262054556,812,651,630,653.737945444,0.43877199248,-0.0154366407524,0.0796830768741,0.999999873587,0.000127714130842,-0.000485906965941,2.02248602005e-05,1793248776789719552
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.849453178,880.849453178,785.849453178,812,651,630,653.150546822,0.438042842392,-0.015434602263,0.0796991206187,0.99999988914,0.000129753799729,-0.000452141850138,2.12712413914e-05,1793248776806386432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.430499848,745,715,682,660.430499848,634,881,785.569500152,812,651,630,653,0.437312423074,-0.0154379044179,0.079756888289,0.999999923095,0.000131310618024,-0.00036843198435,2.87140220106e-05,1793248776823053056
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.83540447,745,715.16459553,683,660,634,880.16459553,785,811.16459553,651,630,652.16459553,0.434926949313,-0.0154414435869,0.0798526097462,0.999999964737,0.00013841422895,-0.000223166691666,3.95366070207e-05,1793248776873052928
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715.676540101,682.353080203,660,634,880.676540101,785,811.676540101,651,630,653,0.433135121043,-0.0154307726991,0.0797910426977,0.999999934046,0.000163474330894,-0.000322057991463,3.824807631e-05,1793248776906385920
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715.089285179,681.178570359,660,634,880.089285179,785,811.089285179,651,630,653,0.432231190495,-0.0154251720952,0.0797542566043,0.99999991022,0.000160759455242,-0.00039064812991,3.33231109608e-05,1793248776923052800
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.070630254,682,660,634,880,785,811,651,629.929369746,653,0.430381266086,-0.0154208422866,0.0796994486937,0.999999858659,0.000170414125182,-0.000502450729757,3.44233611205e-05,1793248776956385792
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.645862562,682,660,634,880,785,811,651,629.354137438,653,0.429577229247,-0.0154171079313,0.079768603858,0.999999908407,0.000195153505761,-0.000379145048282,3.67514992997e-05,1793248776973052416
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.778572868,682,660,634,880.221427132,785,811,651,629,653,0.428739676389,-0.0154059794582,0.0798240873071,0.99999993491,0.000217533017849,-0.000285214690088,3.88910895353e-05,1793248776989718784
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715.202476011,682,660,634,880.797523989,785,811,651,629,653,0.4278484393,-0.0153830074958,0.0798576721703,0.999999942889,0.000236132630738,-0.000238336086678,4.07286751638e-05,1793248777006385408
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.382595961,744.617404039,715.382595961,682,660,634,880.617404039,785,811,651,629.382595961,653,0.42693209642,-0.0153680973664,0.0798362150885,0.999999930374,0.000253882672842,-0.000270755349224,3.85682527914e-05,1793248777023052288
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.972531773,744.027468227,715.972531773,682,660,634,880.027468227,785,811,651,629.972531773,653,0.426002148036,-0.0153575561794,0.0797849291777,0.999999902737,0.000271172305748,-0.000346148427802,3.42411936204e-05,1793248777039718912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.446474108,744,715.446474108,681.446474108,660,634,880.553525892,785,811,651,629.446474108,653,0.425071378853,-0.0153660181875,0.0797625297849,0.999999892694,0.00026122636247,-0.000381153628583,3.30789899381e-05,1793248777056385280
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.132536869,744.132536869,715.132536869,681,659.867463131,634,880.867463131,785,811,651,629,653,0.424138604724,-0.0153727205017,0.0797422773401,0.99999988147,0.000254358970154,-0.000413905283157,3.22976649884e-05,1793248777073051904
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.706398334,744.706398334,715.706398334,681,659.293601666,634,880.293601666,785,811,651,629,653,0.423199287994,-0.0153704731813,0.079724476542,0.999999865779,0.000262171466863,-0.000445720605324,3.22699539432e-05,1793248777089718784
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.127352669,744.127352669,715.127352669,681,659.872647331,634,880,785,811,651,629,653,0.421522602965,-0.0153700182205,0.079787934952,0.999999912771,0.000260217837081,-0.000324611866266,3.70356295949e-05,1793248777123052544
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.612744475,745,715.612744475,681,659.612744475,634,880,785,811,651,629.387255525,652.612744475,0.41898210159,-0.0153688787793,0.0798387172798,0.999999936299,0.000258939474287,-0.000242169403971,4.13040549259e-05,1793248777173052160
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.809631731,744.809631731,715.809631731,681,660,634,879.809631731,785,811,651,629.190368269,653,0.418099238007,-0.0153669405887,0.0798092033647,0.999999921632,0.00026132435084,-0.000294910440971,3.83807796396e-05,1793248777189719040
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.346388527,744.346388527,715,681,659.653611473,634,879.346388527,785,811,651,629.653611473,653,0.416413351836,-0.0153629174947,0.0797913449718,0.999999910055,0.000256327937546,-0.000336157015639,3.44055713505e-05,1793248777223052288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.934025141,744.934025141,715,681,659.065974859,634,879.934025141,785,811,651,629.065974859,653,0.415597191645,-0.0153604300341,0.0798049757,0.999999911097,0.000259599681994,-0.000330275955921,3.65018605978e-05,1793248777239718912
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.097942041,744.097942041,716,681,659.097942041,634,879,785,811,651,629.902057959,653,0.414014527999,-0.0153532557901,0.0797689401655,0.999999891908,0.000272358585841,-0.000375169874145,3.53919784505e-05,1793248777273051904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.673467839,744.673467839,716,681,659.673467839,634,879,785,811,651,629.326532161,653,0.413310030094,-0.0153566503279,0.0797858680228,0.999999906815,0.00026527939741,-0.000338768050379,3.51170320899e-05,1793248777289718528
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,744.17959436,716,681,660,634.82040564,879.82040564,785,811,651,629.82040564,653,0.411878558903,-0.0153577935472,0.0797950276967,0.999999910502,0.000267174880662,-0.000326059433925,3.60261419724e-05,1793248777323052032
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.592581236,744.407418764,715.592581236,680.592581236,659.592581236,634.592581236,879.592581236,785,811,651,629.592581236,653,0.411171296979,-0.0153563757432,0.079789399256,0.999999904905,0.000271086841215,-0.000339716933949,3.59658974164e-05,1793248777339718912
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.000964417,744.999035583,715.000964417,680,659.000964417,634,879,785,811,651,629,653,0.41047007386,-0.0153545617313,0.0797813691111,0.999999897853,0.00027489026659,-0.000357024279894,3.55413611319e-05,1793248777356385536
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.686694848,744,716,680,659,634,879,785,810,651,629,653,0.408106380586,-0.0153537488624,0.0798390386582,0.999999924562,0.000284870721278,-0.000260553167349,4.285895425e-05,1793248777423052032
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.098742971,744,716,680,659,634,879,785,810,651,629,653,0.407514427728,-0.0153505322107,0.0798182994573,0.999999911762,0.000291437594339,-0.000299637202067,4.19178810244e-05,1793248777439718656
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634.481972601,879,785,810.481972601,651,629,652.518027399,0.406951740539,-0.0153464025251,0.0797838108051,0.999999892388,0.000291058027112,-0.000359280734307,3.7758911375e-05,1793248777456385280
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634.939267329,879,785,810.939267329,651,629,652.060732671,0.406407544982,-0.0153429416741,0.0797520104675,0.999999872442,0.000289133339033,-0.000412784661705,3.35633992962e-05,1793248777473052160
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,716,680,659,634.364694507,879,785,810.364694507,651,629,652.635305493,0.405969823651,-0.0153466988333,0.0797664353752,0.999999886596,0.000285998471722,-0.000379233392913,3.45539904307e-05,1793248777489719808
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.780069998,744.780069998,716,680.780069998,659,634,879,785,810,651,629,653,0.40515157169,-0.0153484323256,0.0798027134702,0.999999910274,0.000287381138199,-0.000308976118342,3.73804590287e-05,1793248777523053568
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.538775347,634.538775347,878.461224653,785,810,651,628.461224653,652.538775347,0.404020048522,-0.015339615386,0.0798297830046,0.999999912043,0.000304249579352,-0.000285610408019,4.21161622016e-05,1793248777573053440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,715.884322226,680.115677774,659,634.884322226,878.115677774,785,810,651,628.115677774,653,0.403675005233,-0.0153335418694,0.0798294283899,0.999999905367,0.000318787568915,-0.000292940231176,4.27468514945e-05,1793248777589720576
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.950540211,744,716,680,659,634,879,785.950540211,810,651,628.950540211,652.950540211,0.40098961499,-0.0153412737091,0.0798338059014,0.999999911378,0.000307144688912,-0.00028571214379,3.57098844232e-05,1793248777989719808
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.201851535,744,716,680,659,634,879,785,810,651.201851535,628,652.201851535,0.400981238851,-0.0153399291693,0.0798333815439,0.99999991039,0.000308291424904,-0.000287936792893,3.56217834573e-05,1793248778023052800
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744,716,679.106477268,659,634.106477268,879,785,810,651,629,652.106477268,0.400979963656,-0.0153431409547,0.0798350527854,0.999999912989,0.000302786071859,-0.000284817170721,3.49420501195e-05,1793248778106386432
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744,716,679.680803382,659,634.680803382,879,785,810,651,629,652.680803382,0.400980401484,-0.0153436281795,0.079836670166,0.999999914095,0.000301129181604,-0.00028265012497,3.52241526586e-05,1793248778123053056
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744,716,680.255371919,658.744628081,634.744628081,879,785,810,651,629,652.744628081,0.400980541034,-0.0153439189297,0.0798372459596,0.999999914472,0.000300820852526,-0.000281616120097,3.54186727701e-05,1793248778139719680
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744,716,680.830243834,658.169756166,634.169756166,879,785,810,651,629,652.169756166,0.400980307404,-0.0153439638674,0.079836518607,0.999999913945,0.000302199730226,-0.000281999680952,3.55036171084e-05,1793248778156386048
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744,716,680.58082853,658,634.41917147,879,785,810,651,629,652.41917147,0.40098137275,-0.0153439812502,0.0798371011633,0.999999914229,0.000302639393923,-0.000280527909074,3.54333888357e-05,1793248778173052672
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.01353111,635,879,785,810,651,628.98646889,653,0.400982890632,-0.015343961228,0.0798381830408,0.99999991481,0.000302712918266,-0.000278385673159,3.52933410124e-05,1793248778189719040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.588884789,635,879,785,810,651,628.411115211,653,0.400980597938,-0.0153428675314,0.0798372066658,0.999999913812,0.000303924971479,-0.000280685260455,3.49541020094e-05,1793248778206385920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.835952346,744,716,679.835952346,659,634.835952346,879,785,810,651,628.164047654,653,0.400979501438,-0.0153425249102,0.0798368580517,0.999999913415,0.000304348950438,-0.000281652327751,3.48456161308e-05,1793248778223053056
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.261267152,744,716,679.261267152,659,634.261267152,879,785,810,651,628.738732848,653,0.400981399203,-0.0153440623514,0.0798380808233,0.999999914533,0.000302800253299,-0.000279283884016,3.53147422851e-05,1793248778239719680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,716,679.320600569,659,634.320600569,878.679399431,785,810,651,629,653,0.400981925305,-0.0153443943885,0.079838395053,0.999999914742,0.000302354297008,-0.000278987732451,3.55520699047e-05,1793248778256386560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,716,679.908455657,659,634.908455657,878.091544343,785,810,651,629,653,0.400981307979,-0.0153437215937,0.0798379519167,0.999999914197,0.000302827592052,-0.000280419055944,3.55961688794e-05,1793248778273053184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.491494295,744,715.508505705,680,659,634.508505705,878.491494295,785,810,651,629,652.508505705,0.400980332704,-0.0153436020435,0.0798370568162,0.99999991395,0.000303092453444,-0.000281057879517,3.52301963317e-05,1793248778289719552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.927385023,744,715.072614977,680,658.927385023,634,879.072614977,785,810,651,628.927385023,652.072614977,0.400979602886,-0.0153436927525,0.0798363912048,0.999999913889,0.000303209466422,-0.000281193427255,3.48797635721e-05,1793248778306385920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.353373632,744,715.646626368,680,658.353373632,634,879.646626368,785,810,651,628.353373632,652.646626368,0.400981023798,-0.0153445306613,0.0798378858055,0.999999914725,0.000302571067331,-0.000278863251865,3.51588979856e-05,1793248778323052544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.220545574,744,716,680,658,634.220545574,879.779454426,785,810,651,628.220545574,653,0.400981386281,-0.0153450027015,0.0798384331925,0.999999915042,0.000302307258172,-0.00027799971854,3.52579805892e-05,1793248778339719168
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.794317223,744,716,680,658,634.794317223,879.205682777,785,810,651,628.794317223,653,0.400980053585,-0.0153448887662,0.079837463521,0.999999914533,0.000302643392634,-0.000279485160684,3.50686920243e-05,1793248778356385536
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..157fa0ef205c3c759d71015877fb134ed900bb81
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,401 @@
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+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
+17,0.283333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+18,0.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+19,0.316666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+21,0.350000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+24,0.400000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f972f2f0775be545d8a8d5db519d9fea9e7e4a7e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25529029
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7f69f8ee809eacd73148b6757baa13fd1bf50db
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/franka_data.csv
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+3,0.050000000,BASELINE,766,744,715.761850209,680,659,634.238149791,879.761850209,785,810,651.761850209,629,653,0.40098134693,-0.0153440230388,0.0798386135456,0.999999914674,0.000304052815545,-0.000277465435302,3.48946261055e-05,1793248778527452160
+4,0.066666667,BASELINE,765.663189965,744,716,680,659,634,879.663189965,785,810,651.663189965,628.663189965,652.663189965,0.400981914584,-0.0153443125814,0.0798391759474,0.999999914889,0.000303851099068,-0.000276910683781,3.48717891062e-05,1793248778544118784
+5,0.083333333,BASELINE,765.087803905,744,716,680,659,634,879.087803905,785,810,651.087803905,628.087803905,652.087803905,0.400983368654,-0.0153453669013,0.0798407925187,0.999999915643,0.000303088789385,-0.000275011404424,3.49131042449e-05,1793248778560785664
+6,0.100000000,BASELINE,765.501639391,744,715.498360609,680,659,634.501639391,878.498360609,785,810,651,628.501639391,652,0.400982875978,-0.0153459396129,0.0798406574689,0.999999916064,0.000301529447555,-0.000275131276349,3.54296792154e-05,1793248778577452032
+7,0.116666667,BASELINE,766,744,715.091410913,680,658.908589087,634.908589087,878.091410913,785,810,651,629,652,0.400982084539,-0.0153462238599,0.0798403314311,0.999999916291,0.000300385034356,-0.000275504394527,3.58398114105e-05,1793248778594118400
+8,0.133333333,BASELINE,766,744,715.669453537,680,658.330546463,634.330546463,878.669453537,785,810,651,629,652,0.400981568904,-0.0153454341508,0.0798406678807,0.999999915821,0.000302213609172,-0.000275289988543,3.52276722747e-05,1793248778610784768
+9,0.150000000,BASELINE,766,744,715.753767803,680,658.246232197,634,878.753767803,785,810,651,629,652.246232197,0.400981335494,-0.0153449522872,0.0798406364364,0.999999915828,0.000302271661767,-0.000275273915701,3.4649029506e-05,1793248778627451392
+10,0.166666667,BASELINE,766,744,715.178677294,680,658.821322706,634,878.178677294,785,810,651,629,652.821322706,0.400981479014,-0.0153448815704,0.0798401136471,0.999999916472,0.000299965072395,-0.000275522729043,3.41151232541e-05,1793248778644118272
+11,0.183333333,BASELINE,766,744,715.396533273,680.396533273,659,634,878,785.396533273,810,651,629,653,0.400980365831,-0.0153441040073,0.0798393850631,0.999999915827,0.000300836482965,-0.000276943264157,3.38640372964e-05,1793248778660784640
+12,0.200000000,BASELINE,766,744,715.971798004,680.971798004,659,634,878,785.971798004,810,651,629,653,0.400978686207,-0.0153430078438,0.0798385637203,0.999999914593,0.000303140329402,-0.000278891935402,3.37404283208e-05,1793248778677451264
+13,0.216666667,BASELINE,766,744,716,680.436859696,659.563140304,634,878,785.436859696,810,651.563140304,629,652.436859696,0.400980849782,-0.0153454474239,0.0798399246114,0.999999915635,0.000301768051947,-0.000276521320353,3.4667929341e-05,1793248778694117888
+14,0.233333333,BASELINE,766,744.151689718,716,680,659.848310282,634,878.151689718,785,810,651.848310282,629,652.151689718,0.400982641616,-0.0153469621685,0.0798409511818,0.999999916318,0.000301285849993,-0.000274491458982,3.52980777905e-05,1793248778710784512
+15,0.250000000,BASELINE,766,744.730052119,716,680,659.269947881,634,878.730052119,785,810,651.269947881,629,652.730052119,0.400982830538,-0.0153453628389,0.0798407209419,0.999999915679,0.000303840305566,-0.000274046384472,3.4939417805e-05,1793248778727451136
+16,0.266666667,BASELINE,766,744.694035005,715.694035005,680,659,634.305964995,879,785,810,651,629,653,0.400982860647,-0.0153443300858,0.0798403635678,0.999999915277,0.000304828725791,-0.000274436059488,3.48023157177e-05,1793248778744117760
+17,0.283333333,BASELINE,766,744.120266175,715.120266175,680,659,634.879733825,879,785,810,651,629,653,0.40098275175,-0.0153437932439,0.0798398949164,0.999999915083,0.000304446432617,-0.000275556370807,3.48591379765e-05,1793248778760784384
+18,0.300000000,BASELINE,766,744,715.465904411,680,659,634.534095589,879,785,810,651,629,653,0.400981593115,-0.0153440536362,0.0798394673293,0.999999915061,0.000304083150617,-0.000276037714351,3.48636678516e-05,1793248778777451008
+19,0.316666667,BASELINE,765.945819202,744,715.945819202,680,659,634,878.945819202,784.945819202,810,651,629,652.945819202,0.400980335601,-0.0153444986401,0.0798391162386,0.999999915105,0.000303678462437,-0.000276324116929,3.48348591597e-05,1793248778794117632
+20,0.333333333,BASELINE,765.368955836,744,715.368955836,680,659,634,878.368955836,784.368955836,810,651,629,652.368955836,0.400980809774,-0.0153446850051,0.0798393980541,0.99999991536,0.000302825691661,-0.000276364611926,3.46182141457e-05,1793248778810784256
+21,0.350000000,BASELINE,765.208726704,744.208726704,715.208726704,680,659.208726704,634.208726704,878.208726704,784.208726704,810,651,629,652.208726704,0.400981442761,-0.0153451490594,0.0798398706746,0.99999991569,0.000302075450174,-0.00027601233947,3.44760648045e-05,1793248778827450880
+22,0.366666667,BASELINE,765.787862902,744.787862902,715.787862902,680,659.787862902,634.787862902,878.787862902,784.787862902,810,651,629,652.787862902,0.400982357584,-0.015346105905,0.0798406819008,0.99999991615,0.00030150715877,-0.000274963056083,3.4466116608e-05,1793248778844117504
+23,0.383333333,BASELINE,765.636252914,745,716,680,659.636252914,634.636252914,879,785,810,651,628.636252914,653,0.400982380785,-0.0153468052348,0.079841107734,0.999999916399,0.000300824981585,-0.000274775623538,3.46955076483e-05,1793248778860784384
+24,0.400000000,BASELINE,765.062248442,745,716,680,659.062248442,634.062248442,879,785,810,651,628.062248442,653,0.4009818886,-0.0153473557123,0.079841310798,0.999999916526,0.000300076974743,-0.000275086368095,3.506324438e-05,1793248778877451008
+25,0.416666667,BASELINE,765.526399161,744.473600839,716,680,659,634,878.473600839,785,810.526399161,651,628.526399161,653,0.400982638452,-0.0153466338217,0.0798412872274,0.99999991639,0.000301605860687,-0.000273916711413,3.49763399671e-05,1793248778894117632
+26,0.433333333,BASELINE,766,744,716,680,659,634.114632367,878,785.114632367,810.885367633,651,628.885367633,653,0.400983234867,-0.0153457202149,0.0798411802906,0.999999916212,0.000303071257657,-0.000272962901688,3.4870989553e-05,1793248778910784256
+27,0.450000000,BASELINE,766,744,716,680,659,634.693965382,878,785.693965382,810.306034618,651,628.306034618,653,0.40098259683,-0.0153446568222,0.079840847154,0.999999916006,0.000303156554516,-0.000273614079436,3.49150438176e-05,1793248778927451136
+28,0.466666667,BASELINE,766,744,715.728754467,680,659,634.728754467,878,785.728754467,810,651,628.271245533,653,0.400982228656,-0.0153444264799,0.0798407920213,0.999999915997,0.000302937624299,-0.000273883273481,3.49650928031e-05,1793248778944117760
+29,0.483333333,BASELINE,766,744,715.153773112,680,659,634.153773112,878,785.153773112,810,651,628.846226888,653,0.40098216267,-0.0153451289724,0.0798410481924,0.999999916208,0.000302378026123,-0.000273724729073,3.50218545656e-05,1793248778960784384
+30,0.500000000,BASELINE,766,744,715.429792625,680,658.570207375,634,878.429792625,785,810,651,628.570207375,652.570207375,0.400982251878,-0.0153457221226,0.0798411278929,0.999999916457,0.000302442212198,-0.000272740188803,3.50275676192e-05,1793248778977451008
+31,0.516666667,BASELINE,765.983722133,744,716,680,658.016277867,634,879,785,809.983722133,651,628.016277867,652.016277867,0.400982376353,-0.0153462514188,0.0798411356837,0.999999916722,0.000302652438611,-0.000271537580678,3.50042006728e-05,1793248778994117632
+32,0.533333333,BASELINE,765.404650903,744,716,680,658.595349097,634,879,785,809.404650903,651,628.595349097,652.595349097,0.400981761256,-0.015345953163,0.0798408847091,0.999999917064,0.000300038356539,-0.000273221345621,3.4619764468e-05,1793248779010785280
+33,0.550000000,BASELINE,765,744,716,680,658.826189028,634,879,785.173810972,809.173810972,651,629,653,0.400982131306,-0.0153457745127,0.0798412874006,0.999999917462,0.000298552507422,-0.000273410197441,3.44938588966e-05,1793248779027452416
+34,0.566666667,BASELINE,765,744,716,680,658.24914092,634,879,785.75085908,809.75085908,651,629,653,0.400984786873,-0.0153458733441,0.0798432065813,0.999999917998,0.000299684131094,-0.000270130887739,3.49677380239e-05,1793248779044118528
+35,0.583333333,BASELINE,765.327017019,744,715.672982981,680,658,634.327017019,879,785.672982981,810,651,629,653,0.400985559033,-0.0153466171037,0.0798438388375,0.999999918429,0.000299347793198,-0.000268889161265,3.50984846681e-05,1793248779060784640
+36,0.600000000,BASELINE,765.902498677,744,715.097501323,680,658,634.902498677,879,785.097501323,810,651,629,653,0.400984900198,-0.0153478508741,0.0798434933001,0.999999918784,0.000297896111212,-0.000269195572155,3.49685223376e-05,1793248779077451264
+37,0.616666667,BASELINE,765.510830393,744,715.489169607,680,658.489169607,634.510830393,879,785,810,651,629,653,0.400985780818,-0.0153480261362,0.0798434133907,0.999999919084,0.000297504446136,-0.000268509594139,3.50202735203e-05,1793248779094118144
+38,0.633333333,BASELINE,765,744,716,680,659,634,879,785,810,651.076794347,628.923205653,653,0.400986443237,-0.0153478292318,0.0798432074624,0.999999919145,0.00029759534063,-0.000268171427771,3.50741700843e-05,1793248779110784768
+39,0.650000000,BASELINE,765,744,716,680,659,634,879,785,810,651.655731607,628.344268393,653,0.400983625514,-0.0153466106694,0.0798418232204,0.999999917725,0.000299427719674,-0.000271431204229,3.48997210419e-05,1793248779127451648
+40,0.666666667,BASELINE,765.234479465,744.234479465,716,680,659,634,879,785,810,651.765520535,628.234479465,652.765520535,0.400982390846,-0.0153458625131,0.0798412621795,0.999999916939,0.000300749315475,-0.000272889133791,3.46965575444e-05,1793248779144118784
+41,0.683333333,BASELINE,765.812949428,744.812949428,716,680,659,634,879,785,810,651.187050572,628.812949428,652.187050572,0.40098347858,-0.015345804461,0.0798419088068,0.999999917098,0.000301321572277,-0.000271703683667,3.4451268835e-05,1793248779160785408
+42,0.700000000,BASELINE,766,744.613906117,716,680,659,634,879,785,810,651,629,652.386093883,0.400982813882,-0.0153462118195,0.0798413535823,0.999999917012,0.000301061858824,-0.000272307638778,3.44563039318e-05,1793248779177451520
+43,0.716666667,BASELINE,766,744.043306618,716,680,659,634,879,785,810,651,629,652.956693382,0.400981311736,-0.0153468415873,0.0798402240198,0.999999916807,0.000300404565413,-0.000273766710589,3.45809631731e-05,1793248779194117888
+44,0.733333333,BASELINE,766,744,716,680,658.452215052,634,879,785,810,651,629,653,0.400980315961,-0.0153468287877,0.0798394494559,0.999999916146,0.000300551896995,-0.000276006551047,3.46088450545e-05,1793248779210784512
+45,0.750000000,BASELINE,766,744.137300988,716,680,658.137300988,634,879,785,810,651,629,652.862699012,0.400980093134,-0.0153468310468,0.0798392966224,0.999999915802,0.00030070150542,-0.000277078523763,3.46656637436e-05,1793248779227451392
+46,0.766666667,BASELINE,766,744.716333365,716,680,658.716333365,634,879,785,810,651,629,652.283666635,0.400982223274,-0.0153470515409,0.0798410502478,0.99999991661,0.000300645830551,-0.000274186870546,3.4841151094e-05,1793248779244118016
+47,0.783333333,BASELINE,765.707547988,744.707547988,716,679.707547988,659,634,879,785,810,651.292452012,629,652.292452012,0.400983030885,-0.0153472562942,0.079841723501,0.999999917325,0.000299582109319,-0.000272750428684,3.47645968827e-05,1793248779260784640
+48,0.800000000,BASELINE,765.134227592,744.134227592,716,679.134227592,659,634,879,785,810,651.865772408,629,652.865772408,0.400982568351,-0.0153474459302,0.0798413591742,0.999999917953,0.000297550269072,-0.000272711558885,3.4445984156e-05,1793248779277451520
+49,0.816666667,BASELINE,765.450808936,744,716,679.450808936,659,634,878.549191064,785,810,651.549191064,628.549191064,653,0.400983171015,-0.0153470683022,0.0798418073198,0.999999918014,0.000298569397081,-0.000271364827438,3.4496020762e-05,1793248779294118144
+50,0.833333333,BASELINE,766,744,715.961177538,680,659,634,878.038822462,785,810,651,628.038822462,653,0.400984025632,-0.0153465011832,0.0798424163627,0.999999917882,0.000300391538902,-0.000269820623187,3.460918289e-05,1793248779310785280
+51,0.850000000,BASELINE,766,744,715.381584328,680,659,634,878.618415672,785,810,651,628.618415672,653,0.400983854068,-0.015345710048,0.0798418070107,0.999999917552,0.000300407803951,-0.000271094756548,3.4031896398e-05,1793248779327451648
+52,0.866666667,BASELINE,766,744,715.19778871,679.80221129,659,634.19778871,878.80221129,785,810.19778871,651,629,653,0.400983688662,-0.0153450256519,0.0798416822366,0.999999917336,0.000300660264378,-0.000271632472309,3.38669854277e-05,1793248779344118272
+53,0.883333333,BASELINE,766,744,715.776737418,679.223262582,659,634.776737418,878.223262582,785,810.776737418,651,629,653,0.400983535124,-0.0153445469536,0.0798424912958,0.999999917341,0.000301367898561,-0.000270751032517,3.44967662279e-05,1793248779360784896
+54,0.900000000,BASELINE,765.648376166,744,716,679.351623834,659,634.648376166,878,785,810.648376166,651,629,653,0.400983255887,-0.0153455698977,0.0798424899579,0.999999917755,0.000300011077583,-0.000270712430843,3.46213907246e-05,1793248779377451520
+55,0.916666667,BASELINE,765.076039654,744,716,679.923960346,659,634.076039654,878,785,810.076039654,651,629,653,0.40098289775,-0.0153475354159,0.0798419799374,0.999999918421,0.000297358407487,-0.000271202874843,3.44289308898e-05,1793248779394118400
+56,0.933333333,BASELINE,765.511940469,744,716,680,658.488059531,634,878.511940469,785,810.511940469,651,629,652.488059531,0.400982520504,-0.0153477825249,0.0798415342463,0.999999917916,0.000298043382022,-0.000272310538938,3.44265223671e-05,1793248779410784768
+57,0.950000000,BASELINE,766,744,716,680,658.100391731,634,879,785,810.899608269,651,629,652.100391731,0.400982075358,-0.0153476507145,0.0798410647376,0.999999917249,0.00029924629295,-0.000273436826987,3.44344176507e-05,1793248779427450880
+58,0.966666667,BASELINE,766,744,716,680,658.679657193,634,879,785,810.320342807,651,629,652.679657193,0.400981320289,-0.0153469673191,0.0798404346037,0.999999916673,0.000300480506091,-0.00027420086338,3.43525657128e-05,1793248779444117504
+59,0.983333333,BASELINE,766,744,716,680,659,634.257501318,879.257501318,785,810,651,629,653,0.40098111838,-0.0153471080598,0.0798403077893,0.999999916835,0.000299897873693,-0.000274250127368,3.43231208481e-05,1793248779460784384
+60,1.000000000,BASELINE,766,744,716,680,659,634.833587024,879.833587024,785,810,651,629,653,0.400981600846,-0.0153482684336,0.079840803689,0.999999917907,0.000297067413655,-0.000273415064608,3.43585147679e-05,1793248779477451008
+61,1.016666667,BASELINE,765.598901966,744,715.598901966,680,658.598901966,635,879.598901966,785,810,651,628.598901966,652.598901966,0.400981833645,-0.0153468574712,0.079840867947,0.999999917525,0.000298329790232,-0.00027344917553,3.42647757937e-05,1793248779494117632
+62,1.033333333,BASELINE,765.034874114,744,715.034874114,680,658.034874114,635,879.034874114,785,810,651,628.034874114,652.034874114,0.400981965027,-0.0153444020076,0.0798407568679,0.999999916548,0.000301254715958,-0.000273836353077,3.41185818134e-05,1793248779510784256
+63,1.050000000,BASELINE,765.534803773,744,715.534803773,679.465196227,658,634.465196227,879,785,810.534803773,651,628.534803773,652,0.400983159864,-0.015345012503,0.0798419088163,0.999999916927,0.000302292705673,-0.000271296546711,3.41183573224e-05,1793248779527451136
+64,1.066666667,BASELINE,765.887858101,744,716,679,658.112141899,634,879,785,810.887858101,651,629,652.112141899,0.400983928103,-0.0153457987323,0.079842697221,0.999999917274,0.000302841362514,-0.000269395915397,3.41309977426e-05,1793248779544118272
+65,1.083333333,BASELINE,765.278186579,744,716,679,658.721813421,634,879,785,810.278186579,651,629,652.721813421,0.400982492747,-0.0153464681481,0.0798415034195,0.999999917113,0.000301770775001,-0.000271186893438,3.41580337429e-05,1793248779560785152
+66,1.100000000,BASELINE,765,744.313355839,716,679.313355839,658.686644161,634,878.686644161,785,810,651,629,653,0.400982457939,-0.0153467625797,0.0798414582419,0.999999917461,0.000300153614921,-0.000271691965309,3.41807101323e-05,1793248779577451776
+67,1.116666667,BASELINE,765,744.889684041,716,679.889684041,658.110315959,634,878.110315959,785,810,651,629,653,0.400983598489,-0.0153467423194,0.0798423770046,0.999999918238,0.000298077763967,-0.000271117887626,3.41997278773e-05,1793248779594118144
+68,1.133333333,BASELINE,765.475480749,745,716,680,658.475480749,634,878,785,810.475480749,651,629,652.524519251,0.400983264502,-0.0153460984989,0.0798421178183,0.999999917497,0.000300015002158,-0.000271719158687,3.41564744587e-05,1793248779610784768
+69,1.150000000,BASELINE,765.939472194,744.939472194,716,680,659,634,878.060527806,785,810.939472194,651,629,652.060527806,0.400982610197,-0.0153455244874,0.0798416226434,0.999999916579,0.000302360685894,-0.000272499088815,3.41074045959e-05,1793248779627451136
+70,1.166666667,BASELINE,765.379124798,744.379124798,716,680,659,634,878.620875202,785,810.379124798,651,629,652.620875202,0.400982193207,-0.0153467458642,0.0798414813891,0.999999917231,0.000300234449732,-0.000272456772801,3.41320312384e-05,1793248779644118016
+71,1.183333333,BASELINE,765.193820043,744.193820043,715.806179957,680,659,634,879,785,810,651,629,653,0.400981834763,-0.0153472552995,0.0798412847599,0.999999917486,0.000299235787994,-0.00027261254465,3.41703257949e-05,1793248779660784640
+72,1.200000000,BASELINE,765.793119344,744.793119344,715.206880656,680,659,634,879,785,810,651,629,653,0.4009815988,-0.0153462753252,0.0798409722841,0.999999916921,0.000300596056527,-0.000273182724198,3.42372141775e-05,1793248779677451264
+73,1.216666667,BASELINE,765.62500981,744.62500981,715.37499019,680,659,634,879,785,810,651.37499019,628.62500981,653,0.400981862824,-0.0153464142784,0.0798412563367,0.999999917125,0.000300220177642,-0.000272839747511,3.42908264008e-05,1793248779694118144
+74,1.233333333,BASELINE,765.052327172,744.052327172,715.947672828,680,659,634,879,785,810,651.947672828,628.052327172,653,0.400982390438,-0.0153471431231,0.0798418548752,0.999999917735,0.000298929012772,-0.000272015360616,3.43374395132e-05,1793248779710785024
+75,1.250000000,BASELINE,765,744,716,680,659,634,879,785.535265555,810,651.464734445,628.535265555,652.464734445,0.400984120441,-0.0153481947837,0.0798428704649,0.99999991822,0.000298963789671,-0.000270167687886,3.45097819948e-05,1793248779727451648
+76,1.266666667,BASELINE,765.122388884,744,716,680,658.877611116,634.122388884,879,785.877611116,810,651,629,652.122388884,0.400985414072,-0.0153488326457,0.0798435524354,0.999999918576,0.000299068674428,-0.000268720606179,3.45583970042e-05,1793248779744118528
+77,1.283333333,BASELINE,765.702154764,744,716,680,658.297845236,634.702154764,879,785.297845236,810,651,629,652.702154764,0.400984625088,-0.0153478027943,0.0798428309152,0.999999918515,0.000298937265791,-0.000269155118284,3.40973832072e-05,1793248779760785152
+78,1.300000000,BASELINE,766,744,716,680,658.281175341,635,878.718824659,785,810,651,629,653,0.400983858419,-0.0153472547525,0.0798422890522,0.999999918193,0.000299427324759,-0.000269821135829,3.39625134501e-05,1793248779777451520
+79,1.316666667,BASELINE,766,744,716,680,658.859408479,635,878.140591521,785,810,651,629,653,0.400983115325,-0.0153472157357,0.0798419369945,0.999999917596,0.000300573955529,-0.00027073173559,3.41722103184e-05,1793248779794118144
+80,1.333333333,BASELINE,766,744,716,680,659,634.56915615,878.43084385,785,810,651,629,653,0.400982985362,-0.0153475237427,0.0798418976517,0.99999991757,0.000300268215773,-0.000271146236939,3.43217794946e-05,1793248779810784512
+81,1.350000000,BASELINE,765.999899899,744,716,680,659,634,879,785,810,651,628.999899899,653,0.400983052332,-0.0153479430756,0.0798419587276,0.999999917728,0.000299495970462,-0.00027140126864,3.44519971913e-05,1793248779827451136
+82,1.366666667,BASELINE,765.403209618,744,716,680,659,634,879,785,810,651,628.403209618,653,0.400982915109,-0.0153474394217,0.0798417794039,0.999999917936,0.000299115444945,-0.000271066189441,3.43701298615e-05,1793248779844118272
+83,1.383333333,BASELINE,765.187609836,744,716,680,659,634,879,785,810,651,628.187609836,653,0.400982714082,-0.0153468029988,0.079841654119,0.999999917783,0.000299547178609,-0.000271162680247,3.42962616216e-05,1793248779860785152
+84,1.400000000,BASELINE,765.766194721,744,716,680,659,634,879,785,810,651,628.766194721,653,0.40098238009,-0.0153458898882,0.0798416414498,0.999999916876,0.000301671643664,-0.000272158554021,3.42390633061e-05,1793248779877452032
+85,1.416666667,BASELINE,766,744,716,680,659,634,878.658538271,785,810.341461729,651,628.658538271,652.658538271,0.400983576739,-0.0153467434174,0.0798427746235,0.999999917346,0.000301233912035,-0.000270885838283,3.44532448117e-05,1793248779894118656
+86,1.433333333,BASELINE,766,744,716,680,659,634,878.085521247,785,810.914478753,651,628.085521247,652.085521247,0.40098581136,-0.0153487949575,0.0798446848271,0.999999918743,0.000299058678949,-0.000268074724857,3.48514570012e-05,1793248779910785280
+87,1.450000000,BASELINE,766,744,716,680,659,634,878,785,810.497925837,651,628.502074163,652.502074163,0.400985623297,-0.0153469777635,0.079843921495,0.999999917899,0.000301252588216,-0.000268800945965,3.4580821298e-05,1793248779927451392
+88,1.466666667,BASELINE,765.909489185,744.090510815,716,680,659,634.090510815,878.090510815,785,810,651,629,653,0.400985061447,-0.0153451190501,0.0798429544718,0.999999917036,0.000303188738437,-0.000269879061172,3.42165474932e-05,1793248779944117760
+89,1.483333333,BASELINE,765.330318367,744.669681633,716,680,659,634.669681633,878.669681633,785,810,651,629,653,0.400984776157,-0.0153467003698,0.0798434199233,0.999999918227,0.000299595125265,-0.000269506707137,3.39802154864e-05,1793248779960784640
+90,1.500000000,BASELINE,765.247704122,744.752295878,716,680,659,634.752295878,878.752295878,785,810,651,629,652.752295878,0.400984638481,-0.0153478863547,0.0798437009309,0.999999919058,0.000297040241814,-0.000269266513802,3.38666037093e-05,1793248779977451520
+91,1.516666667,BASELINE,765.824202311,744.175797689,716,680,659,634.175797689,878.175797689,785,810,651,629,652.175797689,0.400984696742,-0.0153485475854,0.0798437371139,0.999999919422,0.000295864133327,-0.000269201746139,3.39158866306e-05,1793248779994118400
+92,1.533333333,BASELINE,766,744,716,680,659,634,878.396736203,785.396736203,810,651,628.603263797,652.396736203,0.400984853745,-0.015348785309,0.0798438113473,0.999999919245,0.000296750469068,-0.000268852207015,3.41776432329e-05,1793248780010785280
+93,1.550000000,BASELINE,766,744,716,680,659,634,878.967530903,785.967530903,810,651,628.032469097,652.967530903,0.400985054069,-0.015348837229,0.0798439022743,0.999999918827,0.000298541652668,-0.000268377731232,3.4532617573e-05,1793248780027451904
+94,1.566666667,BASELINE,766,744.560452783,716,680,659,634,879,785.439547217,810,651.560452783,628,652.439547217,0.400984964715,-0.0153476421416,0.0798438987884,0.999999918639,0.000299162895053,-0.000268404483323,3.43893047099e-05,1793248780044118784
+95,1.583333333,BASELINE,766,744.849432208,716,680,658.849432208,634,878.849432208,785,810,651.849432208,628.150567792,652.150567792,0.400984404143,-0.0153466656391,0.0798435696579,0.99999991827,0.00029979495128,-0.000269084486757,3.42910597044e-05,1793248780060785152
+96,1.600000000,BASELINE,766,744.271083474,716,680,658.271083474,634,878.271083474,785,810,651.271083474,628.728916526,652.728916526,0.400982554426,-0.0153465238518,0.0798423315114,0.999999917345,0.000300658214507,-0.000271534563272,3.4406245274e-05,1793248780077451520
+97,1.616666667,BASELINE,765.694227702,744,716,680,658.305772298,634,878.305772298,785,810,651,629,653,0.400981435827,-0.0153468064473,0.0798416325943,0.999999916983,0.000300626163753,-0.000272896495811,3.4416514994e-05,1793248780094117888
+98,1.633333333,BASELINE,765.118689124,744,716,680,658.881310876,634,878.881310876,785,810,651,629,653,0.400980962254,-0.0153474634527,0.0798414094101,0.999999917123,0.000299804226082,-0.00027329841791,3.43342231551e-05,1793248780110784512
+99,1.650000000,BASELINE,765.453119338,744,715.546880662,680,659,634,878.546880662,785,810,651,628.546880662,653,0.400981914966,-0.0153475548569,0.0798418830377,0.999999917256,0.000300143558375,-0.000272440910754,3.43126673458e-05,1793248780127451648
+100,1.666666667,BASELINE,766,744.025031112,715.025031112,680,659,634,878.025031112,785,810,651,628.025031112,653,0.400983160754,-0.015347497847,0.0798424988069,0.999999917389,0.000300721126793,-0.000271315633377,3.43062434209e-05,1793248780144118784
+101,1.683333333,BASELINE,766,744.621421452,715.621421452,680,659,634,878.621421452,785,810,651,628.621421452,653,0.400982638181,-0.0153474072519,0.0798422268876,0.999999917588,0.000299850139504,-0.000271546868285,3.42850445271e-05,1793248780160785408
+102,1.700000000,BASELINE,765.79007806,745,716,679.79007806,659,634,879,785,810.20992194,651,628.79007806,653,0.400982372016,-0.0153476731582,0.0798419994531,0.999999917781,0.000299263968105,-0.00027148159921,3.43039685462e-05,1793248780177452032
+103,1.716666667,BASELINE,765.21529098,745,716,679.21529098,659,634,879,785,810.78470902,651,628.21529098,653,0.400982551514,-0.0153485586994,0.0798418493375,0.999999917963,0.000299172835041,-0.000270900976798,3.43926301675e-05,1793248780194118656
+104,1.733333333,BASELINE,765,744.639104674,716,679.360895326,659,634,879,785,810.639104674,651,628,653,0.400982309427,-0.0153489392775,0.0798421653022,0.999999917963,0.000299082551409,-0.00027098608052,3.45061593896e-05,1793248780210785280
+105,1.750000000,BASELINE,765,744.06208036,716,679.93791964,659,634,879,785,810.06208036,651,628,653,0.400981814866,-0.0153490174491,0.0798427603878,0.999999917854,0.000298992776464,-0.000271469866868,3.46345810532e-05,1793248780227451648
+106,1.766666667,BASELINE,765,744,715.473638892,680,659,634,879,785,810,651,628.526361108,653,0.400983079164,-0.0153493908771,0.0798429139591,0.999999918966,0.000296614687901,-0.000270012114361,3.43576958342e-05,1793248780244118528
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,716,680,659,635,878,785,810,651,629,652,0.400983091043,-0.0153496891867,0.079841934532,0.999999918641,0.000296709500026,-0.000271115349659,3.43204430842e-05,1793248780286311424
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.424832923,744,716,680.575167077,659,634.424832923,878.575167077,785.575167077,810,651,629,652.575167077,0.400983697064,-0.0153489202803,0.0798425530775,0.999999918378,0.000297947848635,-0.000270707869188,3.44643698215e-05,1793248780302977280
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.153544751,744,716,680.692910498,659,634,878.846455249,785.846455249,810,651,629,653,0.4009836715,-0.0153481847895,0.0798427712707,0.999999917995,0.000299105848435,-0.000270838051112,3.45336799373e-05,1793248780319643136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.740995465,744,716,679.518009071,659,634,878.259004535,785.259004535,810,651,629,653,0.400981861121,-0.0153475437284,0.0798418580981,0.999999917273,0.000300036788806,-0.000272487626583,3.43921291044e-05,1793248780336309504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.676119176,744,715.676119176,679,659,634,878,785,810,651,629,653,0.400981791306,-0.0153474775259,0.0798418141633,0.999999917452,0.000299377475706,-0.000272560795367,3.43535334202e-05,1793248780352976128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.096833978,744,715.096833978,679,659,634,878,785,810,651,629,653,0.400983094055,-0.0153478646425,0.0798424556877,0.999999918339,0.000297464128153,-0.000271390848883,3.43961256185e-05,1793248780369642752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.481435476,744,715.481435476,679.481435476,659,634,878,785,810,651,629,653,0.400983542532,-0.0153485900718,0.0798429911976,0.99999991891,0.000296326268412,-0.000270545682189,3.42986729022e-05,1793248780386309376
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.059150165,716,679.940849835,659,634,878,785,810,651,629,652.940849835,0.400983770268,-0.0153492818403,0.0798434031516,0.999999919269,0.000295626001087,-0.000269995903401,3.41933659622e-05,1793248780402976000
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.633806766,716,679.366193234,659,634,878,785,810,651,629,652.366193234,0.400983568552,-0.0153490884542,0.0798429237345,0.999999918351,0.00029738292197,-0.000271452372012,3.42645816788e-05,1793248780419642880
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.786528952,716,679.213471048,659,634,878.213471048,785,810,651,629,652.213471048,0.400988995175,-0.0153485766029,0.0798453970299,0.999999918764,0.000299364913761,-0.000267706416525,3.44488131576e-05,1793248780436309248
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.198068085,716,679.801931915,659,634,878.801931915,785,810,651,629,652.801931915,0.40100430871,-0.0153475053259,0.0798530571512,0.999999921402,0.000301742271827,-0.000254821722452,3.4831571594e-05,1793248780452976128
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765.884371071,744,715.884371071,679.115628929,659,634,878.884371071,785,810,651,628.115628929,652,0.401213527786,-0.0153588692705,0.0799149797213,0.999999946381,0.000294735973886,-0.000137828051042,3.70445449087e-05,1793248780519643136
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.309154268,744,715.309154268,679.690845732,659,634,878.309154268,785,810,651,628.690845732,652,0.401291149582,-0.0153602650814,0.0799262115499,0.999999947755,0.000295841259783,-0.00012514659267,3.61381141555e-05,1793248780536309504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.273158247,744,715,680,659,634,878.273158247,785,810,651,629,652,0.401375167761,-0.0153632646138,0.0799341084639,0.999999949415,0.000295165430899,-0.000113331716103,3.46773165978e-05,1793248780552976128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.863715665,744,715,680,659,634,878.863715665,785,810,651,629,652,0.401466618283,-0.0153681276077,0.0799381303372,0.999999951459,0.000292420016422,-0.000102523774382,3.25723666057e-05,1793248780569642752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.555609317,744,715.444390683,680,659,634,878.555609317,785,810,651,629,652.444390683,0.401578546163,-0.0153718678739,0.0799411622757,0.999999953079,0.000289378816351,-9.62359451882e-05,2.89839125173e-05,1793248780586309376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.02204865,744,715.97795135,680,659,634,877.97795135,785,810,651,628.97795135,653,0.401697593289,-0.0153753441389,0.0799439126735,0.999999954583,0.000286144884139,-9.12899298439e-05,2.49389009427e-05,1793248780602976512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.598392602,744,715.401607398,680,659,634,877.401607398,785,810,651,628.401607398,653,0.401841175032,-0.0153806511545,0.0799470513525,0.999999956808,0.0002802965558,-8.59858263978e-05,2.06048223485e-05,1793248780619643136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.825587665,744,715.174412335,679.825587665,659,634,877.348824669,785,810,651,628.174412335,652.825587665,0.401994854977,-0.0153864490301,0.0799510809688,0.99999995924,0.000273915526319,-7.89510218271e-05,1.60211580575e-05,1793248780636309504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.250313185,744,715.749686815,679.250313185,659,634,878.49937363,785,810,651,628.749686815,652.250313185,0.402171744196,-0.0153933750778,0.0799571582783,0.999999962173,0.000266310159226,-6.79384456204e-05,1.08638568518e-05,1793248780652976384
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,716,679.333934306,659,634.333934306,879,785,810,651,628.666065694,652.333934306,0.402357089299,-0.0153992721696,0.0799579981566,0.999999964463,0.000258033273468,-6.68759405709e-05,4.612590683e-06,1793248780669643008
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,716,679.925093646,659,634.925093646,879,785,810,651,628.074906354,652.925093646,0.402548947872,-0.0154043766713,0.0799548037139,0.999999966237,0.000249239125243,-7.34778382367e-05,-2.48134230001e-06,1793248780686309632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,715.495441147,680,659.504558853,634.495441147,879,785,810,651,628.504558853,653,0.402775866958,-0.0154124509235,0.0799477810105,0.999999981711,0.000170312382332,-8.63290349708e-05,-1.09190590371e-05,1793248780702976000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.081852262,744,715.081852262,680,659.918147738,634,879,785,810,651,628.918147738,652.918147738,0.403014848706,-0.0154210317006,0.0799413402096,0.999999990718,9.29331589252e-05,-9.77110932037e-05,-1.94862751775e-05,1793248780719642880
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.656287247,744,715.656287247,680,659.343712753,634,879,785,810,651,628.343712753,652.343712753,0.403295808844,-0.0154300675904,0.0799417440325,0.999999991417,8.61052893677e-05,-9.47951876544e-05,-2.76594489583e-05,1793248780736309504
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.763233359,744,716,680,659,634,879,785,810,651,628,652.236766641,0.403592685413,-0.0154399222936,0.0799445181321,0.999999992533,7.62619086148e-05,-8.92492786722e-05,-3.3959659206e-05,1793248780752976128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.173749492,744,716,680,659,634,879,785,810,651,628,652.826250508,0.403913273071,-0.0154509968031,0.0799508232928,0.999999994198,6.19262453154e-05,-7.97853875274e-05,-3.74696680283e-05,1793248780769643008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.408670431,744,716,680.408670431,659,634,879,785,810,651,628,653,0.404266819985,-0.0154576351978,0.079951272678,0.999999994055,6.94116655368e-05,-7.7402196547e-05,-3.28870230455e-05,1793248780786309376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.988138077,744,716,680.988138077,659,634,879,785,810,651,628,653,0.404634141682,-0.0154624195895,0.0799492747362,0.99999999295,8.60168560763e-05,-7.79782702392e-05,-2.49221838116e-05,1793248780802976000
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744,716,681,659,634,879,785,810,651,628.563782822,653,0.405056928719,-0.0154705142149,0.0799487608858,0.999999994611,6.77193762102e-05,-7.2461306156e-05,-3.06887004859e-05,1793248780819643648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.141879133,716,680.716241734,659,634,879,785,810,651,629,653,0.405477243057,-0.0154784731533,0.0799466402928,0.999999995537,5.06151709253e-05,-7.18857290935e-05,-3.45850520229e-05,1793248780836310784
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.727899866,716,679.544200267,659,634,879,785,810,651,629,653,0.405886188174,-0.015485790777,0.0799393928273,0.999999994915,3.95297591415e-05,-8.71773884606e-05,-3.1728689013e-05,1793248780852977152
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.689740575,744.689740575,716,679.310259425,659,634,879,785,810,651,629,653,0.406345102697,-0.0154920113382,0.0799330187527,0.999999993852,3.74606870673e-05,-9.98311449633e-05,-3.04432891071e-05,1793248780869643776
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.110554386,744.110554386,716,679.889445614,659,634,879,785,810,651,629,653,0.406847329766,-0.0154972809882,0.0799274017152,0.999999992529,4.32067996082e-05,-0.00011019842089,-3.0519568793e-05,1793248780886310656
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.467404963,744,715.532595037,680,659,634,879,785,810,651,628.532595037,653,0.407364060687,-0.0155047031771,0.0799229538367,0.999999991708,3.26600524469e-05,-0.000120427221118,-3.18436827863e-05,1793248780902977536
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744,715.044699556,680,659.044699556,634,879.044699556,785,810.044699556,651,628,653,0.407889035621,-0.0155120347451,0.0799186993301,0.999999990754,1.87001603245e-05,-0.000130464979065,-3.34785331024e-05,1793248780919644160
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744,715.61755972,680,659.61755972,634,879.61755972,785,810.61755972,651,628,653,0.408470991718,-0.0155122954662,0.0799134706889,0.999999989719,9.8267743571e-06,-0.000138631423575,-3.53067050051e-05,1793248780936310528
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.803332842,744.196667158,716,680.196667158,659.803332842,634,879.803332842,785,810.803332842,651,628,653,0.409074848454,-0.0155111484733,0.0799195051069,0.999999991001,6.65263703471e-06,-0.000128977566414,-3.63119442407e-05,1793248780952977152
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.211678379,744.788321621,716,680.788321621,659.211678379,634,879.211678379,785,810.211678379,651,628,653,0.40972269051,-0.0155071742202,0.0799481603098,0.999999995764,1.49248997313e-05,-8.35333255705e-05,-3.56644012381e-05,1793248780969643520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.628758797,715.628758797,680.628758797,659,634,879,785,810,651,628.371241203,653,0.410395281708,-0.0155076445161,0.0799748508375,0.999999998467,1.86528380004e-05,-3.9499693118e-05,-3.40191977398e-05,1793248780986310144
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.050705292,715.050705292,680.050705292,659,634,879,785,810,651,628.949294708,653,0.41108166022,-0.0155105907963,0.0800004468765,0.99999999929,1.98492083844e-05,3.74811134207e-06,-3.18182141618e-05,1793248781002977024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,715.525058618,680,659,634,879.525058618,785,810,651,629,653,0.411742510048,-0.0155114608601,0.0799764616708,0.999999998551,1.47772898149e-05,-3.74786207085e-05,-3.57068885986e-05,1793248781019643904
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.100826402,744,716,680,659,634,880,785,810.201652805,651,629,653,0.412413397722,-0.0155121412607,0.0799472505296,0.999999995607,8.47126872358e-06,-8.41686350863e-05,-4.03616179183e-05,1793248781036310528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.67765161,744,716,680,659,634,880,785,811.355303221,651,629,653,0.413143261798,-0.0155128687198,0.0799158742306,0.99999999195,-8.15561504955e-07,-0.000118305252319,-4.58686022206e-05,1793248781052977152
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.739477101,744,715.739477101,680,659.260522899,634,880,785,811.739477101,651,629,653,0.413893145846,-0.0155136491247,0.0799074572256,0.999999991438,-5.38903512751e-06,-0.000121447534149,-4.84380442686e-05,1793248781069643520
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.1489471,744,715.1489471,680,659.8510529,634,880,785,811.1489471,651,629,653,0.414668389504,-0.0155144965966,0.0799281229961,0.999999995234,-3.99205151397e-06,-8.53289692874e-05,-4.72864713408e-05,1793248781086310144
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.432785077,744.432785077,715.432785077,680,660,634,880,785,811,651,629.432785077,653,0.415452711573,-0.015513867605,0.07994458468,0.99999999673,-2.43941417114e-06,-6.66796666224e-05,-4.57002643448e-05,1793248781102976512
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988532599,745,716,680.011467401,660,634,880,785,811,651,629.988532599,653,0.416240483419,-0.0155127691989,0.0799590767483,0.999999997544,-9.60912389392e-07,-5.44988471251e-05,-4.40537045373e-05,1793248781119642880
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.413891417,745,716,680.586108583,660,634,880,785,811,651,629.413891417,653,0.417047293199,-0.0155130753829,0.0799464809958,0.999999996403,-5.7017042313e-06,-7.06084913997e-05,-4.66429707222e-05,1793248781136309504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.838967603,716,681,660,634,880.161032397,785,811,651,629.161032397,653,0.41788709483,-0.0155143299661,0.0799468986462,0.999999996779,-1.0509465926e-05,-6.30713676055e-05,-4.85200598039e-05,1793248781152976128
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.263316115,716,681,660,634,880.736683885,785,811,651,629.736683885,653,0.418811842374,-0.0155180264457,0.0799808226314,0.999999998687,-1.54896583297e-05,5.35040968814e-06,-4.85634665157e-05,1793248781169643008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.320623704,744,716,680.679376296,660.320623704,634,880.679376296,785,811,651,629.679376296,653,0.419682845749,-0.0155204572764,0.0799869445599,0.999999998453,-1.68088830493e-05,2.00096974083e-05,-4.91027086382e-05,1793248781186310144
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.911551018,744,716,680.088448982,660.911551018,634,880.088448982,785,811,651,629.088448982,653,0.420508539755,-0.0155218210945,0.0799696278072,0.999999998577,-1.504170825e-05,-1.06557861234e-05,-5.00599676825e-05,1793248781202977280
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508396663,744,715.508396663,680,660.508396663,634,880,785,811.491603337,651,629,653,0.42137832663,-0.0155228239532,0.0799659949017,0.999999998325,-2.15929490164e-05,-1.73055214961e-05,-5.08380952586e-05,1793248781219643904
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069361874,744.069361874,715.069361874,680.069361874,660,634,880,785.069361874,812,651,629.069361874,653,0.422260760559,-0.0155240259171,0.0799680297318,0.99999999819,-2.7866347574e-05,-1.49019329701e-05,-5.12083519475e-05,1793248781236310272
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.644353618,744.644353618,715.644353618,680.644353618,660,634,880,785.644353618,812,651,629.644353618,653,0.423178808677,-0.0155271424805,0.079993822037,0.99999999832,-2.1440324953e-05,2.26814986913e-05,-4.88351942119e-05,1793248781252976640
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.775207992,745,715.775207992,680.775207992,660,634,880,785.775207992,812,651,629.775207992,653,0.424066328631,-0.0155279133372,0.0799944249245,0.999999998671,-1.44164131692e-05,1.05710172416e-05,-4.83656418964e-05,1793248781269643264
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.185938324,745,715.185938324,680.185938324,660,634,880,785.185938324,812,651,629.185938324,653,0.424904350378,-0.0155248808662,0.0799541857051,0.999999995308,-6.42308309124e-06,-8.21131470211e-05,-5.0982593995e-05,1793248781286309888
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.395785962,680,660.395785962,634,880,785.395785962,812,651,629,653.395785962,0.425801295483,-0.0155252867513,0.0799262005699,0.999999992106,-8.55204109483e-06,-0.000112938399305,-5.44063478771e-05,1793248781302976512
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715.974031744,680,660.974031744,634,880,785.974031744,812,651,629,653.974031744,0.426725404577,-0.0155272777403,0.0799038646469,0.999999991548,-1.53474381178e-05,-0.000115246298468,-5.82020424373e-05,1793248781319642880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.551366403,745,715.448633597,680,660.448633597,634,880.551366403,785.448633597,812,651,629,653.448633597,0.427623570825,-0.0155301199165,0.0799059620727,0.999999991016,-2.5034314769e-05,-0.000118100327329,-5.8254264667e-05,1793248781336310016
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.871906233,744.871906233,715,680,660.128093767,634,881,785,812.128093767,651,629.128093767,653,0.428527002716,-0.0155322487298,0.0799141763549,0.999999991305,-3.27863983817e-05,-0.000113934145647,-5.77393687286e-05,1793248781352976896
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.297147156,744.297147156,715,680,660.702852844,634,881,785,812.702852844,651,629.702852844,653,0.429453049559,-0.0155317504719,0.079939714119,0.999999994255,-3.3317733891e-05,-8.51988174316e-05,-5.58607035212e-05,1793248781369643264
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.285321959,715,680.285321959,660.714678041,634,880.714678041,785,812.714678041,651,630,653,0.430393309533,-0.01553415032,0.0799742784007,0.99999999739,-3.34265262559e-05,-3.58314130155e-05,-5.30889277178e-05,1793248781386309888
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.876043619,715,680.876043619,660.123956381,634,880.123956381,785,812.123956381,651,630,653,0.431348782738,-0.01553965221,0.0800185043828,0.9999999976,-3.3083041515e-05,3.56199188136e-05,-4.93611942169e-05,1793248781402976512
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.45775572,681,660.45775572,633.54224428,880,785.45775572,812.45775572,651,630,653.45775572,0.432214871599,-0.015539847097,0.0800074637971,0.999999997803,-4.04317533513e-05,1.34097264755e-05,-5.07955290698e-05,1793248781419643136
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715.963389805,681,661,633.036610195,880,785.963389805,813,651,630,653.963389805,0.433055323286,-0.0155385823762,0.0799796361863,0.999999996734,-4.87357187353e-05,-3.55437656269e-05,-5.37867771553e-05,1793248781436309760
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715.3913369,681,661,633.6086631,880,785.3913369,813,651,630,653.3913369,0.433867987808,-0.0155365826522,0.079920946212,0.999999991129,-4.11341077457e-05,-0.000111848446095,-5.9499100188e-05,1793248781452976384
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.819630809,745,715,681,661,634,880.180369191,785,813,651,629.819630809,653,0.434700524811,-0.015535684871,0.0798908983459,0.999999986288,-3.92018671738e-05,-0.00014808647487,-6.29024079624e-05,1793248781469643264
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.24867563,745,715,681,661,634,880.75132437,785,813,651,629.24867563,653,0.43557609544,-0.0155371733257,0.0799228743988,0.999999992134,-4.95465373278e-05,-9.75609611673e-05,-6.13055895521e-05,1793248781486310400
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.676341522,745,715.338170761,681,661,634,880.661829239,785,813,651.338170761,629.676341522,653,0.436448877434,-0.0155395097626,0.0799569206635,0.999999995618,-5.08633828277e-05,-5.33820219673e-05,-5.76882444654e-05,1793248781502977024
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.874558015,745,715.937279008,681,661,634,880.062720992,785,813,651.937279008,630.874558015,653,0.437319507624,-0.0155425005148,0.079992564332,0.9999999975,-4.52142267121e-05,-1.41001951817e-05,-5.25118316756e-05,1793248781519643136
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481889656,745,716,681,661,633.481889656,880,785,813.518110344,651.481889656,630.481889656,653,0.43812476513,-0.01554865486,0.0800135978658,0.999999996683,-5.60430032244e-05,2.569110298e-05,-5.3224299641e-05,1793248781536310016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.904114572,681,661,633.095885428,880.095885428,785,813.904114572,651,630,653,0.438918005547,-0.015554024302,0.0800261828738,0.999999994953,-6.56587516887e-05,5.3049832696e-05,-5.44811430716e-05,1793248781552976896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.330914705,681,661,633.669085295,880.669085295,785,813.330914705,651,630,653,0.43968947774,-0.015553645042,0.0800052157445,0.999999996542,-5.96445293353e-05,1.82230977668e-05,-5.50200402295e-05,1793248781569643264
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.242016508,745,715,681,661,633.757983492,881,785,813.242016508,651,630,653.242016508,0.440403918117,-0.0155502607697,0.0799586435407,0.999999995075,-5.80735192418e-05,-5.49948339443e-05,-5.87643336804e-05,1793248781586309888
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.814580744,745,715,681,661,633.185419256,881,785,813.814580744,651,630,653.814580744,0.441040464003,-0.015542772232,0.0798770997604,0.999999979489,-6.25710774226e-05,-0.000180647710081,-6.68865777324e-05,1793248781602976768
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715.403170958,681.403170958,661,633.403170958,881,785.403170958,814,651,630.403170958,653.596829042,0.441730023038,-0.0155412254874,0.0798422072861,0.999999970585,-5.80264818513e-05,-0.000224658862662,-7.06499207888e-05,1793248781619643648
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.999436708,681.999436708,661,633.999436708,881,785.999436708,814,651,630.999436708,653.000563292,0.44244497226,-0.0155425245059,0.0798296579917,0.999999969826,-4.91512357856e-05,-0.000229568521557,-7.23256118608e-05,1793248781636311040
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.425320833,745,715.425320833,681.425320833,661,633.425320833,881,786,814,651,630.425320833,653,0.443186846786,-0.0155495130466,0.0799084661711,0.999999989357,-6.39720386349e-05,-0.000113677273964,-6.53603508886e-05,1793248781652977664
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.150053012,745,715,681,661,633.150053012,881,785.849946988,814,651,630,653,0.443903071979,-0.0155559518355,0.0799751372476,0.999999995125,-7.7040913619e-05,-1.6550034404e-05,-5.95093171806e-05,1793248781669644288
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.725856179,745,715,681,661,633.725856179,881,785.274143821,814,651,630,653,0.444546449439,-0.0155608155333,0.0800071262481,0.999999994401,-8.5075418206e-05,2.70134108705e-05,-5.68428995765e-05,1793248781686310656
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,785,814.307577636,651,630,653.307577636,0.445155238373,-0.0155619691865,0.0800150733863,0.999999994201,-8.4247909099e-05,3.5932090132e-05,-5.66442289812e-05,1793248781702977280
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,785,814.894677518,651,630,653.894677518,0.445732593702,-0.015559751203,0.0800011716151,0.999999995348,-7.53667257361e-05,1.33660889812e-05,-5.86882124925e-05,1793248781719643904
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,785,814.522273045,651,630,653.522273045,0.446276297877,-0.0155586675784,0.0799888549107,0.999999995531,-7.39557466463e-05,-1.23268506482e-06,-5.88840709964e-05,1793248781736310784
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,785,814,651,630,653,0.446808022804,-0.0155580965935,0.0799768096211,0.99999999542,-7.42617049847e-05,-1.35023253381e-05,-5.88458655753e-05,1793248781752977152
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,785,814,651,630,653,0.44729943604,-0.0155598335052,0.0799641094244,0.999999995134,-7.52989446573e-05,-2.06496030108e-05,-6.02897715974e-05,1793248781769643520
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715.208663414,681,661,633.791336586,881,785,814.208663414,651,630,653,0.447759517018,-0.0155629982342,0.0799462347102,0.999999993766,-8.24134141113e-05,-4.24147338286e-05,-6.22605838774e-05,1793248781786309632
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715.783139683,681,661,633.216860317,881,785,814.783139683,651,630,653,0.448164668612,-0.0155686661036,0.079919288426,0.999999988827,-0.000100182021115,-8.98067739976e-05,-6.51551279445e-05,1793248781802976256
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.630632973,681,660.630632973,633,881.369367027,784.630632973,814.630632973,651,630,653,0.448545680478,-0.0155753666744,0.0798857322052,0.999999981099,-0.000109618148827,-0.000145582128919,-6.77622733024e-05,1793248781819642880
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715.037279653,681,660.037279653,633,881.962720347,784.037279653,814.037279653,651,630,653,0.448912053911,-0.015582693482,0.079848167678,0.999999969729,-0.000114001414588,-0.00020644117846,-7.01951385725e-05,1793248781836309504
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.117760888,660.117760888,633,881,784.117760888,814,651,630,653.117760888,0.449624960273,-0.0155949574405,0.0798365352165,0.999999965484,-0.000129465389255,-0.000217440030719,-7.06406708244e-05,1793248781869643008
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.692193101,660.692193101,633,881,784.692193101,814,651,630,653.692193101,0.449959132735,-0.0156012795631,0.0798447818254,0.999999965268,-0.000150157579317,-0.000204811365126,-7.04912326812e-05,1793248781886309632
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.726323106,661,633,881.273676894,784.726323106,814.273676894,651,630,653.726323106,0.45027046455,-0.0156047261068,0.0798523609477,0.999999965715,-0.000159376977914,-0.000195355875925,-7.07477637795e-05,1793248781902976256
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.136698618,661,633,881.863301382,784.136698618,814.863301382,651,630,653.136698618,0.45055542785,-0.0156048529246,0.0798591694863,0.999999967412,-0.000155351556581,-0.000189563676182,-7.1472968046e-05,1793248781919643136
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.55520079,745,715.44479921,681.44479921,660.55520079,633,881.55520079,784,815,651,630,653.44479921,0.450809388291,-0.015603532776,0.0798529142391,0.999999966057,-0.000149570728627,-0.000201167010848,-7.10368908093e-05,1793248781936309760
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.023465663,745,715.976534337,681.976534337,660.023465663,632.976534337,881,783.976534337,814.976534337,651,629.976534337,653.976534337,0.451051292955,-0.0156020979492,0.0798424028589,0.999999963317,-0.000143649703865,-0.000218661354659,-7.01317402505e-05,1793248781952976384
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.593315734,745,715.406684266,681.406684266,660.593315734,632.406684266,881,783.406684266,814.406684266,651,629.406684266,653.406684266,0.451230359346,-0.0156081615009,0.0798245959746,0.999999955496,-0.000146800441622,-0.000251076879649,-6.64654244933e-05,1793248781969643008
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660.332944499,633,882,783,814.667055501,651,630,653.667055501,0.451694143799,-0.0156187092332,0.0797725885389,0.999999927196,-0.000175165454078,-0.000331707085784,-6.99679994295e-05,1793248782019642880
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.924058257,633,882,783,814.075941743,651,630,653.075941743,0.451821224876,-0.0156198516078,0.0797591806325,0.999999919238,-0.000178984471592,-0.000352536964659,-7.21497274755e-05,1793248782036309504
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.494830586,660.494830586,633,881.494830586,783,814,651,630,653,0.451936095402,-0.0156221699348,0.0797520389081,0.999999914602,-0.000180221602044,-0.000364560582937,-7.35658214492e-05,1793248782052976128
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.916185153,745,715.083814847,681,660,632.916185153,881,783,814.083814847,651,630,653,0.452045321376,-0.0156244652543,0.0797462974639,0.999999910657,-0.000181280585901,-0.000374469542013,-7.4801490274e-05,1793248782069642752
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765.41327548,745,715,681,660.41327548,632.41327548,881,782,815,651,630,653,0.452528211288,-0.0156270623298,0.0797159543764,0.999999890285,-0.000191911209189,-0.000420997602256,-7.3218137007e-05,1793248782486309888
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.735146942,715,681.735146942,660,632.735146942,881.735146942,782.735146942,814.264853058,651,629.264853058,653,0.452530382492,-0.0156272948676,0.0797171467908,0.99999989076,-0.000193420294673,-0.000419222672415,-7.29381060281e-05,1793248782519643392
+242,4.033333333,HOLD_POSE2,765,745,715,681,660,632,881,782,814,651,629,653,0.452530943807,-0.0156250356222,0.0797165655398,0.999999891543,-0.000186987763902,-0.000420298513823,-7.27956015825e-05,1793248782555523072
+243,4.050000000,HOLD_POSE2,765.579229789,745,715,681,660,632,881,782.579229789,814,651,629,653,0.452531662387,-0.0156250975585,0.0797177806589,0.999999891489,-0.000189618767529,-0.000419304033011,-7.24663282275e-05,1793248782572189696
+244,4.066666667,HOLD_POSE2,765.84261788,745,715.15738212,681.15738212,660,632,881,782.84261788,814.15738212,651,629,653,0.45253182802,-0.0156249162078,0.0797180578864,0.999999891162,-0.000191341252457,-0.000419309443639,-7.24138346503e-05,1793248782588856320
+245,4.083333333,HOLD_POSE2,765.267326482,745,715.732673518,681.732673518,660,632,881,782.267326482,814.732673518,651,629,653,0.452530525371,-0.0156240888377,0.0797158446557,0.999999890125,-0.000190651275892,-0.00042196994544,-7.30962963939e-05,1793248782605522688
+246,4.100000000,HOLD_POSE2,765,745,715.68592157,682,660,632,881.31407843,782,815,651,629.31407843,653,0.452530432761,-0.0156247310137,0.0797152758773,0.999999889893,-0.00019067506108,-0.000422519886289,-7.30331129504e-05,1793248782622189312
+247,4.116666667,HOLD_POSE2,765,745,715.099209907,682,660,632,881.900790093,782,815,651,629.900790093,653,0.452531390516,-0.0156266488172,0.0797161345526,0.999999890363,-0.000191318421408,-0.000421237771666,-7.23226782095e-05,1793248782638856448
+248,4.133333333,HOLD_POSE2,765.481083664,745,715,681.518916336,660,632.481083664,882,782,815,651,629.518916336,653,0.452530141451,-0.0156257463401,0.0797152707688,0.999999889761,-0.000190863107308,-0.000422866000917,-7.23494788214e-05,1793248782655523072
+249,4.150000000,HOLD_POSE2,766,745,715,681.059910484,660,632.940089516,882,782,814.940089516,651,629.059910484,653.059910484,0.452528770104,-0.0156243412512,0.079714291436,0.999999889111,-0.000190113416696,-0.000424708295679,-7.25076092373e-05,1793248782672189696
+250,4.166666667,HOLD_POSE2,766,745,715,681.637349773,660,632.362650227,882,782,814.362650227,651,629.637349773,653.637349773,0.45253022196,-0.015623552376,0.0797153419748,0.999999889973,-0.000188752226093,-0.000423283480584,-7.25041798935e-05,1793248782688855808
+251,4.183333333,HOLD_POSE2,766,745,715,681.785726346,660,632,881.785726346,782.214273654,814.214273654,651,630,653.785726346,0.452531565569,-0.0156234697993,0.0797162321658,0.999999890526,-0.000189082422803,-0.000421839792441,-7.24426867342e-05,1793248782705522432
+252,4.200000000,HOLD_POSE2,766,745,715,681.209672737,660,632,881.209672737,782.790327263,814.790327263,651,630,653.209672737,0.452532726415,-0.015624579738,0.0797168516255,0.999999890551,-0.000192268360487,-0.000420364239163,-7.22831585428e-05,1793248782722189056
+253,4.216666667,HOLD_POSE2,766,745,715,681,660,632.374410771,881.374410771,782.625589229,814.625589229,651,629.625589229,653,0.452533383642,-0.0156252251777,0.0797172051654,0.999999891041,-0.000191636590302,-0.000419499024443,-7.22011830679e-05,1793248782738855680
+254,4.233333333,HOLD_POSE2,766,745,715,681,660,632.963089691,881.963089691,782.036910309,814.036910309,651,629.036910309,653,0.452533752656,-0.0156256047935,0.0797174065245,0.999999891796,-0.00018882001895,-0.000418983094713,-7.21635895198e-05,1793248782755522048
+255,4.250000000,HOLD_POSE2,766,745,715,681,660,633,881.457676109,782,814,651,629,653,0.452532421284,-0.015625006132,0.0797166557297,0.999999891115,-0.000189624568436,-0.000420232304954,-7.2235053794e-05,1793248782772188928
+256,4.266666667,HOLD_POSE2,765.87933852,745,715,681,660,632.87933852,880.87933852,782,814,651,629.12066148,653,0.45253157404,-0.0156244903778,0.0797160638889,0.999999890589,-0.000190223867406,-0.000421203129165,-7.22819620108e-05,1793248782788855808
+257,4.283333333,HOLD_POSE2,765.30200301,745,715,681,660,632.30200301,880.30200301,782,814,651,629.69799699,653,0.4525329896,-0.0156245360864,0.0797163147151,0.999999891025,-0.000189129550766,-0.000420673434025,-7.22083204174e-05,1793248782805522432
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,881,782,815,651,630,654,0.452532749209,-0.0156200531418,0.0797173955835,0.99999989154,-0.00018564785722,-0.000420913389581,-7.27056073791e-05,1793248782843289088
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.590336585,660,632,881,782.590336585,815,651,629.409663415,653.409663415,0.452530940966,-0.0156218209847,0.0797148847303,0.999999890239,-0.000187422802692,-0.00042322395597,-7.26400562728e-05,1793248782859956480
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.822804845,660,632,881,782.822804845,814.822804845,651,629.177195155,653,0.452530543021,-0.0156231767902,0.0797138450156,0.999999889812,-0.000188530709445,-0.000423783803343,-7.2390608241e-05,1793248782876623616
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.24383231,660,632,881,782.24383231,814.24383231,651,629.75616769,653,0.452533342826,-0.0156235983311,0.0797161410019,0.999999891375,-0.00018812615381,-0.000420374020613,-7.17241870281e-05,1793248782893289984
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.666874362,745,715,681,660,632,881,782,814,650.666874362,630,653,0.452533753784,-0.0156240493978,0.079716805379,0.999999891525,-0.000188886522123,-0.000419689244369,-7.16388525622e-05,1793248782909956352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.091382167,745,715,681,660,632,881,782,814,650.091382167,630,653,0.452532426731,-0.0156245219463,0.0797162826737,0.999999890651,-0.000190494434372,-0.000420987054966,-7.19762895402e-05,1793248782926622976
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.493838508,745,715,681.493838508,660,632,881.493838508,782,814,650.493838508,630,653.493838508,0.452533069524,-0.0156250812614,0.0797163119184,0.999999890627,-0.000191664870979,-0.000420532874996,-7.18527721201e-05,1793248782943289600
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.920192953,632,882,782,814.079807047,651,629.920192953,653.920192953,0.452534102166,-0.015625437648,0.0797165773637,0.99999989082,-0.000192594195219,-0.000419671176653,-7.17129707645e-05,1793248782959956224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.341035216,632,882,782,814.658964784,651,629.341035216,653.341035216,0.452535247524,-0.0156244218377,0.079717668809,0.999999891373,-0.000192531582123,-0.000418328898864,-7.2015708352e-05,1793248782976623104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.237925831,632.237925831,881.762074169,782,814.762074169,651,629.237925831,653.237925831,0.452532596022,-0.0156231105115,0.0797164088962,0.999999890803,-0.000191322269494,-0.000420192645162,-7.23040266546e-05,1793248782993289728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.816605133,632.816605133,881.183394867,782,814.183394867,651,629.816605133,653.816605133,0.452524506718,-0.0156213759524,0.0797117814068,0.999999888592,-0.000188470672603,-0.000426648006669,-7.2571693866e-05,1793248783009955840
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,881,782,814,651,629.607516127,653.607516127,0.452502317223,-0.0156205217128,0.0796997657463,0.999999880999,-0.000186960220493,-0.000444636526338,-7.31186215451e-05,1793248783026622464
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,881,782,814,651,629.032936675,653.032936675,0.452473585846,-0.0156200759033,0.0796843222929,0.999999870465,-0.000186072001348,-0.000467975934013,-7.37951140199e-05,1793248783043289088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.45986092,745,715,681.45986092,660,632.45986092,881.54013908,782.54013908,814,651,629,653,0.452418994053,-0.0156183785211,0.0796628012612,0.999999852418,-0.000185194081655,-0.000505234927605,-7.48673878265e-05,1793248783059955712
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.117532353,882,783,814.117532353,651,629.117532353,653,0.452360481473,-0.0156162656469,0.0796424872931,0.999999834814,-0.000184691607696,-0.000539002965276,-7.57372177491e-05,1793248783076622848
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.712848765,882,783,814.712848765,651,629.712848765,653,0.452292422962,-0.0156127731274,0.0796285825379,0.999999825802,-0.000185712823372,-0.00055513897162,-7.56862525998e-05,1793248783093289984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.701808056,881.701808056,783,815,651,630,653,0.452216909989,-0.0156084225578,0.0796188795152,0.999999819213,-0.000183404992001,-0.000567752171942,-7.47871458496e-05,1793248783109956608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.125758066,881.125758066,783,815,651,630,653,0.452134450882,-0.0156032724494,0.0796130917071,0.999999814975,-0.000177995123363,-0.000577082787691,-7.30977328209e-05,1793248783126622976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.44930507,745,715,681,660,632.44930507,881,783,815,651,629.55069493,653,0.452038755934,-0.0155998033756,0.0796118228247,0.999999813555,-0.00017670075756,-0.000580179179688,-7.11255380674e-05,1793248783143289344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.975241308,744.975241308,715,681,660,633,881,783,814.975241308,651,629.024758692,653,0.451937928396,-0.0155967024809,0.0796116016883,0.999999812771,-0.000176460926483,-0.000581853399877,-6.90410689934e-05,1793248783159955968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.384562245,744.384562245,715,681,660,633,881,783,814.384562245,651,629.615437755,653,0.451804275961,-0.0155912860749,0.079606482089,0.999999808129,-0.000174053116741,-0.000590817536157,-6.61954760534e-05,1793248783176622336
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.202122113,744.202122113,715,681,660,633,881,783,814,651,630,653,0.451662428629,-0.015585420679,0.0796029038682,0.999999804975,-0.000170663292949,-0.000597458480764,-6.29834130581e-05,1793248783193288960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.781353291,744.781353291,715,681,660,633,881,783,814,651,630,653,0.451505291693,-0.0155787175813,0.079602201473,0.99999980471,-0.000165441278033,-0.000599764932651,-5.90876093683e-05,1793248783209955840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.642903275,745,715,681,660,633,881.357096725,783,814,651,629.642903275,653,0.451336971281,-0.0155718674649,0.0796093424367,0.999999811187,-0.000158626249804,-0.000591202468002,-5.42434295087e-05,1793248783226622464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.069274639,745,715,681,660,633,881.930725361,783,814,651,629.069274639,653,0.451161869555,-0.0155649282004,0.0796212393596,0.999999821514,-0.000150845269257,-0.000576049443799,-4.88241846085e-05,1793248783243288832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.517846196,660,633,881.482153804,783,814,651,629.517846196,653,0.450971124133,-0.0155536828554,0.0796371348157,0.999999839018,-0.000135739595795,-0.000549280039713,-4.2770880608e-05,1793248783259955456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.105012252,745,715,681.894987748,660,632.894987748,881,783,814,651,630,653,0.450767864272,-0.0155423735107,0.0796536091987,0.999999856308,-0.000119092921675,-0.000521437080307,-3.6126955362e-05,1793248783276622080
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.737360671,745,715,681.262639329,660,632.262639329,881,783,814,651,630,653,0.45024787188,-0.0155236633194,0.07968261628,0.999999884315,-6.58918508198e-05,-0.000476093842408,-1.90282673261e-05,1793248783309955328
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.159200702,745,715,681.840799298,660,632.840799298,881,783,814,651,630,653,0.449954023925,-0.015512856924,0.0796899572387,0.999999892653,-1.36372597011e-05,-0.000463001604511,-1.17289695377e-05,1793248783326621952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.415614328,745,715,682,660.415614328,633,881,783.415614328,813.584385672,651,630,653,0.449633371882,-0.0155011078051,0.0797002344562,0.999999900386,1.2511038987e-05,-0.000446149844813,-4.71702825694e-06,1793248783343288576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.989158299,745,715,682,660.989158299,633,881,783.989158299,813.010841701,651,630,653,0.449302534538,-0.0154890004601,0.0797116274248,0.999999908048,2.87391842159e-05,-0.000427869501607,2.1857200103e-06,1793248783359955200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.421279124,745,715,681.421279124,661,633,881,784,813.578720876,651,630,653,0.44893120833,-0.0154796616426,0.0797167698404,0.9999999102,5.10598130987e-05,-0.000420658449168,6.23872911363e-06,1793248783376622080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.165592469,661,633,881.165592469,784,813.834407531,651,630,653,0.448539936875,-0.0154698396243,0.0797208256616,0.999999911605,6.19442150276e-05,-0.00041582453349,6.61607061728e-06,1793248783393288704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.744968502,661,633,881.744968502,784,813.255031498,651,630,653,0.448100775496,-0.0154586768914,0.079722467226,0.999999912338,4.39583706802e-05,-0.000416397693143,-2.05417040244e-06,1793248783409955328
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.897040606,745,715,681.102959394,660.102959394,633,881.102959394,784.897040606,813,651,630,652.102959394,0.447218244945,-0.0154597986606,0.0797439780906,0.999999928152,6.90703480983e-05,-0.000372701380108,4.30299473933e-06,1793248783443290112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.482188603,660.482188603,633,881,785,813,651,630,652.482188603,0.446753430407,-0.0154651461498,0.0797665509976,0.99999994004,6.43375627878e-05,-0.000340110236942,1.02751462988e-05,1793248783459956480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.93162768,745,715,681.93162768,661,633,881,785,813,651,630,653,0.446274006111,-0.0154694613465,0.0797907792774,0.999999950969,5.72071895724e-05,-0.000307480533818,1.56656195405e-05,1793248783476622592
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715.223549721,681.223549721,661,633.223549721,881,785,812.776450279,651,630,653,0.445142210385,-0.0154571054705,0.0798264049612,0.999999960594,8.69582256047e-05,-0.000266184725358,1.98871677988e-05,1793248783509955584
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715.801223617,681.801223617,661,633.801223617,881,785,812.198776383,651,630,653,0.444513997928,-0.0154492411885,0.0798286776338,0.999999959868,9.260401111e-05,-0.000266784808187,2.26596038453e-05,1793248783526622720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715.621119943,682,660.621119943,633.621119943,881,785,812,651,630,653,0.443866933367,-0.0154445679125,0.0798185264862,0.99999995366,0.000101545548962,-0.000286015933575,2.37298737478e-05,1793248783543289856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715.043472681,682,660.043472681,633.043472681,881,785,812,651,630,653,0.443209978678,-0.0154415686952,0.079801857582,0.999999943799,0.000112216096766,-0.000315021234511,2.39071569576e-05,1793248783559956480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.529485374,745,715,682,660,633.529485374,881.529485374,785,812,651,630,653,0.442537136359,-0.0154465132917,0.0797924817854,0.999999943284,9.61061774099e-05,-0.000321937695705,2.34684502377e-05,1793248783576622848
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.894000606,745,715,682,660.105999394,633.894000606,881.894000606,785,812,651,630,653,0.441857090006,-0.0154516414976,0.0797853526345,0.999999943471,8.12511100419e-05,-0.00032543238851,2.34584884013e-05,1793248783593289216
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.299334122,745,715,682,660.700665878,633.299334122,881.299334122,785,812,651,630,653,0.441149793349,-0.0154546357754,0.079785844484,0.999999944628,8.22286034538e-05,-0.000321439761444,2.5656189458e-05,1793248783609955840
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.285553266,744.714446734,715,682,660.714446734,633.285553266,881,785,812,651,630,653,0.440377049297,-0.0154498233527,0.0797586348275,0.999999927788,9.92122472503e-05,-0.000365977834425,2.53112102219e-05,1793248783626622976
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.184530821,745,715,681.815469179,660,633.184530821,881,785,812,650.184530821,630,653,0.43652242354,-0.0154461431578,0.0798208888057,0.999999952507,0.000127087964688,-0.000278269085433,3.74415543405e-05,1793248783709956608
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.917218188,660,634,881,785,811.082781812,651,630,653,0.433952029326,-0.0154371597766,0.0798263900958,0.999999950379,0.000160364923305,-0.000267897093562,4.19176319579e-05,1793248783759955200
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.658242283,660.658242283,634,881,785,812,651,630,653,0.431183523678,-0.0154286178963,0.0797158713166,0.999999874726,0.000168797622289,-0.000469820221976,3.63910264941e-05,1793248783809955840
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.021497482,715.021497482,681.978502518,660,633.978502518,880,785,811,651,630,653,0.427720187074,-0.0154358208537,0.0798706662297,0.999999960392,0.000172811594482,-0.000216220639812,5.10054817394e-05,1793248783876622336
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744,715.48311925,681,659,634,879,785,811,650.51688075,630,652.51688075,0.416251763867,-0.0154137464965,0.0797992261545,0.999999925689,0.000199568673304,-0.000326826616132,4.44924233212e-05,1793248784093288960
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.411228187,715,680,659,634.588771813,879,785,810,651,629.411228187,652.411228187,0.411039961104,-0.0154069094052,0.079790677555,0.999999918099,0.000217009182959,-0.000338662160449,4.49176686006e-05,1793248784209955840
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.975972571,744,716,680,659,634.975972571,879.975972571,784.975972571,810,651,629,652,0.402777774674,-0.0153744584991,0.0798328462764,0.999999924899,0.000249673861229,-0.000292930107884,4.53445192636e-05,1793248784509955840
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.388736928,744,716,680,659,634.388736928,879.388736928,784.388736928,810,651,629,652,0.402550652207,-0.0153748572258,0.079837039808,0.999999922169,0.000263184844614,-0.000290047941423,4.76160321822e-05,1793248784526622464
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.778904217,744,715.221095783,680,659,634,879.778904217,784.778904217,810,651,629,652.778904217,0.402147915166,-0.0153909421425,0.0798392780942,0.999999926511,0.000251112702785,-0.000285297797789,5.0249483181e-05,1793248784559956224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,715.355483524,680,659,634,879.644516476,785,810,651,628.644516476,653,0.401982271886,-0.0153973339066,0.0798393033108,0.999999929337,0.000241879844065,-0.000283195626575,5.11969325206e-05,1793248784576623104
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744,715.495816107,680,659,634,879,785,810,651,628.504183893,653,0.40170574354,-0.0153974216844,0.0798435632347,0.999999932425,0.000239854882236,-0.000273534725029,5.29072987946e-05,1793248784609956096
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.224282735,744,716,679.775717265,658.775717265,634.224282735,879,785,809.224282735,651,628,652.775717265,0.400990265524,-0.0153861672283,0.0798364848431,0.999999926647,0.000253824983698,-0.000283687593066,4.24243972908e-05,1793248784859956224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.803652288,744,716,679.196347712,658.196347712,634.803652288,879,785,809.803652288,651,628,652.196347712,0.400986071353,-0.0153868064293,0.0798356581153,0.999999926547,0.000252235696445,-0.000285470568587,4.23079068122e-05,1793248784876622592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.620115487,744,716,679.379884513,658.379884513,634.620115487,879,785,810.379884513,651,628.379884513,652.379884513,0.400984007603,-0.0153867132922,0.0798354137713,0.999999926475,0.000252293749947,-0.000285708510723,4.2065322931e-05,1793248784893288960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.045491562,744,716,679.954508438,658.954508438,634.045491562,879,785,810.954508438,651,628.954508438,652.954508438,0.400983035965,-0.0153862447381,0.0798354679735,0.999999926417,0.000253196276384,-0.000285154425537,4.17581000532e-05,1793248784909955072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.540689726,744,716,680,659,634.540689726,879,785,810.459310274,651,629,653,0.400983312992,-0.0153875884213,0.0798361499942,0.999999927211,0.00025151125442,-0.000283851245436,4.18166085589e-05,1793248784926621952
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.873928293,744,716,680,659,634.873928293,879,785,810,651,628.873928293,653,0.400983374461,-0.0153886072934,0.0798367465175,0.999999927878,0.000250125263736,-0.000282721002937,4.18293618604e-05,1793248784943288576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.29498697,744,716,680,659,634.29498697,879,785,810,651,628.29498697,653,0.400982275986,-0.0153878997156,0.0798368420306,0.999999927846,0.000250612558746,-0.000282443324482,4.15648056772e-05,1793248784959955200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.28346855,744,716,680,658.71653145,634,878.71653145,785,810,651,628.28346855,653,0.400981440307,-0.0153880008455,0.0798369978234,0.999999927976,0.000250344042387,-0.000282229861144,4.15080860962e-05,1793248784976621824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.861419464,744,716,680,658.138580536,634,878.138580536,785,810,651,628.861419464,653,0.400980877635,-0.0153889421045,0.079837216238,0.999999928274,0.00024929034862,-0.000282083107887,4.16672783147e-05,1793248784993288960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,658,634,878.436238524,785,810,651,628.563761476,652.563761476,0.400980482927,-0.0153896662705,0.0798367119931,0.999999928381,0.000248625924693,-0.000282283681484,4.16998630442e-05,1793248785009955584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.989639874,744.010360126,716,680,658.010360126,634,878.989639874,785,810,651,628.010360126,652,0.400980190442,-0.0153903122271,0.0798360270765,0.999999928441,0.000248107537579,-0.000282527642111,4.16949358134e-05,1793248785026621952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.399260756,744.600739244,716,680,658.600739244,634,878.399260756,785,810,651,628.600739244,652,0.40098265508,-0.0153904130698,0.0798379880621,0.999999929213,0.000248891283279,-0.000279067459254,4.18255466115e-05,1793248785043288576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.187433771,744.812566229,716,680,659,634,878,785,810,651,629,652.187433771,0.400983890159,-0.0153897945763,0.0798393630137,0.999999929462,0.000250410181778,-0.000276797486236,4.18805912042e-05,1793248785059955456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.76643087,744.23356913,716,680,659,634,878,785,810,651,629,652.76643087,0.400982556597,-0.015387673335,0.0798395136959,0.999999928637,0.000253464870053,-0.000277013951834,4.17777722687e-05,1793248785076622080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.656673219,744,716,680,659,634,878.343326781,785,810,651,629,653,0.400980701566,-0.015387576509,0.079838503613,0.999999927991,0.000253853751852,-0.000278991182994,4.17072466602e-05,1793248785093288960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.081198099,744,716,680,659,634,878.918801901,785,810,651,629,653,0.400978493931,-0.0153888485384,0.079836708652,0.999999927462,0.000252440086854,-0.000282158996478,4.16585569352e-05,1793248785109955584
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.493414665,744.493414665,716,680,659,634,879,785,810,651,629,652.506585335,0.400979506906,-0.015388391792,0.0798374782459,0.999999927962,0.0002525023393,-0.000280341739891,4.15594134932e-05,1793248785126622208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.930018831,715.930018831,680,659,634,879,785,809.930018831,651,629,652,0.400980870838,-0.0153878375379,0.0798385349486,0.999999928574,0.000252606176266,-0.00027806951795,4.1456778933e-05,1793248785143288832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.33781606,715.33781606,680,659,634,879,785,809.33781606,651,629,652,0.400980905633,-0.0153886749272,0.0798385903025,0.999999928805,0.000251211027559,-0.000278513315619,4.13899429657e-05,1793248785159955456
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.751571275,744,715.248428725,680,658.751571275,634,879,785,809.248428725,651,629,652,0.400981431883,-0.0153894451769,0.0798392826903,0.99999992927,0.000250086277819,-0.000277828103457,4.15850159246e-05,1793248785176622080
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.173238396,744,715.826761604,680,658.173238396,634,879,785,809.826761604,651,629,652,0.400982610764,-0.0153901262678,0.0798408210354,0.999999930043,0.000249320607706,-0.000275643608073,4.21278942376e-05,1793248785193288960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.402716749,744,716,679.597283251,658.402716749,634,879,785,810,651,629,652.402716749,0.400981735912,-0.0153899952954,0.0798401574188,0.999999929736,0.000249751584096,-0.000276391420314,4.1950411844e-05,1793248785209955328
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.977655023,744,716,679.022344977,658.977655023,634,879,785,810,651,629,652.977655023,0.400979982784,-0.0153895170447,0.0798385521347,0.999999928965,0.000250694305537,-0.000278393231911,4.14648676852e-05,1793248785226622208
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb02b370bdc4c11c132d5663856acf3013149bf7
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245503499,-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
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+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+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
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+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
+17,0.283333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+18,0.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+19,0.316666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+21,0.350000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+23,0.383333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+380,6.333333333,pose2_to_pose3_retreat,0.58325244763,-0.0100719886141,1.07004245471,0.553824269363,-0.00139753818358,1.06966583526
+381,6.350000000,pose2_to_pose3_retreat,0.583250929644,-0.0100719854797,1.07004238895,0.553822751011,-0.00139753624247,1.0696657706
+382,6.366666667,pose2_to_pose3_retreat,0.583249959539,-0.0100720634954,1.07004235736,0.55382178214,-0.00139760990146,1.0696657431
+383,6.383333333,pose2_to_pose3_retreat,0.583249436535,-0.0100721193741,1.07004234213,0.553821260054,-0.00139766254737,1.06966573065
+384,6.400000000,pose2_to_pose3_retreat,0.58324908276,-0.0100721571722,1.07004233183,0.5538209069,-0.00139769815859,1.06966572223
+385,6.416666667,pose2_to_pose3_retreat,0.58324878534,-0.010072188949,1.07004232317,0.553820610003,-0.001397728097,1.06966571516
+386,6.433333333,pose2_to_pose3_retreat,0.583248395356,-0.0100722306157,1.07004231181,0.553820220703,-0.00139776735312,1.06966570588
+387,6.450000000,pose2_to_pose3_retreat,0.583247956596,-0.0100722774937,1.07004229903,0.553819782713,-0.00139781151896,1.06966569544
+388,6.466666667,pose2_to_pose3_retreat,0.583247904356,-0.0100722830751,1.07004229751,0.553819730566,-0.00139781677741,1.0696656942
+389,6.483333333,pose2_to_pose3_retreat,0.583247566765,-0.010072319144,1.07004228768,0.553819393567,-0.00139785075955,1.06966568616
+390,6.500000000,pose2_to_pose3_retreat,0.58324736854,-0.0100722989554,1.07004231056,0.553819195277,-0.00139783085261,1.06966570768
+391,6.516666667,pose2_to_pose3_retreat,0.583247342952,-0.0100722960207,1.07004231374,0.553819169677,-0.00139782796629,1.06966571066
+392,6.533333333,pose2_to_pose3_retreat,0.583247144405,-0.0100722732496,1.07004233842,0.553818971039,-0.00139780557014,1.06966573382
+393,6.550000000,pose2_to_pose3_retreat,0.583246775965,-0.0100722309937,1.07004238422,0.553818602431,-0.00139776401016,1.0696657768
+394,6.566666667,pose2_to_pose3_retreat,0.583246422606,-0.0100721904673,1.07004242814,0.55381824891,-0.00139772415121,1.06966581803
+395,6.583333333,pose2_to_pose3_retreat,0.583246229389,-0.0100721683075,1.07004245216,0.553818055605,-0.00139770235634,1.06966584057
+396,6.600000000,pose2_to_pose3_retreat,0.583246143918,-0.0100721585049,1.07004246279,0.553817970095,-0.00139769271521,1.06966585054
+397,6.616666667,pose2_to_pose3_retreat,0.583245786492,-0.0100720965118,1.07004238847,0.553817610901,-0.00139763673276,1.06966577599
+398,6.633333333,pose2_to_pose3_retreat,0.583245600169,-0.0100720625565,1.07004234047,0.553817423531,-0.00139760632714,1.06966572806
+399,6.650000000,pose2_to_pose3_retreat,0.583245563883,-0.0100720606525,1.0700423441,0.553817387665,-0.00139760301498,1.06966573142
+400,6.666666667,pose2_to_pose3_retreat,0.583245529561,-0.0100720597105,1.07004234991,0.553817353852,-0.00139760035804,1.06966573691
+401,6.683333333,pose2_to_pose3_retreat,0.583245503499,-0.0100720589953,1.07004235432,0.553817328177,-0.00139759834157,1.06966574107
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9106234838442889e51e23ddcd9f50572064275c
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7062aa157c68610a1aea51b630008d6210fc4ddef658d368422262b7c72cfb70
+size 25636549
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddb597b758ec735a973bc1e244e31c037d5d290e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+45,0.750000000,BASELINE,765.107253185,744.892746815,715.107253185,680,659,634.892746815,878.107253185,785,810,651,628,652.107253185,0.400981842009,-0.0153913562092,0.0798414466063,0.999999931013,0.000248547729681,-0.000273006531145,4.08099487064e-05,1793248786092386304
+46,0.766666667,BASELINE,765.703150503,744.296849497,715.703150503,680,659,634.296849497,878.703150503,785,810,651,628,652.703150503,0.400982726729,-0.0153902930005,0.0798420586711,0.99999993132,0.000248372204906,-0.000272055918394,4.07000782801e-05,1793248786109052928
+47,0.783333333,BASELINE,766,744,716,680,658.711047145,634,879,785,810,651,628.288952855,652.711047145,0.400982899509,-0.0153900145611,0.0798422584102,0.999999931533,0.000247898652039,-0.000271706328297,4.06956673851e-05,1793248786125719296
+48,0.800000000,BASELINE,766,744,716,680,658.135265482,634,879,785,810,651,628.864734518,652.135265482,0.400982365583,-0.0153905151222,0.0798420488545,0.999999931652,0.000247129261815,-0.000271953342714,4.07959407922e-05,1793248786142386176
+49,0.816666667,BASELINE,765.560124329,744,716,680,658.439875671,634,879.439875671,785,810,651,629,652,0.400983027139,-0.0153909557997,0.0798426824506,0.999999931905,0.000247234351675,-0.000270911783516,4.08921687673e-05,1793248786159053312
+50,0.833333333,BASELINE,765,744,716,680,658.984865144,634,879.984865144,785,810,651,629,652,0.400984015347,-0.0153913938635,0.079843545357,0.999999932199,0.000247549919565,-0.00026951986464,4.09880326143e-05,1793248786175720192
+51,0.850000000,BASELINE,765,744,716,680,658.397710272,634,879.397710272,785,810,651,629,652,0.400983475358,-0.0153924281154,0.0798432899527,0.99999993257,0.000245671836652,-0.000269840482751,4.11170831365e-05,1793248786192386560
+52,0.866666667,BASELINE,765.188055753,744,716,680.188055753,658.188055753,634,879,785.188055753,810,651,629,652.188055753,0.400982998093,-0.0153928886313,0.0798430114773,0.999999932558,0.000245168109349,-0.000270330134463,4.11998519094e-05,1793248786209052928
+53,0.883333333,BASELINE,765.770906069,744,716,680.770906069,658.770906069,634,879,785.770906069,810,651,629,652.770906069,0.400982652511,-0.0153921446757,0.079842684568,0.999999931744,0.000247549633556,-0.000271174646595,4.11854591535e-05,1793248786225719296
+54,0.900000000,BASELINE,766,744.348693596,715.651306404,680.651306404,659,634,878.651306404,785.651306404,810,651,629,652.651306404,0.400983103017,-0.0153915310437,0.0798429268611,0.99999993182,0.0002478247654,-0.0002706753503,4.09526577057e-05,1793248786242386176
+55,0.916666667,BASELINE,766,744.92320242,715.07679758,680.07679758,659,634,878.07679758,785.07679758,810,651,629,652.07679758,0.400984069072,-0.01539100181,0.0798435377718,0.999999932475,0.00024673578988,-0.000269305798803,4.05784140042e-05,1793248786259052800
+56,0.933333333,BASELINE,766,744.502075206,715.497924794,679.502075206,658.502075206,634,878,785,810,651,629,652,0.400983645645,-0.0153903582874,0.0798433386385,0.999999932012,0.000248105909156,-0.000269758323059,4.06127134669e-05,1793248786275719424
+57,0.950000000,BASELINE,765.9250849,744,715.9250849,679.0749151,658,634,878.0749151,784.9250849,810,651,628.9250849,652.0749151,0.400982775279,-0.0153898133308,0.0798428065127,0.999999931267,0.000249956755558,-0.000270794269305,4.07177696511e-05,1793248786292386048
+58,0.966666667,BASELINE,765.332655606,744,715.332655606,679.667344394,658,634,878.667344394,784.332655606,810,651,628.332655606,652.667344394,0.400980298526,-0.015390071092,0.0798408375108,0.999999929769,0.000252507279965,-0.000273918319912,4.08761411646e-05,1793248786309052672
+59,0.983333333,BASELINE,765,744,715.253384459,679.746615541,658.253384459,634,878.746615541,784.253384459,810,651,628.253384459,652.746615541,0.400979897429,-0.0153905845561,0.0798406834375,0.999999929651,0.000252314616272,-0.000274506522272,4.10004755047e-05,1793248786325719040
+60,1.000000000,BASELINE,765,744,715.831242815,679.168757185,658.831242815,634,878.168757185,784.831242815,810,651,628.831242815,652.168757185,0.40098215433,-0.0153914254629,0.079842853488,0.999999931302,0.000248609137102,-0.00027184742027,4.10812232376e-05,1793248786342385664
+61,1.016666667,BASELINE,765.407370385,744,715.592629615,679.407370385,658.592629615,634,878,785,810,651,628.592629615,652,0.400982616664,-0.0153920469059,0.0798431108463,0.999999932088,0.000246014004794,-0.000271324045874,4.1032546516e-05,1793248786359052800
+62,1.033333333,BASELINE,765.982783959,744,715.017216041,679.982783959,658.017216041,634,878,785,810,651,628.017216041,652,0.400982338725,-0.0153925778183,0.0798425792052,0.999999932519,0.000243876898707,-0.000271681674502,4.09304812797e-05,1793248786375719680
+63,1.050000000,BASELINE,765.429419585,744,715,679.429419585,658.570580415,634,878,785,810,651,628,652,0.400983421072,-0.0153922114993,0.0798434686015,0.999999932245,0.000246569679842,-0.000270223509332,4.1135782333e-05,1793248786392386048
+64,1.066666667,BASELINE,765.156321971,744,715.156321971,679,659,634.156321971,878.156321971,784.843678029,810,651,628,652,0.400984094929,-0.0153915854609,0.0798438338389,0.999999931964,0.000248592869847,-0.000269408428591,4.11438969413e-05,1793248786409052672
+65,1.083333333,BASELINE,765.735472261,744,715.735472261,679,659,634.735472261,878.735472261,784.264527739,810,651,628,652,0.400983550397,-0.015390331769,0.0798426627546,0.999999931743,0.000248401985508,-0.000270484278523,4.05930090961e-05,1793248786425719296
+66,1.100000000,BASELINE,765.687078975,744,716,679.312921025,659,634.687078975,879,784.312921025,810,651,628.312921025,652,0.400982807358,-0.0153903570886,0.0798422214837,0.999999931571,0.000248304461646,-0.000271228721572,4.0460342074e-05,1793248786442385920
+67,1.116666667,BASELINE,765.111060844,744,716,679.888939156,659,634.111060844,879,784.888939156,810,651,628.888939156,652,0.400981897418,-0.0153914577729,0.079842393824,0.999999931441,0.000248285433226,-0.000271694524964,4.06793059358e-05,1793248786459052800
+68,1.133333333,BASELINE,765,744,715.538429612,679.538429612,659,634,878.538429612,784.538429612,810,651,629,652.461570388,0.400983699516,-0.015392052107,0.0798438814114,0.999999931969,0.000248569587994,-0.00026943389458,4.09851340809e-05,1793248786475719168
+69,1.150000000,BASELINE,765.03468471,744,715,679.03468471,658.96531529,634,878.03468471,784.03468471,810,651,628.96531529,652.96531529,0.400985947475,-0.0153924585999,0.0798455312663,0.999999932608,0.000248871234189,-0.000266725251669,4.12946744799e-05,1793248786492386048
+70,1.166666667,BASELINE,765.628632318,744,715,679.628632318,658.371367682,634,878.628632318,784.628632318,810,651,628.371367682,652.371367682,0.400984939245,-0.0153917864979,0.0798447319217,0.9999999326,0.00024828721594,-0.000267293534375,4.13295169154e-05,1793248786509052672
+71,1.183333333,BASELINE,765.784658099,744,715,680,658.215341901,634,878.784658099,785,810,651,628.215341901,652,0.40098413652,-0.015391124867,0.0798441279376,0.99999993238,0.000248368917508,-0.000268055898411,4.12149302353e-05,1793248786525719296
+72,1.200000000,BASELINE,765.210024842,744,715,680,658.789975158,634,878.210024842,785,810,651,628.789975158,652,0.40098367667,-0.015390480707,0.0798438499065,0.999999931806,0.000249561352072,-0.000269142081286,4.08510256646e-05,1793248786542385920
+73,1.216666667,BASELINE,765.368077202,744,715.368077202,679.631922798,658.631922798,634,878,785,810,651,629,652.368077202,0.400983707854,-0.0153908335306,0.0798436540376,0.999999931871,0.00024951431933,-0.000268948734578,4.08323698327e-05,1793248786559052544
+74,1.233333333,BASELINE,765.948177333,744,715.948177333,679.051822667,658.051822667,634,878,785,810,651,629,652.948177333,0.400984021886,-0.0153917606451,0.0798435054965,0.999999932303,0.000248753318123,-0.000268018342403,4.10125871073e-05,1793248786575719168
+75,1.250000000,BASELINE,766,744.520795851,716,679,658,634,878.520795851,785,810,651,628.479204149,653,0.400983261314,-0.0153924074063,0.0798429076351,0.999999932578,0.00024588719082,-0.000269664127306,4.07927344602e-05,1793248786592385792
+76,1.266666667,BASELINE,765.903652391,744.903652391,716,679.096347609,658,634,879,785,810,651,628,652.903652391,0.400982619997,-0.0153928900654,0.0798425025805,0.999999932801,0.000243435994317,-0.000271090013478,4.05842295369e-05,1793248786609052416
+77,1.283333333,BASELINE,765.309139561,744.309139561,716,679.690860439,658,634,879,785,810,651,628,652.309139561,0.400983140343,-0.0153926664336,0.0798433223336,0.999999932888,0.000244197943953,-0.000270072243645,4.06373185726e-05,1793248786625719040
+78,1.300000000,BASELINE,765,744,715.723164008,680,658.276835992,634,879,785,810,651,628,652,0.400983340891,-0.0153924276139,0.079843574605,0.99999993275,0.000245187447041,-0.000269678136678,4.07106304863e-05,1793248786642386176
+79,1.316666667,BASELINE,765,744,715.146436765,680,658.853563235,634,879,785,810,651,628,652,0.400983195006,-0.0153921723417,0.0798432121337,0.999999932366,0.000246423454476,-0.000269959632095,4.08058494618e-05,1793248786659054080
+80,1.333333333,BASELINE,765,744,715.428773762,679.571226238,658.571226238,634,879,785,810,650.571226238,628,652,0.400983355502,-0.0153921260395,0.0798430203068,0.999999932548,0.00024552547823,-0.000270110484633,4.07639087525e-05,1793248786675720704
+81,1.350000000,BASELINE,765.003557333,744.003557333,715.996442667,679.003557333,658.003557333,634,878.996442667,785,810,650.003557333,628.003557333,652.003557333,0.40098362076,-0.0153921520294,0.0798428918342,0.999999932918,0.000243915365988,-0.000270212329914,4.06765306882e-05,1793248786692386560
+82,1.366666667,BASELINE,765.593027287,744.593027287,715.406972713,679.593027287,658.593027287,634,878.406972713,785,810,650.593027287,628.593027287,652.593027287,0.400983967687,-0.0153923715841,0.0798436331068,0.999999932914,0.000244628096307,-0.000269565294142,4.07935415489e-05,1793248786709052928
+83,1.383333333,BASELINE,765.820745567,744.820745567,715,680,658.820745567,634,877.820745567,785,809.820745567,651,628.820745567,652.820745567,0.400984270802,-0.0153924016973,0.0798442694451,0.999999932795,0.000245834757567,-0.000268888184415,4.09301348201e-05,1793248786725719552
+84,1.400000000,BASELINE,765.241749841,744.241749841,715,680,658.241749841,634,877.241749841,785,809.241749841,651,628.241749841,652.241749841,0.400984476216,-0.0153920093519,0.0798446717775,0.999999932417,0.000248142895731,-0.000268144008986,4.11103973157e-05,1793248786742386688
+85,1.416666667,BASELINE,765.335166386,744,715,680,658.335166386,634,877.670332772,785,809.335166386,651,628,652.335166386,0.400983993347,-0.0153921076738,0.0798443787564,0.999999932216,0.000248438901385,-0.000268582872349,4.13374214463e-05,1793248786759053312
+86,1.433333333,BASELINE,765.910591919,744,715,680,658.910591919,634,878.821183838,785,809.910591919,651,628,652.910591919,0.400983017094,-0.0153925577234,0.0798435872814,0.999999932143,0.000247292538988,-0.000269869779905,4.15979659636e-05,1793248786775719936
+87,1.450000000,BASELINE,765.518017864,744,715.481982136,680,658.518017864,634,878.518017864,784.518017864,810,651,628,652.518017864,0.4009833991,-0.0153921689807,0.0798433897437,0.999999932417,0.000246330376597,-0.000269801707919,4.11720104179e-05,1793248786792386304
+88,1.466666667,BASELINE,765.054971154,744,715.945028846,679.945028846,658,634,878,784,810,651,628,652,0.400983695211,-0.0153916831235,0.0798431596783,0.999999932631,0.000245522173693,-0.000269817823199,4.06751275133e-05,1793248786809052672
+89,1.483333333,BASELINE,765.651003183,744,715.348996817,679.348996817,658,634,878,784,810,651,628,652,0.400980686547,-0.015391760169,0.0798415340382,0.999999931642,0.000245895814374,-0.000273115965933,4.07231487762e-05,1793248786825719296
+90,1.500000000,BASELINE,765.7604055,744,715.2395945,679.2395945,658,634,878,784.2395945,810,651,628,652,0.400979827788,-0.0153921648972,0.0798412467784,0.999999931608,0.000245377376743,-0.000273709408886,4.07051232958e-05,1793248786842385920
+91,1.516666667,BASELINE,765.18232603,744,715.81767397,679.81767397,658,634,878,784.81767397,810,651,628,652,0.400982006288,-0.015393032556,0.0798428503034,0.999999932926,0.00024359866349,-0.000270481811339,4.05937908703e-05,1793248786859052544
+92,1.533333333,BASELINE,765,744,715.606667564,679.606667564,658.393332436,634,878.393332436,785,810,651,628,652.393332436,0.400983557066,-0.0153929004235,0.0798434174753,0.999999932962,0.000244808708278,-0.000269240296751,4.06707520286e-05,1793248786875719424
+93,1.550000000,BASELINE,765,744,715.032124419,679.032124419,658.967875581,634,878.967875581,785,810,651,628,652.967875581,0.400984818649,-0.015392307681,0.0798435071931,0.999999932407,0.000247395692399,-0.000268913782698,4.08344612067e-05,1793248786892386304
+94,1.566666667,BASELINE,765,744,715,679,658.444250221,634,878.444250221,785,810,651,628.555749779,652.444250221,0.400984045158,-0.015392099504,0.0798433417467,0.999999932671,0.000246077161469,-0.000269146873086,4.07933358264e-05,1793248786909053440
+95,1.583333333,BASELINE,765,744,715.142158049,679,658.142158049,634,878.142158049,785,810,651,628.857841951,652,0.400983477422,-0.0153920319017,0.0798434367924,0.999999932915,0.000245051220252,-0.000269175212371,4.07920747301e-05,1793248786925720064
+96,1.600000000,BASELINE,765,744,715.721628153,679,658.721628153,634,878.721628153,785,810,651,628.278371847,652,0.400983913399,-0.0153923266775,0.0798443796619,0.999999932954,0.000245636893724,-0.000268471735098,4.09507641348e-05,1793248786942386432
+97,1.616666667,BASELINE,765.300107437,744,716,679.300107437,659.300107437,634,879,785,809.699892563,651,628.300107437,652.300107437,0.40098366826,-0.0153924624761,0.0798442440975,0.999999932598,0.000246654636387,-0.000268862954783,4.09548494898e-05,1793248786959052800
+98,1.633333333,BASELINE,765.877670651,744,716,679.877670651,659.877670651,634,879,785,809.122329349,651,628.877670651,652.877670651,0.400982793416,-0.0153924512968,0.0798431114977,0.999999931875,0.000248071836269,-0.000270266245378,4.0816000068e-05,1793248786975719424
+99,1.650000000,BASELINE,766,744,716,680,659.5478385,634,879,785,809.4521615,651,629,652.5478385,0.400983287422,-0.0153923911005,0.0798436715004,0.999999931996,0.000248464378561,-0.000269465586286,4.07631924465e-05,1793248786992386048
+100,1.666666667,BASELINE,766,744,716,679.973420422,659,634,878.973420422,785,809.973420422,651,628.973420422,652.026579578,0.400984022957,-0.0153923491506,0.0798445765158,0.999999932309,0.000248526688875,-0.000268248368578,4.07437719088e-05,1793248787009052928
+101,1.683333333,BASELINE,766,744,716,679.383033162,659,634,878.383033162,785,809.383033162,651,628.383033162,652.616966838,0.400982079311,-0.0153929736461,0.0798431520389,0.999999931898,0.000247424701805,-0.000270757716288,4.09421173306e-05,1793248787025719552
+102,1.700000000,BASELINE,766,744,716,679.20336335,659,634,878,785,809,651,628.20336335,653,0.400981248877,-0.0153935061813,0.0798423937726,0.999999931986,0.000245763189524,-0.00027193228366,4.10050833608e-05,1793248787042386432
+103,1.716666667,BASELINE,766,744,716,679.782387921,659,634,878,785,809,651,628.782387921,653,0.400982474814,-0.0153938688435,0.0798428661583,0.999999933003,0.000243068099174,-0.000270641189107,4.08179709377e-05,1793248787059053568
+104,1.733333333,BASELINE,766,744,716,680.359618714,658.640381286,634,878.359618714,785,809.359618714,651,629,653,0.400982840758,-0.0153935505775,0.0798434554325,0.999999933122,0.000243502726348,-0.000269798414156,4.08889755409e-05,1793248787075719936
+105,1.750000000,BASELINE,766,744,716,680.935769502,658.064230498,634,878.935769502,785,809.935769502,651,629,653,0.400982688887,-0.0153928223141,0.0798441150871,0.999999932699,0.000245821805309,-0.000269225579349,4.11153964391e-05,1793248787092386048
+106,1.766666667,BASELINE,766,744,716,680.479442458,658.520557542,634,879,785,810,651,628.479442458,653,0.400983826622,-0.0153925603996,0.0798446889303,0.999999933067,0.000245336395288,-0.00026832761906,4.09476569636e-05,1793248787109052672
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810,651,628,653,0.400984762278,-0.0153902965289,0.079844474473,0.99999993295,0.000246182620694,-0.000268057765796,4.04915019614e-05,1793248787151476224
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.576616923,716,680,658.423383077,634,878.423383077,784.423383077,810,651,628,652.423383077,0.400983498125,-0.0153897798642,0.0798432935779,0.999999932078,0.000247611689512,-0.000270045081199,4.00970308774e-05,1793248787168143616
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.153518123,744.846481877,716,680,658.153518123,634,878,784.153518123,810,651,628,652,0.400982421189,-0.0153896281395,0.0798424172641,0.999999931389,0.00024870413322,-0.000271611287877,3.99335153972e-05,1793248787184810496
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.731204909,744.268795091,716,680,658.731204909,634,878,784.731204909,810,651,628,652,0.400981861531,-0.0153904847393,0.0798423825044,0.999999931221,0.000248866486262,-0.000272013976845,4.04081272877e-05,1793248787201476352
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,878,785,810,651,628.313832042,652.313832042,0.400982744362,-0.015391589683,0.0798432533524,0.999999931968,0.000247333438072,-0.00027060810872,4.07674634623e-05,1793248787218142464
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,878,785,810,651,628.900758191,652.900758191,0.400984882437,-0.0153929107333,0.0798449122529,0.999999933499,0.000244325065417,-0.000267628448801,4.10264876116e-05,1793248787234809088
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.519051104,744,716,680,659,634,878.480948896,785,810,651,629,652.519051104,0.40098324271,-0.0153915854648,0.0798431368119,0.999999932545,0.000245895885375,-0.000269833012468,4.04340574631e-05,1793248787251475968
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715.94038605,680,659,634,879,785,810,651,629,652.05961395,0.40098115392,-0.0153899147491,0.0798410387722,0.999999931246,0.000248182916004,-0.000272635900182,3.97925907059e-05,1793248787268142592
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715.363067173,680,659,634,879,785,810,651,629,652.636932827,0.400981841521,-0.0153899206928,0.0798422084222,0.999999931442,0.000248597294991,-0.000271473152495,4.02299815379e-05,1793248787284809216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715.213888975,680,659,634,879,785,810,651,629,652.786111025,0.400985991431,-0.0153904518945,0.0798445421358,0.999999932253,0.000248759199759,-0.000268262821281,4.06013163951e-05,1793248787301475840
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715.790230391,680,659,634,879,785,810,651,629,652.209769609,0.400996008505,-0.0153918731887,0.0798488484506,0.999999934078,0.000248493266172,-0.000261582691661,4.08607139302e-05,1793248787318142464
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,715.626031901,679.626031901,659,634.373968099,879,785.373968099,810,651,629,652.373968099,0.401022502701,-0.0153939054962,0.0798596574397,0.999999939163,0.000247376564995,-0.000242382204283,4.15958087725e-05,1793248787334809344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,715.038061631,679.038061631,659,634.961938369,879,785.961938369,810,651,629,652.961938369,0.401058425884,-0.0153962874543,0.0798741875658,0.999999945559,0.000245773014345,-0.000216016977371,4.26031200342e-05,1793248787351475968
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715,679.541783031,659,634.458216969,879,785.458216969,810,651,628.458216969,653,0.401120248088,-0.0153983049561,0.0798926374777,0.999999952833,0.000245691960014,-0.000179153112382,4.32909721662e-05,1793248787368142592
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.120356902,744,715.120356902,680,659,634,878.879643098,785,810,651,628,653,0.401186210921,-0.0154008064853,0.0799101292946,0.999999958364,0.000244862201756,-0.000146310712896,4.36832731404e-05,1793248787384808960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.6962498,744,715.6962498,680,659,634,878.3037502,785,810,651,628,653,0.40126106082,-0.0154052354756,0.0799229679864,0.999999961443,0.000240799847184,-0.000131439362317,4.30406380326e-05,1793248787401475584
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744,715.72304467,680,659,634,878.27695533,785,810,651,628.27695533,653,0.401341988926,-0.0154082695794,0.0799317614944,0.999999963344,0.000239794388505,-0.000118606681563,4.17423718573e-05,1793248787418142208
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744,715.13696759,680,659,634,878.86303241,785,810,651,628.86303241,653,0.401429701176,-0.0154097467902,0.0799360399979,0.999999964043,0.000242200863017,-0.000108049448747,3.97123277057e-05,1793248787434809088
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.556088398,744,715.443911602,679.556088398,659,634,878.556088398,785,810,651,629,653,0.401537042554,-0.0154131941088,0.079938603373,0.999999965094,0.000240943669861,-0.000102116992835,3.64746885833e-05,1793248787451475712
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,716,679,659,634,878.023187983,785,810,651,628.976812017,653,0.40165146755,-0.0154172787264,0.0799407630371,0.999999966281,0.00023847024522,-9.74229655833e-05,3.28408999741e-05,1793248787468142336
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,716,679,659,634,878.602043271,785,810,651,628.397956729,653,0.401792185613,-0.0154222371402,0.0799457830429,0.999999968376,0.000233626797211,-8.86067908142e-05,2.85394347844e-05,1793248787484808960
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715.819887154,679,659,634,878.819887154,785,810,651,628.180112846,652.819887154,0.401942134138,-0.0154277567809,0.0799509271086,0.999999970629,0.000227699650091,-7.94689129401e-05,2.40730735596e-05,1793248787501475840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715.243546136,679,659,634,878.243546136,785,810,651,628.756453864,652.243546136,0.402112388629,-0.0154345110574,0.0799563440917,0.999999973325,0.000219388486473,-6.96233252933e-05,1.9243960022e-05,1793248787518142464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.338496768,715.338496768,679.338496768,659,634,878.338496768,785,810,651,629,652,0.402288405966,-0.0154398810801,0.0799558266661,0.999999974977,0.000211737198953,-7.10054868641e-05,1.3128300998e-05,1793248787534809344
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.924712492,715.924712492,679.924712492,659,634,878.924712492,785,810,651,629,652,0.40246864069,-0.0154442380778,0.0799509663177,0.999999975809,0.000204568821572,-8.06043471527e-05,6.07112080156e-06,1793248787551475712
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.495007707,715.495007707,680,659,634,879,785,810,651,628.495007707,652,0.402689115284,-0.0154515449973,0.0799457305349,0.999999980122,0.000177157427923,-9.14663003984e-05,-2.07903353166e-06,1793248787568142336
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.08411095,744,715,680,659,634,879,785,810,651,628,652.08411095,0.402922786944,-0.0154594930806,0.0799416717236,0.999999985115,0.000140575010873,-9.9505430533e-05,-1.03256216291e-05,1793248787584808960
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.661549693,744,715,680,659,634,879,785,810,651,628,652.661549693,0.403199084327,-0.0154686522135,0.0799448405613,0.999999993502,6.76979644041e-05,-8.98964899653e-05,-1.81931992885e-05,1793248787601475584
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.762067562,744,715.237932438,680,659.237932438,634,878.762067562,785,810,651,628,653,0.403492334267,-0.0154776536635,0.0799480454136,0.999999996049,2.13743685938e-05,-8.24093454358e-05,-2.55562296379e-05,1793248787618142208
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.187180334,744,715.812819666,680,659.812819666,634,878.187180334,785,810,651,628,653,0.403809592037,-0.0154864318058,0.079951301269,0.999999996365,1.26552018764e-05,-7.79270438241e-05,-3.22047306086e-05,1793248787634808832
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715.602696089,680,659.205392179,634,878,784.602696089,810,651,628,653,0.404148588225,-0.0154949573347,0.0799522013393,0.99999999637,2.82926977532e-05,-7.63461630103e-05,-2.51016415886e-05,1793248787651475712
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715.013578535,680,658.02715707,634,878,784.013578535,810,651,628,653,0.404498079455,-0.0155033609044,0.0799519640642,0.999999995484,5.56893033966e-05,-7.6166054023e-05,-1.13594468416e-05,1793248787668142336
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,715,680,658.565878945,634,878,784.565878945,810,651,628,653,0.404909789122,-0.0155060502239,0.0799493475672,0.999999996275,3.91119672604e-05,-7.43042120048e-05,-1.99659720895e-05,1793248787684808960
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878.143569352,785,810,651,628.143569352,653,0.40532792036,-0.0155091893573,0.0799458892932,0.999999996539,2.14133363457e-05,-7.55845428471e-05,-2.73804406379e-05,1793248787701475840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878.716654938,785,810,651,628.716654938,653,0.405760871405,-0.0155140775226,0.0799400806074,0.999999995823,3.46391585593e-06,-8.63840089496e-05,-2.96512084359e-05,1793248787718142464
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,715,679.702060469,659,634,879,785,810,651,628.702060469,653,0.406209064646,-0.015507424185,0.0799341927628,0.999999994616,1.4948525092e-05,-9.80754609735e-05,-3.04289696821e-05,1793248787734809088
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,715,679.112757776,659,634,879,785,810,651,628.112757776,653,0.406672163696,-0.0154894840986,0.0799282275058,0.999999991913,5.52174694034e-05,-0.000110639211443,-2.97466795035e-05,1793248787751475712
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.468154864,715.468154864,679.468154864,659.468154864,634,879,785,810,651,628.468154864,653,0.407177043486,-0.0154870803615,0.0799241303794,0.999999990956,5.45114003508e-05,-0.000118790178633,-3.17045117145e-05,1793248787768142592
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.047039204,744.952960796,715.952960796,680,659.952960796,634,879.047039204,785,810,651,629,653,0.407696395242,-0.015489280498,0.0799201277206,0.999999990489,4.32780624539e-05,-0.000126408971838,-3.41970199015e-05,1793248787784809472
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625437252,744.374562748,715.374562748,680,659.374562748,634,879.625437252,785,810,651,629,653,0.408267551304,-0.0155019604317,0.0799121989856,0.999999989334,2.26468551118e-05,-0.000139810887398,-3.56726886731e-05,1793248787801476864
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.798734199,744.201265801,715,680,659,634,879.798734199,785,810,651,629,653,0.40886191375,-0.0155097921837,0.0799152016066,0.999999990102,1.07648067458e-05,-0.0001353901448,-3.67390669452e-05,1793248787818144000
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.22762733,744.77237267,715,680,659,634,879.22762733,785,810,651,629,653,0.409498919639,-0.0155087150359,0.079938291418,0.999999994378,1.49599981454e-05,-9.82189247964e-05,-3.70533430107e-05,1793248787834810368
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.355986132,680,659,634,879,785,810,651,629,652.644013868,0.410159819011,-0.0155082779645,0.0799674031639,0.999999997908,1.73342805399e-05,-5.13420074167e-05,-3.53143839231e-05,1793248787851476736
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.947887817,680,659,634,879,785,810,651,629,652.052112183,0.410836552809,-0.0155082650783,0.0800005057048,0.999999999308,1.85018282248e-05,1.96697077213e-06,-3.22147254019e-05,1793248787868143360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.472274288,716,680.527725712,659.527725712,634,879,785,810,650.472274288,629,652.527725712,0.411499829256,-0.0155077985701,0.0799824973467,0.999999998809,1.51742633364e-05,-2.98230910896e-05,-3.55251353498e-05,1793248787884809728
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.105963924,716,680.894036076,659.894036076,634,879,785,810.105963924,650.105963924,628.894036076,653,0.412171742646,-0.0155072954893,0.0799576676776,0.999999996696,1.0866065578e-05,-7.00593960227e-05,-3.97685584613e-05,1793248787901476352
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.682271022,716,680.317728978,659.317728978,634,879,785,810.682271022,650.682271022,628.317728978,653,0.412887759473,-0.0155068244597,0.0799244622607,0.999999992765,4.13137174179e-06,-0.000111319429506,-4.54065098013e-05,1793248787918143744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.743204579,715.743204579,680.256795421,659,634,879.256795421,785,811,651,628.256795421,653,0.413627974215,-0.0155074346065,0.0799109116042,0.999999991226,2.57944243166e-07,-0.00012314514472,-4.88172621206e-05,1793248787934810624
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.170870603,715.170870603,680.829129397,659,634,879.829129397,785,811,651,628.829129397,653,0.41439792235,-0.0155093732538,0.0799215118205,0.999999993894,-9.96899833914e-08,-9.88033116917e-05,-4.9491334215e-05,1793248787951476992
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,715,680.583620754,659.416379246,634,880,785,811,651,629,653,0.41517983013,-0.0155117500414,0.0799413284018,0.999999996579,7.61924715694e-08,-6.80115546521e-05,-4.70873395133e-05,1793248787968143104
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715,680,660,634,880,785,811,651,629,653,0.4159668904,-0.0155142109476,0.0799643766254,0.999999998419,3.83998933311e-07,-3.56242669836e-05,-4.35045245165e-05,1793248787984809216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,715,680,660,634,880,785,811,651,629,653,0.416757593684,-0.0155106843415,0.0799470047057,0.999999996371,-4.87390392322e-06,-7.04857139864e-05,-4.75998186519e-05,1793248788001475840
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.166712528,744,715.166712528,680,660,634,880.166712528,785.166712528,811,651,629.166712528,653,0.417586110661,-0.0155099755043,0.079944002287,0.999999995893,-9.94265248669e-06,-7.48803339427e-05,-5.00901982193e-05,1793248788018142208
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.740547339,744,715.740547339,680,660,634,880.740547339,785.740547339,811,651,629.740547339,653,0.418506970959,-0.0155161478329,0.0799760910776,0.999999998698,-1.45494742618e-05,-4.87307915423e-06,-4.86612770515e-05,1793248788034808832
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.67776422,744.32223578,715.67776422,680,660,634,880.67776422,785.67776422,811.32223578,651,629.67776422,653.32223578,0.419380195747,-0.0155199695943,0.0799875000422,0.999999998457,-1.66495269185e-05,2.17092507332e-05,-4.83427606249e-05,1793248788051475968
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.089594381,744.910405619,715.089594381,680,660,634,880.089594381,785.089594381,811.910405619,651,629.089594381,653.910405619,0.420214107956,-0.0155218514841,0.0799818424023,0.999999998586,-1.66807983112e-05,1.245394762e-05,-4.89406368693e-05,1793248788068143360
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.509213326,715,680.490786674,660,634,880,785,811.509213326,651,629.490786674,653.509213326,0.421071457455,-0.015523604752,0.0799682078986,0.999999998374,-2.26857455522e-05,-1.30583904972e-05,-5.0655865272e-05,1793248788084810240
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069716967,744.069716967,715.069716967,680.930283033,660,634,880,785,811,651,629.930283033,653,0.421941431079,-0.0155253515562,0.0799585670953,0.999999997715,-2.82048021261e-05,-3.27472645856e-05,-5.1981646272e-05,1793248788101476864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.648273914,744.648273914,715.648273914,680.351726086,660,634,880,785,811,651,629.351726086,653,0.42287280364,-0.0155272198814,0.079988537178,0.999999998485,-2.23425929265e-05,1.13896171387e-05,-4.89994954514e-05,1793248788118143232
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.774238027,745,715.774238027,680.225761973,660,634,880.225761973,785,811.225761973,651,629,653,0.423782998681,-0.0155272160153,0.0799977441211,0.99999999858,-1.64304633645e-05,1.60151526335e-05,-4.80899713336e-05,1793248788134809344
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.198407308,745,715.198407308,680.801592692,660,634,880.801592692,785,811.801592692,651,629,653,0.424660355793,-0.0155243091115,0.0799747555392,0.99999999785,-1.04409259097e-05,-4.06259893496e-05,-5.03942822347e-05,1793248788151475968
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,880.615077637,785,812,651,629,653,0.425536561993,-0.0155234201569,0.0799428708259,0.999999994717,-9.95779013139e-06,-8.70560782174e-05,-5.37480576113e-05,1793248788168142592
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,880.027805886,785,812,651,629,653,0.426412163118,-0.015523592016,0.0799063095171,0.999999990054,-1.23693085764e-05,-0.000128118327048,-5.76535245876e-05,1793248788184809216
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.551487068,681,660.551487068,634,880,785,812,651,629,653,0.427324667171,-0.0155264145671,0.0799063585835,0.999999990587,-1.96240112024e-05,-0.000122922368778,-5.77198919466e-05,1793248788201476096
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.870179788,716,680.870179788,660.870179788,634,880,785.129820212,812.129820212,651,629,653,0.428241353321,-0.0155280955513,0.0799119435752,0.999999991582,-2.587686662e-05,-0.00011340883492,-5.74839392251e-05,1793248788218143232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.293784252,716,680.293784252,660.293784252,634,880,785.706215748,812.706215748,651,629,653,0.42916611641,-0.0155253964155,0.0799303126722,0.999999993295,-2.78553842598e-05,-9.69517338937e-05,-5.68643841444e-05,1793248788234809856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.280931888,715.719068112,680.280931888,660,634,880.280931888,786,813,651,629.280931888,653,0.430117088973,-0.0155276633169,0.0799634091242,0.99999999676,-2.80582783004e-05,-5.23110856824e-05,-5.43652280502e-05,1793248788251476480
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.853902199,715.146097801,680.853902199,660,634,880.853902199,786,813,651,629.853902199,653,0.431095307133,-0.0155350925863,0.0800118151707,0.999999998172,-2.64153498972e-05,2.16273348971e-05,-4.99121614475e-05,1793248788268143360
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.558276613,715.441723387,681,660,633.558276613,880.558276613,786,813,651,630,653,0.431977303907,-0.0155372567878,0.0800135595028,0.999999998096,-2.76089046545e-05,2.17304393627e-05,-5.07334469271e-05,1793248788284809728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.033829983,744.033829983,715.966170017,681,660.033829983,633,880.033829983,785.966170017,813,651,630,653,0.432824503245,-0.0155374609155,0.0799962904216,0.999999998089,-2.99779567247e-05,-7.23243909029e-06,-5.3576192339e-05,1793248788301476096
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.61308097,744.61308097,715.38691903,681,660.61308097,633,880.61308097,785.38691903,813,651,630,653,0.433641624909,-0.0155351161534,0.0799299549376,0.999999992828,-3.56473671442e-05,-9.7391580729e-05,-5.99062841692e-05,1793248788318143488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809442108,745,715,681,661,633.190557892,881,785,813.190557892,650.809442108,630,653,0.434484486589,-0.0155340150148,0.0798940906497,0.999999986869,-4.09722001633e-05,-0.000143328107912,-6.35610757892e-05,1793248788334810368
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.235534013,745,715,681,661,633.764465987,881,785,813.764465987,650.235534013,630,653,0.435379130268,-0.0155354157051,0.0799195260373,0.999999992018,-4.56038394511e-05,-0.000100300883826,-6.18338991898e-05,1793248788351476736
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.653630814,633.653630814,881,785,813.653630814,650.346369186,630,653,0.436254362072,-0.015536324566,0.079951038898,0.999999995496,-4.48086112615e-05,-5.97078731633e-05,-5.86020644415e-05,1793248788368143360
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.066162452,633.066162452,881,785,813.066162452,650.933837548,630,653,0.437116081687,-0.0155368910763,0.0799867821385,0.999999997499,-4.02358721778e-05,-2.08092619083e-05,-5.43228737991e-05,1793248788384810496
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.506164345,633.506164345,881,785,813,651,630,653,0.437957224267,-0.0155430499561,0.0800098109432,0.999999997239,-4.68885693761e-05,2.01166209922e-05,-5.40221139142e-05,1793248788401476608
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.079013053,744.920986947,715,681,660.920986947,634,881,785,813.079013053,651,630,653,0.438788189979,-0.0155491261487,0.0800266003609,0.999999995664,-5.4544179021e-05,5.23867127482e-05,-5.4344374111e-05,1793248788418142720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.667621979,744.332378021,715,681,660.332378021,634,881,785,813.667621979,651,630,653,0.43957036317,-0.0155500914058,0.0800135561792,0.999999996326,-5.9479490301e-05,2.71717224668e-05,-5.54282617565e-05,1793248788434809600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.750657708,744.249342292,715,681,660.249342292,634,881,785,814,651,630,653,0.440295835329,-0.0155479532662,0.0799699965035,0.999999995419,-6.2857671601e-05,-4.12409802784e-05,-5.92470376783e-05,1793248788451476224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.177873224,744.822126776,715,681,660.822126776,634,881,785,814,651,630,653,0.4409477559,-0.0155417894578,0.0798868526964,0.999999981993,-6.42159717495e-05,-0.000165688951924,-6.6613459233e-05,1793248788468142848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.593341878,881,785,813.593341878,651,630,653,0.441640501889,-0.0155390845961,0.0798447449135,0.999999971497,-5.67063698415e-05,-0.000220791206092,-7.10036830246e-05,1793248788484809728
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.003519541,881,785,813.003519541,651,630,653,0.442351636244,-0.0155379376893,0.0798211202934,0.999999966307,-4.52025475336e-05,-0.000244659240455,-7.40533887623e-05,1793248788501476352
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880.423973423,785,813.576026577,651,630,653,0.443119500672,-0.0155447484364,0.0799003806368,0.999999987737,-6.37684999779e-05,-0.000126472439869,-6.68222475633e-05,1793248788518143232
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.154697156,745,715,681,661,633,880.154697156,785,813.845302844,651,630,653,0.44386077171,-0.0155509178912,0.0799687016904,0.999999994746,-7.83959906148e-05,-2.59311895162e-05,-6.07404539859e-05,1793248788534809856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.731149046,745,715,681,661,633,880.731149046,785,813.268850954,651,630,653,0.444528612256,-0.0155552087416,0.0800055148898,0.999999994683,-8.17938394872e-05,2.41777128709e-05,-5.79604121798e-05,1793248788551476224
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.305239018,633,881,785,813.305239018,651,630,653,0.445156889805,-0.0155576509395,0.0800171810409,0.999999994343,-8.0589121367e-05,3.86669578477e-05,-5.76630918021e-05,1793248788568143104
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.877264578,633,881,785,813.877264578,651,630,653,0.445750588264,-0.0155584773687,0.0800068680399,0.999999995146,-7.53616443868e-05,2.20237275987e-05,-5.95357323509e-05,1793248788584809984
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.533990955,744.533990955,715,681,661.533990955,633.466009045,881,784.533990955,814,650.533990955,630,653.466009045,0.446313945153,-0.0155574821793,0.0799903106675,0.99999999542,-7.44798651022e-05,2.6033514955e-06,-6.00540722177e-05,1793248788601476608
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.057818073,744.057818073,715,681,661,634,881,784.057818073,814,650.057818073,630,653.942181927,0.446864415682,-0.0155563018192,0.0799724211033,0.999999995243,-7.4749720542e-05,-1.67971201876e-05,-6.03651862115e-05,1793248788618142976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.636100671,744.636100671,715,681,661,634,881,784.636100671,814,650.636100671,630,653.363899329,0.4473734983,-0.0155579340814,0.0799578947989,0.999999994853,-7.46999511917e-05,-2.91892279878e-05,-6.21412200129e-05,1793248788634810112
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.78746487,745,715,681,661,633.78746487,881,785,814,651,630,653,0.447850286122,-0.0155613145005,0.0799381754307,0.999999993026,-8.20423555253e-05,-5.54492536275e-05,-6.43548271551e-05,1793248788651477248
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.214167548,745,715,681,661,633.214167548,881,785,814,651,630,653,0.448272255936,-0.0155676622827,0.0799096412335,0.999999987001,-0.000101932411465,-0.000105249012089,-6.73111814194e-05,1793248788668144384
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,881.369719663,785,814,651,630,653,0.448671695829,-0.0155742344049,0.0798752478189,0.999999978642,-0.000111319168262,-0.000159302027999,-7.0330356535e-05,1793248788684810752
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,881.959922225,785,814,651,630,653,0.44905770001,-0.0155809403131,0.0798373602481,0.999999967454,-0.000114442267928,-0.000215891485151,-7.33869951438e-05,1793248788701476608
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.460483827,633,881.460483827,784.460483827,814.539516173,651,630,653,0.449446128869,-0.0155883764555,0.0798334776958,0.999999965244,-0.000126995244573,-0.000219321599753,-7.26809310479e-05,1793248788718143232
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.117572344,745,715.117572344,681,660.117572344,633,881.117572344,784,815,651,630,653,0.449827441671,-0.0155953782852,0.0798347958284,0.999999964308,-0.000139386187648,-0.00021634350706,-7.17672123891e-05,1793248788734809600
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.692652178,745,715.692652178,681,660.692652178,633,881.692652178,784,815,651,630,653,0.450180376613,-0.0156004830699,0.0798467112759,0.999999965743,-0.000148473354286,-0.000203499315154,-7.11121332526e-05,1793248788751475968
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715.73200626,681,660.73200626,633,882,784,815,651,630,653,0.450510891473,-0.0156039048734,0.0798536228175,0.999999966627,-0.000153764352103,-0.000195096040412,-7.09993768335e-05,1793248788768142592
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715.156364275,681,660.156364275,633,882,784,815,651,630,653,0.450815668772,-0.0156053946682,0.0798547900345,0.999999967086,-0.000154697468983,-0.000191790797385,-7.15091896066e-05,1793248788784809216
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.569842913,745,715,681.430157087,660,633,881.569842913,783.569842913,815,651,630,653,0.451078162788,-0.0156061343175,0.0798447348537,0.999999962462,-0.000157546863493,-0.000212394899766,-7.17128995927e-05,1793248788801476352
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.020358706,745,715,681.979641294,660,632.979641294,881,783,815,650.979641294,630,653,0.451322840262,-0.0156066458617,0.0798300115944,0.999999955087,-0.000160897334645,-0.000242455497011,-7.17880449158e-05,1793248788818143232
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.60019841,745,715,681.39980159,660,632.39980159,881,783,815,650.39980159,630,653,0.451511249346,-0.015608576867,0.0798020196411,0.999999943619,-0.000158378529984,-0.000287350706758,-7.14672558898e-05,1793248788834809856
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.821588307,745,715,681.178411693,660.178411693,632.178411693,881,783,815,650.178411693,629.821588307,653.178411693,0.451692833122,-0.015611684235,0.0797756345689,0.999999930906,-0.000159166805122,-0.000328277491242,-7.13320726232e-05,1793248788851476480
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.246986807,745,715,681.753013193,660.753013193,632.753013193,881,783,815,650.753013193,629.246986807,653.753013193,0.451859260261,-0.0156174038916,0.0797528178194,0.9999999185,-0.000167298945594,-0.000360391789749,-7.16090549226e-05,1793248788868143104
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.327596565,745,715,681.672403435,660.672403435,633,881,783,815,651,629.327596565,653.672403435,0.452016940565,-0.0156210863406,0.0797397314134,0.999999909424,-0.000176626273897,-0.000380379603565,-7.25775667594e-05,1793248788884809472
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.90216633,745,715,681.09783367,660.09783367,633,881,783,815,651,629.90216633,653.09783367,0.452168026698,-0.0156232329509,0.0797339806561,0.999999903271,-0.000186854648483,-0.00039122533255,-7.40674188701e-05,1793248788901476096
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.509242158,745,715,681,660,632.509242158,881,783,815,651,630,653,0.452305408408,-0.0156256698951,0.0797354191931,0.999999902918,-0.00019029943755,-0.000390270222611,-7.5101431848e-05,1793248788918142720
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632.080391181,881.080391181,782.919608819,814.919608819,651,630,653,0.452435192167,-0.0156283160942,0.0797375165499,0.999999903288,-0.000192323228398,-0.000388156249398,-7.59663732097e-05,1793248788934809344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632.658656318,881.658656318,782.341343682,814.341343682,651,630,653,0.452535338151,-0.0156318892454,0.0797345569898,0.99999990067,-0.000194168033074,-0.000393863299569,-7.63635697341e-05,1793248788951476480
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681.235641169,660,633,881.764358831,782,814.235641169,651,630,653,0.45262419653,-0.0156345031606,0.0797295041694,0.999999897115,-0.000196122294445,-0.000401708904638,-7.70453250805e-05,1793248788968143616
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+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632.017038368,881,782,814.017038368,651,630,653,0.452811942489,-0.0156328109661,0.0797097154446,0.999999884976,-0.000199147033082,-0.000429066536905,-7.93127257514e-05,1793248789018142976
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681.855215017,660,632.144784983,881,782,815,651,629.855215017,653,0.452893256215,-0.0156377702449,0.0797024675197,0.99999987987,-0.000206508473768,-0.0004374834605,-7.88787225462e-05,1793248789051475968
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.951554228,745,715,682,660,632,881.951554228,782,814,651,630,653,0.452983172357,-0.0156381166999,0.079698928361,0.999999875961,-0.000209538142905,-0.000445059124041,-7.8061002383e-05,1793248789134809856
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.988818984,745,715,682,659.011181016,632,881.988818984,782,815,651,629.011181016,653,0.453002510443,-0.0156305195131,0.07969449418,0.999999874082,-0.000204982348936,-0.000451444934932,-7.75589169213e-05,1793248789334809344
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.08398267,745,715,681.91601733,660,633,881.91601733,783,814,650.08398267,630,653,0.451151592687,-0.0155455314695,0.0796210603993,0.999999822287,-0.000131990508017,-0.000580155713771,-3.77402895263e-05,1793248790170026496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.665104599,745,715,681.334895401,660,633,881.334895401,783,814,650.665104599,630,653,0.450907956003,-0.0155363337345,0.0796368848089,0.999999840159,-0.000109190172507,-0.000553945248818,-3.00651370497e-05,1793248790186694144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.243814453,660,633,881,783,814,651,630,653,0.450648967507,-0.0155265260667,0.0796543683388,0.999999859957,-7.30163573682e-05,-0.000523704176402,-2.21066018043e-05,1793248790203361024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.819243582,660,633,881,783,814,651,630,653,0.45036909886,-0.0155158888229,0.0796741084553,0.999999880669,-1.86531291031e-05,-0.000487981031839,-1.37626350127e-05,1793248790220027136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.393044909,682,660.786089818,633,881,783.393044909,814,651,630,653,0.450056345714,-0.0155066083776,0.0796915721945,0.999999894611,4.53330428279e-06,-0.000459042809212,-6.11064823593e-06,1793248790236693504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.966100702,682,661.932201404,633,881,783.966100702,814,651,630,653,0.449728531785,-0.0154979493335,0.0797079933736,0.999999906073,1.34410563945e-05,-0.00043321201851,1.22441794297e-06,1793248790253360384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.444395288,745,715.444395288,682,660.888790576,633,881.555604712,784,814,651,630,653,0.449342663549,-0.0154864946136,0.0797144517018,0.999999909704,3.69179033581e-05,-0.000423315202424,5.84049327353e-06,1793248790270027520
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881.856641474,784.143358526,813.856641474,651,630,653,0.448942178337,-0.0154758869069,0.0797198759628,0.999999912125,5.24615941883e-05,-0.000415862632124,7.42067343309e-06,1793248790286694912
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.299697253,745,715,682,660.299697253,633,881.299697253,785,813,651,630,653.299697253,0.448056663328,-0.0154641544507,0.079725954183,0.999999915464,3.9362535209e-05,-0.000409293734719,-7.93315572921e-07,1793248790320027904
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.874696,745,715,682,660.874696,633,881.874696,785,813,651,630,653.874696,0.447588586212,-0.0154629166784,0.0797257431728,0.999999916742,4.64758527307e-05,-0.000405390847802,3.68110312972e-06,1793248790336694528
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,744.02308414,715.97691586,681.02308414,661,633.02308414,881.02308414,785,813,651,630,653.02308414,0.446622205608,-0.015465063181,0.0797609633018,0.999999936418,6.33813739697e-05,-0.000350738667091,1.13566553646e-05,1793248790370027008
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,744.61966513,715.38033487,681.61966513,661,633.61966513,881.61966513,785,813,651,630,653.61966513,0.446073446978,-0.0154602094129,0.0797946874477,0.999999951238,6.91734646231e-05,-0.000304147584341,1.52506544805e-05,1793248790386693888
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,715.840902289,680.159097711,659,634,879,785,810.840902289,651,629,653,0.410532784031,-0.0153957140389,0.0797841309211,0.999999910698,0.000227129873111,-0.000353734496303,4.34413758715e-05,1793248791120026624
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,715.262133763,680.737866237,659,634,879,785,810.262133763,651,629,653,0.409899280649,-0.0153949984557,0.0797893723491,0.99999991468,0.000225366845089,-0.000343375325448,4.40828536824e-05,1793248791136693504
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,715.314147591,680.685852409,659,634,879,785,810,651,629,652.685852409,0.409299928229,-0.0153955819212,0.0798081267636,0.999999924445,0.00022849017112,-0.000311066451662,4.62631781553e-05,1793248791153360128
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715.888369846,680.111630154,659,634,879,785,810,651,629,652.111630154,0.408728848546,-0.0153972408358,0.0798380682297,0.999999937044,0.000235658782929,-0.000260585986632,4.97174738439e-05,1793248791170027008
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.474567403,744,716,680.474567403,659,634,879,784.525432597,810,651,629,652.474567403,0.408147777802,-0.0153935764768,0.0798367158933,0.999999934633,0.000238692863207,-0.000266937844853,5.003467659e-05,1793248791186693376
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744,716,680.937434045,659,634,879,784.062565955,810,651,629,652.937434045,0.407565429433,-0.0153889377515,0.0798245343748,0.999999927186,0.000240250875593,-0.000292394962025,4.91246895809e-05,1793248791203360000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744,716,680.358423006,659,634,879,784.641576994,810,651,629,652.358423006,0.40699243627,-0.0153868596792,0.0797852987306,0.99999990508,0.00023786042537,-0.0003623499448,4.43337763158e-05,1793248791220026624
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744.219583178,716,680,659,634,879,785,810,651.219583178,629,652.219583178,0.406464241511,-0.015386839439,0.0797621185374,0.999999891127,0.000237204814613,-0.000399706730402,4.14050377587e-05,1793248791236693504
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.795956563,716,680,659,634,879,785,810,651.795956563,629,652.795956563,0.406008837594,-0.0153901628721,0.0797650260829,0.999999896725,0.000239368063299,-0.000384096259292,4.15020586063e-05,1793248791253360128
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.628790834,744.628790834,715.628790834,680,659,634,879,785,810,651.628790834,629,652.628790834,0.4055852767,-0.0153924631916,0.0797808279971,0.999999909946,0.000235351698279,-0.000350597209456,4.24183375894e-05,1793248791270026752
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.054152386,744.054152386,715.054152386,680,659,634,879,785,810,651.054152386,629,652.054152386,0.405179166311,-0.0153942028269,0.0798036962568,0.999999925846,0.000227948793954,-0.000307294895645,4.37835846711e-05,1793248791286693376
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,715.534985108,680,659,634,879,785,810,651,629,652.534985108,0.404789404387,-0.0153922832615,0.0798179198416,0.999999929989,0.000229715676825,-0.000291910879293,4.51729250363e-05,1793248791303360000
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.122984919,744,716,680,659,634,879,785,810,651,629,652.877015081,0.404407371465,-0.0153891964359,0.079828474696,0.999999931064,0.000235329192509,-0.000283408851484,4.66078016811e-05,1793248791320026624
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.701190193,744,716,680,659,634,879,785,810,651,629,652.298809807,0.404047650949,-0.015383198248,0.0798287790981,0.999999925232,0.000251649436052,-0.000289628580154,4.82019497476e-05,1793248791336693248
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.721751368,744.278248632,715.721751368,680,659,634,879,785,810,651.278248632,629,652.278248632,0.403707886853,-0.0153764833869,0.0798286765738,0.999999920173,0.00026454370202,-0.000295459955231,4.87176857139e-05,1793248791353360128
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.145919489,744.854080511,715.145919489,680,659,634,879,785,810,651.854080511,629,652.854080511,0.403389465907,-0.0153690020536,0.0798281388471,0.999999916105,0.000273773929148,-0.000300875990927,4.80800740531e-05,1793248791370026752
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.437957083,744.562042917,715.437957083,680,659,634,878.562042917,785,810,651.562042917,629,652.562042917,0.403110666426,-0.0153669117993,0.0798317588074,0.99999991953,0.000266569232825,-0.000296178730297,4.64547779145e-05,1793248791386693888
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634.024247196,878,785,810,651,629,652.024247196,0.402846737979,-0.0153667511073,0.0798366333371,0.999999924981,0.000254744242022,-0.000288359109003,4.4643381853e-05,1793248791403361280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634.60328523,878,785,810,651,629,652.60328523,0.402615364969,-0.0153688725174,0.079837924319,0.999999922493,0.000264838758978,-0.000287638473326,4.62443271407e-05,1793248791420027392
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,635,878.180314922,785,810,651,629,652.819685078,0.402395362304,-0.0153730728163,0.0798381298679,0.99999992112,0.000269015381829,-0.00028829238844,4.77356767409e-05,1793248791436693760
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,635,878.752974612,785,810,651,629,652.247025388,0.402200100244,-0.0153817965407,0.0798359736376,0.999999922304,0.000260315338716,-0.000291937169913,4.89885583837e-05,1793248791453360640
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.670761446,744.329238554,715.670761446,680.329238554,658.670761446,634.670761446,878.670761446,785,810,651,628.670761446,652.329238554,0.402027932361,-0.015389116702,0.0798355809694,0.999999924807,0.000251185393479,-0.000291157853112,5.01976494171e-05,1793248791470027776
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.091763266,744.908236734,715.091763266,680.908236734,658.091763266,634.091763266,878.091763266,785,810,651,628.091763266,652.908236734,0.401873283649,-0.0153953721245,0.079836526135,0.999999928273,0.000241729324531,-0.000287022425696,5.13735211232e-05,1793248791486694912
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.496943907,744.503056093,715,680.503056093,658.496943907,634,878.496943907,785,810,651,628.993887814,653,0.401741431888,-0.0153922532625,0.0798419180065,0.999999929649,0.000245625084066,-0.000278497722597,5.30116105158e-05,1793248791503361024
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.085795456,715.085795456,680,658.914204544,634,879,785,810,651,629.914204544,653,0.401617005133,-0.0153880228462,0.0798472883125,0.999999930974,0.00024906366121,-0.000270449121757,5.363428123e-05,1793248791520027136
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.664962364,715.664962364,680,658.335037636,634,879,785,810,651,629.335037636,653,0.40151058647,-0.0153875529982,0.0798477186945,0.999999934722,0.000235412767808,-0.000269892083293,4.7917136843e-05,1793248791536693760
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.757827324,716,680,658,634,878.757827324,785,810,651,629,652.757827324,0.401412666193,-0.0153875266232,0.0798466298296,0.99999993471,0.000235095751748,-0.00027109010685,4.2672022434e-05,1793248791553360384
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744.183302237,716,680,658,634,878.183302237,785,810,651,629,652.183302237,0.401326408922,-0.0153881088608,0.0798434559839,0.999999929522,0.000253077854216,-0.00027469673865,3.8074711847e-05,1793248791570027008
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744,716,679.607458416,658.392541584,634,878.785083169,785,810,651,629,652.392541584,0.401253380726,-0.0153874454543,0.0798402206311,0.999999926734,0.000257844847288,-0.000280443935938,3.74131601805e-05,1793248791586693888
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744,716,679.030996736,658.969003264,634,879.938006528,785,810,651,629,652.969003264,0.40118655084,-0.015386198418,0.0798369564601,0.999999925139,0.000256420077585,-0.000287194066395,3.85956557075e-05,1793248791603360768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,744,716,679.558647137,659,634,878.882705727,785,810,651,629,653,0.40114049876,-0.0153858073193,0.0798360293757,0.999999925536,0.000255112723973,-0.000286856006218,3.94883717688e-05,1793248791620027648
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.853975705,744,716,680.146024295,658.853975705,634,878,785,810,651,628.853975705,652.853975705,0.401099072167,-0.015385625368,0.0798352167908,0.999999925923,0.000253819209307,-0.000286545345813,4.02694191567e-05,1793248791636694272
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.275529378,744,716,680.724470622,658.275529378,634,878,785,810,651,628.275529378,652.275529378,0.401067846561,-0.0153859187282,0.0798343499892,0.999999925948,0.000252546917437,-0.000287508623372,4.07685457293e-05,1793248791653360384
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.300795122,716,680.699204878,658.300795122,634,878.300795122,785,809.699204878,651,628.300795122,652.300795122,0.401041504677,-0.0153853277183,0.0798338310266,0.999999925573,0.000252687470101,-0.000288659162998,4.0986457569e-05,1793248791670026752
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.875189701,716,680.124810299,658.875189701,634,878.875189701,785,809.124810299,651,628.875189701,652.875189701,0.401019604963,-0.0153839322967,0.0798336284539,0.999999924831,0.00025411312823,-0.000289980033953,4.09485800837e-05,1793248791686693632
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.460393835,744.539606165,716,680,658.539606165,634,879,785,809.460393835,651,629,653,0.401007768027,-0.0153843886758,0.0798342094469,0.999999925467,0.000253407853809,-0.000288355349483,4.12502556927e-05,1793248791703360512
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744,715.952164832,679.952164832,658,634,879,785,810,651,629,652.952164832,0.400998956388,-0.015385286879,0.0798348684277,0.999999926359,0.000252258590592,-0.000286212924282,4.15827498925e-05,1793248791720026880
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744,715.373202313,679.373202313,658,634,879,785,810,651,629,652.373202313,0.400992717819,-0.0153853827683,0.0798339780581,0.99999992591,0.000252748005527,-0.000287401291085,4.12107893881e-05,1793248791736694016
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.794460269,744,715,679.205539731,658.205539731,634,878.794460269,785.205539731,810,651,629,652,0.40098882603,-0.0153849725931,0.0798342455305,0.99999992594,0.000253592548256,-0.00028658016313,4.10152680351e-05,1793248791753360896
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.216118153,744,715,679.783881847,658.783881847,634,878.216118153,785.783881847,810,651,629,652,0.40098919077,-0.0153836445318,0.0798366130654,0.999999926826,0.000255081212108,-0.000282114268054,4.11397672479e-05,1793248791770027264
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.35909481,744,715,680,659,634,878.71818962,785.64090519,810,651,629,652,0.40098715443,-0.015383541281,0.079837239911,0.999999927022,0.000255234052159,-0.000281301807898,4.10094854565e-05,1793248791786693888
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.932440767,744,715,680,659,634,879.864881533,785.067559233,810,651,629,652,0.400983685504,-0.0153841688041,0.0798368281877,0.999999926812,0.0002545898832,-0.000282669141646,4.07271905415e-05,1793248791803360256
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.479410375,744,715.520589625,680,658.479410375,634,878.95882075,785,810,651,629,652,0.400984593411,-0.0153830324434,0.0798379892948,0.999999927018,0.000256215413069,-0.000280456450649,4.07750274999e-05,1793248791820026880
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,715.891411055,680,658.108588945,634.108588945,878.108588945,785,810,651,628.891411055,652.108588945,0.40098599511,-0.0153823908722,0.0798392691687,0.999999927419,0.000257253898766,-0.000278049836581,4.08769697152e-05,1793248791836693760
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,715.312621164,680,658.687378836,634.687378836,878.687378836,785,810,651,628.312621164,652.687378836,0.400987003495,-0.0153849119884,0.0798401536172,0.99999992846,0.00025443767003,-0.000276874140896,4.10222505443e-05,1793248791853360640
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.263897934,744,715,680,658.736102066,634.736102066,879,785,810.263897934,651,628,653,0.400987014631,-0.0153863361128,0.0798407506342,0.999999929141,0.000252408909033,-0.000276269804804,4.10209322673e-05,1793248791870027264
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.837750009,744,715,680,658.162249991,634.162249991,879,785,810.837750009,651,628,653,0.400985854476,-0.0153864717957,0.0798410100566,0.999999929408,0.000251305046486,-0.000276336543433,4.08474300164e-05,1793248791886693888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.579727805,744,715.420272195,680,658.420272195,634,878.579727805,785,810.579727805,651,628,653,0.400985540177,-0.0153871315742,0.079841202235,0.999999929827,0.000249993470817,-0.000276014865452,4.08070285368e-05,1793248791903360512
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744,715.993831417,680,659,634,878.006168583,785,810,651,628.006168583,653,0.400985557732,-0.015387990997,0.0798413657403,0.999999930295,0.000248631790873,-0.000275548113365,4.08198428916e-05,1793248791920027392
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,715.411989554,680,659,634,878.588010446,785,810,651,628.588010446,653,0.400985428262,-0.0153882018617,0.0798413271028,0.999999929813,0.000250235403408,-0.000275831340402,4.09025246527e-05,1793248791936694016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.167535289,744,715.167535289,680,658.832464711,634,879,785,810,651,628.832464711,652.832464711,0.40098512343,-0.0153878598986,0.0798411795264,0.999999929368,0.000251787798243,-0.000276013969278,4.1025150704e-05,1793248791953360384
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.74143999,744,715.74143999,680,658.25856001,634,879,785,810,651,628.25856001,652.25856001,0.40098439324,-0.0153861770106,0.0798407677105,0.999999929015,0.000253215960612,-0.000275952589749,4.1244664623e-05,1793248791970027008
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.319375651,634,878.680624349,785,810,651,628.319375651,652.319375651,0.400984255025,-0.0153863429591,0.0798407742305,0.999999929227,0.000252736856064,-0.000275639627898,4.11537725845e-05,1793248791986693632
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.900616381,634,878.099383619,785,810,651,628.900616381,652.900616381,0.400984602185,-0.0153880248207,0.079841123756,0.999999929898,0.000250693929659,-0.000275120386625,4.08083699604e-05,1793248792003360256
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.514585624,744,716,680,659,634,878.485414376,785,810,651,629,652.514585624,0.400984636127,-0.0153878239787,0.0798414367059,0.999999930088,0.000250568203575,-0.000274564424499,4.06748801868e-05,1793248792020027136
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.07048487,744,716,679.92951513,659,634,879,785,810,651,628.92951513,652,0.400984482946,-0.0153871128755,0.0798416405329,0.999999930115,0.000250859647644,-0.000274217301196,4.05427731194e-05,1793248792036693760
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.652209961,744,716,679.347790039,659,634,879,785,810,651,628.347790039,652,0.400983441096,-0.015385517236,0.0798411075875,0.999999929684,0.000251308813955,-0.000275439859697,4.01036778526e-05,1793248792053360640
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2738f74e6cf1c50c8a7b7624eb29a0dba692ca32
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.583248218219,-0.0100719982011,1.07004257138,0.553820041243,-0.00139754346053,1.06966595918
+384,6.400000000,pose2_to_pose3_retreat,0.583247820003,-0.0100719946631,1.07004258049,0.553819643053,-0.00139753981348,1.06966596876
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+388,6.466666667,pose2_to_pose3_retreat,0.583247176451,-0.0100720164252,1.07004257969,0.553818999898,-0.0013975602182,1.06966596818
+389,6.483333333,pose2_to_pose3_retreat,0.583247124736,-0.010072018174,1.07004257962,0.553818948215,-0.00139756185789,1.06966596814
+390,6.500000000,pose2_to_pose3_retreat,0.583246938483,-0.0100720244722,1.07004257939,0.553818762076,-0.00139756776333,1.06966596797
+391,6.516666667,pose2_to_pose3_retreat,0.583246714869,-0.0100720320338,1.07004257911,0.5538185386,-0.00139757485331,1.06966596777
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4506371d322462de147b0ea7729f7006096de032
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457bf6bc230b3c82014b10a3b4f6d21d2b56e07e615ddece6545cd8c92c1e654
+size 25639102
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d429cdc75766f96193362138ffba89ba83e07efe
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+27,0.450000000,BASELINE,765.662981445,744.662981445,715.662981445,680,658.337018555,634,878.337018555,785,810,651,629,652,0.400986622741,-0.0153877737601,0.0798452893142,0.999999931942,0.000251022247052,-0.000267343518195,4.03776062911e-05,1793248792686421248
+28,0.466666667,BASELINE,766,744.761557602,716,680,658.238442398,634,878.238442398,784.761557602,810,651,629,652.238442398,0.400985846827,-0.0153876223312,0.0798446557727,0.999999931686,0.000251529064562,-0.000267844898309,4.02473453594e-05,1793248792703087616
+29,0.483333333,BASELINE,766,744.163068538,716,680,658.836931462,634,878.836931462,784.163068538,810,651,629,652.836931462,0.400983505829,-0.01538652506,0.0798429371354,0.999999930752,0.00025189628866,-0.000271025252947,3.98818734569e-05,1793248792719753472
+30,0.500000000,BASELINE,766,744,716,680,659,634,879,784.419529937,810,651,629,653,0.400984236261,-0.0153876750421,0.079843188139,0.999999931013,0.000250991273286,-0.000270866827173,4.01034458894e-05,1793248792736419584
+31,0.516666667,BASELINE,766,744,716,680,659,634,879,784.996177244,810,651,629,653,0.400986116968,-0.0153896666388,0.0798441767891,0.999999931722,0.000249609793884,-0.000269458000935,4.05448712035e-05,1793248792753086464
+32,0.533333333,BASELINE,766,744,716,680,659,634,879,784.413389541,810,651,629,653,0.40098604991,-0.0153882283836,0.0798442482139,0.999999931552,0.000250382106447,-0.00026939123724,4.04209046017e-05,1793248792769753088
+33,0.550000000,BASELINE,766,744,716,680,659,634,878.826841681,784.173158319,810,651,629,652.826841681,0.400986076687,-0.0153880205579,0.0798446949946,0.999999931783,0.000250172822722,-0.000268729155745,4.04022666283e-05,1793248792786419712
+34,0.566666667,BASELINE,766,744,716,680,659,634,878.249576039,784.750423961,810,651,629,652.249576039,0.400986352785,-0.0153907376586,0.0798460320453,0.999999932959,0.000247639199877,-0.000266656852776,4.06382443893e-05,1793248792803086592
+35,0.583333333,BASELINE,766,744,716,680,658.673538461,634,878.326461539,785,810,651,628.673538461,652,0.400986275991,-0.0153903174822,0.0798459419565,0.999999932533,0.000249465748442,-0.000266525516939,4.08076142483e-05,1793248792819753216
+36,0.600000000,BASELINE,766,744,716,680,658.098436144,634,878.901563856,785,810,651,628.098436144,652,0.400985930426,-0.0153875078823,0.0798447649249,0.999999930871,0.000254613105705,-0.000267872467043,4.09262539887e-05,1793248792836419584
+37,0.616666667,BASELINE,766,744,716,680,658.488015546,634,879,785,810,651,628,652.488015546,0.400985278912,-0.0153887750322,0.0798444302864,0.999999931293,0.000252246120465,-0.000268566046407,4.07321831568e-05,1793248792853086208
+38,0.633333333,BASELINE,766,744,716,680,659,634,879,785,810,651,628.075635292,653,0.400984702076,-0.015390363728,0.0798443077894,0.999999931984,0.000249064716831,-0.000269001021991,4.04746061722e-05,1793248792869753088
+39,0.650000000,BASELINE,766,744,716,680,659,634,879,785,810,651,628.655418672,653,0.400985044138,-0.0153884840761,0.0798444397762,0.999999931665,0.000250798231556,-0.000268611630789,4.02241717322e-05,1793248792886419712
+40,0.666666667,BASELINE,766,744,716,680,658.765860432,634.234139568,879,785,810,651,629,653,0.400985491183,-0.0153873835114,0.0798446362995,0.999999931625,0.000251542557059,-0.000268096166473,4.00122389941e-05,1793248792903086336
+41,0.683333333,BASELINE,766,744,716,680,658.188696156,634.811303844,879,785,810,651,629,653,0.400986092032,-0.0153874243435,0.0798449273714,0.999999931996,0.00025083767699,-0.000267395999559,3.98567129485e-05,1793248792919752960
+42,0.700000000,BASELINE,765.606545818,744,715.606545818,680,658.393454182,634.606545818,878.606545818,785,810,651,629,653,0.400985984748,-0.0153878814527,0.0798452602007,0.999999932029,0.000250662561397,-0.000267407021688,4.00586262796e-05,1793248792936419840
+43,0.716666667,BASELINE,765.021973545,744,715.021973545,680,658.978026455,634.021973545,878.021973545,785,810,651,629,653,0.400985533493,-0.0153885407663,0.0798456133134,0.999999931897,0.000250744775851,-0.000267763499796,4.0434163723e-05,1793248792953086464
+44,0.733333333,BASELINE,765.557745846,744,715.557745846,680,659,634,878,785,810,651.557745846,628.442254154,653,0.400985574325,-0.0153870251797,0.0798453617338,0.999999931512,0.000252376190371,-0.000267683543686,4.035537291e-05,1793248792969753088
+45,0.750000000,BASELINE,766,744.136877708,716,680,659,634,878.136877708,785,810,651.863122292,628.136877708,653,0.400985674936,-0.0153860653378,0.0798452459741,0.999999931348,0.000253283868743,-0.00026745308666,4.02426291308e-05,1793248792986419456
+46,0.766666667,BASELINE,766,744.714727269,716,680,659,634,878.714727269,785,810,651.285272731,628.714727269,653,0.400985906213,-0.0153871695753,0.0798456438663,0.99999993194,0.000251664989591,-0.000266792684542,4.00776683605e-05,1793248793003086336
+47,0.783333333,BASELINE,766,744.708176677,716,680,659,634,879,785,810,651,629,653,0.4009852214,-0.0153876450217,0.0798451618148,0.999999931915,0.000251129458886,-0.000267393668048,4.00593187637e-05,1793248793019752960
+48,0.800000000,BASELINE,766,744.13181525,716,680,659,634,879,785,810,651,629,653,0.400983643366,-0.0153875073747,0.079843821787,0.999999931288,0.000251650231195,-0.000269224547254,4.01839202475e-05,1793248793036419840
+49,0.816666667,BASELINE,766,744,716,680,658.547041371,634,879,785,810,651,628.547041371,652.547041371,0.400984945594,-0.0153873927861,0.0798441003664,0.999999931542,0.000251415880503,-0.00026849767029,4.01816567636e-05,1793248793053086464
+50,0.833333333,BASELINE,766,744,716,680,658,634,878.960328706,785,810,651,628,652,0.400986946023,-0.0153873268931,0.0798448444216,0.999999932026,0.000250995414981,-0.000267091316196,4.01462802136e-05,1793248793069753088
+51,0.850000000,BASELINE,766,744,716,680,658,634,878.38117168,785,810,651,628,652,0.400986827152,-0.015387830227,0.0798453917293,0.99999993209,0.000251088872431,-0.000266758452459,4.0172159612e-05,1793248793086419712
+52,0.866666667,BASELINE,766,744,716,679.80287396,658,634,878.19712604,785,810,651,628.19712604,652,0.400986537054,-0.0153882512833,0.0798456424106,0.999999932154,0.000250969898799,-0.000266628652473,4.01789825509e-05,1793248793103086336
+53,0.883333333,BASELINE,766,744,716,679.226230658,658,634,878.773769342,785,810,651,628.773769342,652,0.400985917302,-0.0153885139347,0.0798453220118,0.999999932218,0.000250441941837,-0.000266889801356,4.01491170054e-05,1793248793119752960
+54,0.900000000,BASELINE,766,744,716,679.34920088,658.34920088,634,878.65079912,785,810,651,629,652,0.400985938586,-0.0153890345718,0.0798453475567,0.999999932537,0.000249173915376,-0.000266908225284,3.99907380448e-05,1793248793136419328
+55,0.916666667,BASELINE,766,744,716,679.923850066,658.923850066,634,878.076149934,785,810,651,629,652,0.40098637373,-0.0153897217676,0.0798455964471,0.999999933017,0.000247428091125,-0.000266769943037,3.97493892721e-05,1793248793153086208
+56,0.933333333,BASELINE,765.487455086,744,715.487455086,680,659,634,878.512544914,785,810,651,629,652,0.400985877411,-0.0153880327652,0.0798451627432,0.999999932246,0.000249778886797,-0.000267465286023,3.97533299358e-05,1793248793169753088
+57,0.950000000,BASELINE,765.101244862,744,715.101244862,680.101244862,659,634,879,785,810,651,628.898755138,652.101244862,0.400985565843,-0.0153866078988,0.0798448618209,0.999999931591,0.000251896463169,-0.000267912764163,3.98561658418e-05,1793248793186419712
+58,0.966666667,BASELINE,765.679852344,744,715.679852344,680.679852344,659,634,879,785,810,651,628.320147656,652.679852344,0.40098679625,-0.0153881398621,0.0798456785902,0.999999932414,0.000249963854231,-0.000266591161549,4.02486174913e-05,1793248793203086336
+59,0.983333333,BASELINE,766,744.255180846,715.744819154,680.744819154,659,634,879,785,810,651,628.255180846,653,0.400987240726,-0.0153891783354,0.0798460141357,0.999999933074,0.00024791812843,-0.000266022289566,4.02558877041e-05,1793248793219753216
+60,1.000000000,BASELINE,766,744.826447835,715.173552165,680.173552165,659,634,879,785,810,651,628.826447835,653,0.400986711688,-0.0153896055352,0.0798457536015,0.999999933536,0.000245732287336,-0.000266385806046,3.97860433397e-05,1793248793236419840
+61,1.016666667,BASELINE,766,744.596514844,715,679.596514844,658.596514844,634.403485156,879,785,810,651,629,653,0.40098610127,-0.0153889700765,0.0798453234687,0.999999932805,0.000248007206042,-0.000266996323165,3.99389625827e-05,1793248793253086464
+62,1.033333333,BASELINE,766,744.016959539,715,679.016959539,658.016959539,634.983040461,879,785,810,651,629,653,0.40098545534,-0.0153878709019,0.0798448193276,0.99999993154,0.000252228681349,-0.000267714624744,4.03636392639e-05,1793248793269753088
+63,1.050000000,BASELINE,766,744,715.573961474,679.573961474,658.573961474,635,879,785,810.573961474,651,629,653,0.400985577016,-0.0153886378902,0.079845088191,0.999999932072,0.000250453667601,-0.000267383415013,4.04380828484e-05,1793248793286419712
+64,1.066666667,BASELINE,766,744,716,680,659,634.838498072,879,785,810.838498072,651,628.838498072,652.838498072,0.400986029318,-0.0153890533142,0.0798454512502,0.999999932528,0.000249303009597,-0.0002667382147,4.05342572909e-05,1793248793303086336
+65,1.083333333,BASELINE,766,744,716,680,659,634.260557995,879,785,810.260557995,651,628.260557995,652.260557995,0.400987274484,-0.0153884171604,0.0798459971101,0.999999932655,0.000250228382905,-0.000265364957973,4.07136892041e-05,1793248793319752960
+66,1.100000000,BASELINE,765.684110103,744,716,680,658.684110103,634,879,785,810,651,628.315889897,652,0.40098699322,-0.0153885078907,0.0798455852358,0.999999932597,0.000249762023011,-0.000266048566062,4.05320397815e-05,1793248793336419840
+67,1.116666667,BASELINE,765.108887265,744,716,680,658.108887265,634,879,785,810,651,628.891112735,652,0.400985458819,-0.0153891953638,0.0798443870999,0.999999932383,0.000248153105905,-0.000268420777776,4.00539570488e-05,1793248793353086464
+68,1.133333333,BASELINE,765.46487644,744,716,680,658.46487644,634,879,785,810,651,629,652.46487644,0.400985433662,-0.0153893369543,0.0798449944349,0.999999932432,0.000248386462932,-0.000267994411811,4.0229638912e-05,1793248793369753088
+69,1.150000000,BASELINE,766,744,716,680,658.960462957,634,879,785,810,651,628.960462957,653,0.40098579757,-0.0153892855046,0.0798459761816,0.999999932547,0.000249035399245,-0.000266919428472,4.05107491561e-05,1793248793386419712
+70,1.166666667,BASELINE,766,744,716,680,658.368511113,634,879,785,810,651,628.368511113,653,0.400986673754,-0.0153883177793,0.0798462990372,0.99999993272,0.000249480573523,-0.000265912042689,4.01320593441e-05,1793248793403086336
+71,1.183333333,BASELINE,766,744,715.781894988,680,658,634,878.781894988,785,810,651,628.218105012,653,0.400986814738,-0.0153878349032,0.0798464582155,0.99999993267,0.00025005165234,-0.000265590349143,3.99496771093e-05,1793248793419752960
+72,1.200000000,BASELINE,766,744,715.204078742,680,658,634,878.204078742,785,810,651,628.795921258,653,0.400985743187,-0.0153881516681,0.079846347448,0.999999932254,0.000250830380176,-0.000266399538211,4.00910564749e-05,1793248793436419584
+73,1.216666667,BASELINE,766,744,715.373197481,680,658.373197481,634,878.373197481,785,810,651,629,653,0.400986043176,-0.0153879884087,0.079846487602,0.99999993221,0.000251385651637,-0.000266035331881,4.01244038343e-05,1793248793453086208
+74,1.233333333,BASELINE,766,744,715.950178793,680,658.950178793,634,878.950178793,785,810,651,629,653,0.400987092091,-0.015387563033,0.0798467647713,0.999999932369,0.00025181890509,-0.000265030395007,4.0098760498e-05,1793248793469752832
+75,1.250000000,BASELINE,766,744,716,680,659,634,878.463796302,785,810.536203698,651,629,653,0.400985635183,-0.015388010539,0.0798457370841,0.999999931618,0.000252633201139,-0.000267070847302,4.01775180912e-05,1793248793486419968
+76,1.266666667,BASELINE,766,744.121864536,716,680,659,634.121864536,878.121864536,785,810.878135464,651,629,652.878135464,0.40098478626,-0.0153885366861,0.07984509386,0.999999931223,0.000252832171929,-0.000268341952004,4.02764866583e-05,1793248793503086336
+77,1.283333333,BASELINE,766,744.702932862,716,680,659,634.702932862,878.702932862,785,810.297067138,651,629,652.297067138,0.400987120691,-0.0153890483111,0.0798463640398,0.999999932509,0.000250576807148,-0.000265629507217,4.04144336373e-05,1793248793519752960
+78,1.300000000,BASELINE,766,744.719291824,716,680,659,634.719291824,879.280708176,785,810,651,629,652.280708176,0.40098735208,-0.0153890625486,0.0798469069951,0.99999993319,0.000248716089254,-0.000264839998207,4.02387448842e-05,1793248793536419584
+79,1.316666667,BASELINE,766,744.144961059,716,680,659,634.144961059,879.855038941,785,810,651,629,652.855038941,0.400985383674,-0.0153885565154,0.0798466892687,0.999999933245,0.00024726817473,-0.000266061892777,3.97349910949e-05,1793248793553086208
+80,1.333333333,BASELINE,766,744.430259301,716,680,659,634,879.569740699,785,810,651,629,652.569740699,0.40098479476,-0.01538873519,0.0798459625394,0.999999932888,0.000247582790206,-0.000267068721096,4.00208528874e-05,1793248793569753088
+81,1.350000000,BASELINE,766,745,715.994077233,680,659,634,879,785,810,651,629,652.005922767,0.400984669934,-0.0153891321198,0.0798450649494,0.999999932389,0.000248498394474,-0.000268002981689,4.05656003773e-05,1793248793586419712
+82,1.366666667,BASELINE,766,745,715.404345827,680,659,634,879,785,810,651,629,652.595654173,0.400984382629,-0.0153882563403,0.0798442645087,0.999999931771,0.000249998973104,-0.000268941332283,4.0351424019e-05,1793248793603086336
+83,1.383333333,BASELINE,766,744.817970386,715.182029614,680,659,634,878.817970386,785,810,651,628.817970386,652.817970386,0.400984509224,-0.015387817605,0.0798440816153,0.999999931566,0.000250752843584,-0.000269038717247,4.0104508564e-05,1793248793619753472
+84,1.400000000,BASELINE,766,744.238914552,715.761085448,680,659,634,878.238914552,785,810,651,628.238914552,652.238914552,0.400985538576,-0.0153883321098,0.079845245659,0.999999932264,0.000249878063348,-0.00026730186566,3.97861855676e-05,1793248793636420864
+85,1.416666667,BASELINE,765.662097628,744,716,680,659,634,878,785,810,651,628.337902372,652.337902372,0.40098568584,-0.015389549486,0.0798455251744,0.999999932655,0.00024862232379,-0.00026698451273,3.9956448648e-05,1793248793653087232
+86,1.433333333,BASELINE,765.086853342,744,716,680,659,634,878,785,810,651,628.913146658,652.913146658,0.400985213528,-0.0153912605576,0.079845183399,0.99999993283,0.00024709899926,-0.000267664212764,4.04698935764e-05,1793248793669753344
+87,1.450000000,BASELINE,765.498782815,744,715.501217185,680,659,634,878.498782815,785,810,651,628.501217185,653,0.400985440045,-0.0153906484687,0.0798452860078,0.999999932668,0.000248354286835,-0.000267114277741,4.04340351758e-05,1793248793686419712
+88,1.466666667,BASELINE,765.914450981,744,715.085549019,680.085549019,659,634.085549019,879,785,810,651,628.085549019,652.914450981,0.400985645602,-0.0153895025885,0.0798454247895,0.999999932367,0.000250179198896,-0.000266558479375,4.02799695951e-05,1793248793703086592
+89,1.483333333,BASELINE,765.331856398,744,715.668143602,680.668143602,659,634.668143602,879,785,810,651,628.668143602,652.331856398,0.400985007315,-0.0153876557213,0.0798453145844,0.999999931628,0.000252442701744,-0.000267239119473,4.00066730576e-05,1793248793719753216
+90,1.500000000,BASELINE,765,744,716,680.752733884,658.752733884,635,879,785.247266116,810,651,629,652.247266116,0.400984886788,-0.0153869709333,0.0798452376809,0.999999931362,0.000253145315944,-0.000267567411339,4.00093217267e-05,1793248793736419840
+91,1.516666667,BASELINE,765,744,716,680.178206762,658.178206762,635,879,785.821793238,810,651,629,652.821793238,0.400985451527,-0.0153878241775,0.0798452048526,0.999999931729,0.000251782066681,-0.000267429364135,4.03771887006e-05,1793248793753086464
+92,1.533333333,BASELINE,765.395708744,744,716,680.395708744,658.395708744,634.604291256,879,786,810,651,629,653,0.400985489833,-0.0153895206614,0.0798450366192,0.999999932297,0.000249505417874,-0.000267455884992,4.02591306974e-05,1793248793769753088
+93,1.550000000,BASELINE,765.969349285,744,716,680.969349285,658.969349285,634.030650715,879,786,810,651,629,653,0.400985291427,-0.0153915963111,0.0798448075004,0.99999993295,0.000246818055707,-0.000267556404431,3.99225748907e-05,1793248793786419712
+94,1.566666667,BASELINE,765.441221452,744,716,680.441221452,659,634,879,785.441221452,810,651,628.441221452,653,0.400986004529,-0.0153905703105,0.0798456243139,0.999999933215,0.000247652054195,-0.000265788749417,3.99305524974e-05,1793248793803086080
+95,1.583333333,BASELINE,765.146321505,744.146321505,716,680,659,634,879,785,810,651,628.146321505,653,0.400986496824,-0.0153895925493,0.0798460846965,0.99999993314,0.000248948262815,-0.000264856580048,3.99582152667e-05,1793248793819752960
+96,1.600000000,BASELINE,765.725645137,744.725645137,716,680,659,634,879,785,810,651,628.725645137,653,0.400986183431,-0.0153892756527,0.0798453155942,0.999999932127,0.000251024045652,-0.000266708889621,3.99865791621e-05,1793248793836419584
+97,1.616666667,BASELINE,766,745,716,680.303554861,659,634,879,785,810,651,629,653,0.400985460298,-0.0153886711409,0.0798449005487,0.999999931694,0.000251519429157,-0.000267876442021,3.99023470135e-05,1793248793853086208
+98,1.633333333,BASELINE,766,745,716,680.880192577,659,634,879,785,810,651,629,653,0.400984368558,-0.015387807886,0.0798448040185,0.999999931786,0.000250593059778,-0.000268427975703,3.9716821644e-05,1793248793869752832
+99,1.650000000,BASELINE,766,744.537924204,716,680.537924204,659,634.462075796,878.537924204,785,810,651,629,653,0.400985715707,-0.0153888718112,0.0798459911412,0.99999993239,0.000250370140249,-0.000266319369516,4.00993661086e-05,1793248793886419456
+100,1.666666667,BASELINE,766,744,716,680,659,634.95481315,878.04518685,785,810,651,629,653,0.400987527676,-0.01539033934,0.0798473450458,0.999999933047,0.000250308938398,-0.000263827247983,4.05896599983e-05,1793248793903086080
+101,1.683333333,BASELINE,766,744,716,680,659,634.373456262,878.626543738,785,810,651,629,653,0.400987265571,-0.0153905987717,0.0798466833798,0.999999932803,0.000249977583542,-0.00026506244708,4.05907170277e-05,1793248793919752960
+102,1.700000000,BASELINE,766,744,716,680,659,634.206716256,879,785,810,651,629,653,0.400986990875,-0.0153900111515,0.0798461864826,0.999999932621,0.000249892214404,-0.000265867622287,4.03258724688e-05,1793248793936419840
+103,1.716666667,BASELINE,766,744,716,680,659,634.7847612,879,785,810,651,629,653,0.40098669356,-0.0153879019542,0.079845985563,0.999999932553,0.000250248714545,-0.000265900336546,3.9583383382e-05,1793248793953086720
+104,1.733333333,BASELINE,766,744,716,680,658.639501057,634.639501057,878.639501057,785,810.360498943,651,628.639501057,652.639501057,0.400986552588,-0.0153872305257,0.0798462689291,0.999999932801,0.00024966883874,-0.000265528251409,3.9477026715e-05,1793248793969753856
+105,1.750000000,BASELINE,766,744,716,680,658.065132033,634.065132033,878.065132033,785,810.934867967,651,628.065132033,652.065132033,0.400986504368,-0.0153874120696,0.0798468396031,0.999999933235,0.000248533447335,-0.000264916014449,3.97480627405e-05,1793248793986420992
+106,1.766666667,BASELINE,766,744.522501106,716,680,658.522501106,634.522501106,878,785,810.477498894,651,628.522501106,652.522501106,0.40098613434,-0.0153872968818,0.0798467233518,0.999999932851,0.000249966320245,-0.000264978909614,4.00103911014e-05,1793248794003087616
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810,651,628,653,0.40098665335,-0.0153894470512,0.0798470517273,0.999999933318,0.000248265938137,-0.000264816443503,3.99955701734e-05,1793248794045381888
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.576355248,744.576355248,716,680,658.423644752,634,879,785,810,651,628.576355248,653,0.400986252344,-0.0153907200917,0.0798461947489,0.99999993298,0.000248253023291,-0.000266054045052,4.03253352355e-05,1793248794062048768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,716,680,658.147977287,634,878.852022713,784.852022713,810,651,628.852022713,653,0.400985942313,-0.015391205004,0.0798454612369,0.999999932637,0.000248567126945,-0.00026703695253,4.0396313901e-05,1793248794078715392
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658.706468731,634,878.293531269,784.293531269,810,651,628.293531269,653,0.400985884665,-0.015389503515,0.0798450702414,0.999999932285,0.000249788435523,-0.000267313295619,3.97493751704e-05,1793248794095382528
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634.289073968,878.289073968,784.289073968,810,651.289073968,628.289073968,653,0.40098568005,-0.0153888439128,0.0798454316882,0.999999932422,0.000249737482413,-0.000266873926714,3.95622647354e-05,1793248794112049152
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634.898393189,878.898393189,784.898393189,810,651.898393189,628.898393189,653,0.400985312621,-0.0153893385457,0.0798466267142,0.999999933101,0.000248277077626,-0.000265641669485,3.98845666196e-05,1793248794128715520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.518512354,716,680,658.518512354,634.518512354,879,785,810,652,629,653,0.400985145265,-0.0153896352644,0.0798460863592,0.999999932945,0.000248252345959,-0.000266251111529,3.98958983562e-05,1793248794145381888
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.058775148,634.058775148,878.941224852,785,810,651.941224852,629,653,0.400985174579,-0.015389793333,0.0798453578723,0.999999932659,0.000248566194265,-0.000267034043064,3.98630800242e-05,1793248794162048000
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,716,680,658.631180423,634.631180423,878.368819577,785,810,651.368819577,629,653,0.400986572673,-0.0153890858827,0.0798460203047,0.99999993271,0.000249328028662,-0.000266112157611,3.99882903793e-05,1793248794178714368
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,716,680,658.789417026,634.789417026,878.210582974,785,810,651,628.789417026,653,0.400990328705,-0.0153891347536,0.0798478427702,0.999999933322,0.000249667042662,-0.000263455561642,4.01730726223e-05,1793248794195380992
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,716,680,658.197338146,634.197338146,878.802661854,785,810,651,628.197338146,653,0.400998356421,-0.0153905537899,0.0798517667726,0.999999934928,0.000249240067532,-0.000257656332975,4.04657763552e-05,1793248794212047616
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.614184882,744,716,680.385815118,658.385815118,634,879,785,810.385815118,651.385815118,628.385815118,653,0.40102452304,-0.0153909130528,0.0798622582651,0.999999939474,0.000249629305712,-0.000238832894163,4.11898792683e-05,1793248794228714496
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.035493644,744,716,680.964506356,658.964506356,634,879,785,810.964506356,651.964506356,628.964506356,653,0.401059757632,-0.0153907425156,0.0798760329679,0.999999944965,0.000250426583864,-0.00021349841098,4.21296466214e-05,1793248794245381376
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.541411931,744,716,680.458588069,659,634,879,785,811,651.458588069,629,653,0.401121651917,-0.0153949909453,0.0798937910756,0.999999952098,0.000249866111042,-0.000177586929756,4.28137585809e-05,1793248794262048512
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,878.882142104,785,810.882142104,651,629,652.882142104,0.401187308326,-0.0153991490666,0.0799105598555,0.999999957537,0.000248671705998,-0.000145715896905,4.3075894804e-05,1793248794278715392
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,878.307026451,785,810.307026451,651,629,652.307026451,0.40126080231,-0.0154018365637,0.0799224804754,0.999999960288,0.000245362014417,-0.000132202110255,4.17656873225e-05,1793248794295381760
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.724909175,744.275090825,716,680,659,634,878.275090825,785,810,651,629,652.275090825,0.401342709804,-0.0154045937529,0.0799308502537,0.999999962479,0.000242879303237,-0.000120198853243,4.00390588225e-05,1793248794312048128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.134773397,744.865226603,716,680,659,634,878.865226603,785,810,651,629,652.865226603,0.401434252781,-0.0154074307562,0.0799351534663,0.999999964119,0.000241343683124,-0.000109925515676,3.78355284912e-05,1793248794328714752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.444265396,744.555734604,715.555734604,680,659,634,879,785,810,651,628.555734604,652.555734604,0.401542037753,-0.015410358712,0.0799397042883,0.999999965136,0.000241544696274,-0.000100793565367,3.50085545448e-05,1793248794345381376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.979944498,744,715.020055502,680,659,634.020055502,879,785,810,651,628,652.020055502,0.40165546377,-0.015413407133,0.0799442109254,0.999999965928,0.000242123289861,-9.21892239836e-05,3.19629245072e-05,1793248794362048000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.403163641,744,715.596836359,680,659,634.596836359,879,785,810,651,628,652.596836359,0.401792038516,-0.0154190523155,0.0799454566925,0.999999967121,0.00023891524381,-8.88533887056e-05,2.7969710454e-05,1793248794378714880
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.177319682,744,716,680,659,634.822680318,879.177319682,785,810,651,628.177319682,652.822680318,0.40193761237,-0.0154250752411,0.0799477774581,0.999999968853,0.000233938493581,-8.37117489046e-05,2.36612354916e-05,1793248794395381504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.766400568,744,716,680,659,634.233599432,879.766400568,785,810,651,628.766400568,652.233599432,0.402104083395,-0.0154319753386,0.0799525945208,0.999999971781,0.000224854564278,-7.43767778467e-05,1.86206809758e-05,1793248794412048384
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,880,785,810,651,629,652.349726032,0.402285929466,-0.0154378976511,0.0799524095754,0.999999973715,0.000216186351394,-7.53798364471e-05,1.22745839165e-05,1793248794428715520
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,716,680,659,634,880,785,810,651,629,652.929269461,0.402477879043,-0.0154431774272,0.0799489376333,0.999999974939,0.00020779131962,-8.31763806035e-05,5.07056797799e-06,1793248794445382144
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744,716,679.492943893,659,634,879.492943893,785,810,651,628.492943893,652.492943893,0.402696772057,-0.0154510092294,0.0799457692763,0.999999978476,0.000186476032386,-9.09266587842e-05,-2.78436483758e-06,1793248794462048512
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744,715.915824627,679,659,634,879,785,810,651,628.084175373,652.084175373,0.40292638814,-0.0154592151554,0.0799431951043,0.999999983359,0.000154188372701,-9.69160855236e-05,-1.07569965868e-05,1793248794478714624
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744,715.341170863,679,659,634,879,785,810,651,628.658829137,652.658829137,0.40319666205,-0.0154675339188,0.079943837262,0.999999993185,6.84315643503e-05,-9.26827500916e-05,-1.88882061127e-05,1793248794495381248
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744,715.232737766,679.232737766,659,634,879,785,810,651,629,652.767262234,0.403484855313,-0.0154763068547,0.0799458106204,0.999999995687,1.42889151487e-05,-8.78336734756e-05,-2.65789751919e-05,1793248794512047872
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744,715.805557553,679.805557553,659,634,879,785,810,651,629,652.194442447,0.40379923275,-0.015485743438,0.0799497291614,0.999999996046,6.34164135087e-06,-8.20848620732e-05,-3.36261617798e-05,1793248794528714752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.60636248,744,715.60636248,680,659,634.39363752,879,785,810,651,629,652.39363752,0.404149739303,-0.0154956898512,0.0799524679816,0.999999996515,2.42715789482e-05,-7.57269972286e-05,-2.54207513834e-05,1793248794545381888
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.010440552,744,715.010440552,680,659,634.989559448,879,785,810,651,629,652.989559448,0.404518812056,-0.0155058982582,0.079954600561,0.999999996032,5.54994268767e-05,-6.90561490726e-05,-9.37726033593e-06,1793248794562048768
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.562126839,715.562126839,680,659,634.437873161,879,785,810.562126839,651,628.437873161,653,0.40491039045,-0.01550567451,0.07994866875,0.999999996054,4.34184483364e-05,-7.51941875273e-05,-1.87647745117e-05,1793248794578715648
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.864605656,716,680,659,634,879,785,810.864605656,651,628.135394344,653,0.405312948737,-0.0155061110258,0.0799429009878,0.999999995843,2.97509316069e-05,-8.19035245888e-05,-2.68592884803e-05,1793248794595382272
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.287697148,716,680,659,634,879,785,810.287697148,651,628.712302852,653,0.405750003103,-0.0155093072657,0.0799381371313,0.999999995456,1.3428231943e-05,-8.97309915888e-05,-2.9258562449e-05,1793248794612048896
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810,650.702934684,629,653,0.406203056794,-0.0155021348597,0.0799321067618,0.999999994256,2.31452075745e-05,-9.9935746085e-05,-3.10738861179e-05,1793248794628715264
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,879,785,810,650.110359315,629,653,0.406672026098,-0.0154846480924,0.0799248165094,0.999999991423,5.87655279188e-05,-0.000112505342836,-3.2308316973e-05,1793248794645381632
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.470806122,716,680,659,634.470806122,879.470806122,785,810,650.470806122,629,653,0.407184935806,-0.015483643091,0.0799209597517,0.999999990356,5.71308215156e-05,-0.000122092635518,-3.34390458262e-05,1793248794662048512
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.04904162,744.95095838,716,680,659,634.95095838,879.95095838,785,810,651,629,653,0.407710506119,-0.0154873141127,0.0799175702334,0.999999989738,4.58956813704e-05,-0.000131235661556,-3.45782729018e-05,1793248794678715648
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.623860974,744.376139026,716,680,659,634.376139026,879.376139026,785,810,651,629,653,0.408263999383,-0.0155006772717,0.0799107655711,0.999999988867,2.31429227755e-05,-0.000142933085431,-3.60630543964e-05,1793248794695382528
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.198892894,716,680,659,634,879.198892894,785,810.198892894,651,628.801107106,653,0.408848756865,-0.0155095592834,0.0799145288563,0.999999989855,8.89746201964e-06,-0.000137244874463,-3.70761703952e-05,1793248794712049152
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.774327209,716,680,659,634,879.774327209,785,810.774327209,651,628.225672791,653,0.40949270332,-0.0155099576451,0.0799382992414,0.999999994385,1.07579073959e-05,-9.86424067947e-05,-3.71963353712e-05,1793248794728715776
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879.640271446,785,811,651,628.359728554,653,0.410157506546,-0.0155080544535,0.0799661627203,0.999999997804,1.64474165044e-05,-5.32671808168e-05,-3.58315524122e-05,1793248794745382400
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879.048439207,785,811,651,628.951560793,653,0.410835766933,-0.0155046662562,0.0799966671401,0.99999999913,2.46075100642e-05,-3.52204414947e-06,-3.35086528266e-05,1793248794762049024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.471684895,745,716,680,659.528315105,634,879.528315105,785,811,651.528315105,629,653,0.411506370248,-0.0155054004352,0.0799786509367,0.999999998441,1.97903935521e-05,-3.74881612952e-05,-3.63396513436e-05,1793248794778715648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.104129139,745,716,680,660,634,880,785,811,651.895870861,629,653,0.412181241248,-0.0155059714521,0.079954043168,0.999999995979,1.43988150505e-05,-7.89136884611e-05,-4.00846039092e-05,1793248794795382272
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.681779264,745,716,680,660,634,880,785,811,651.318220736,629,653,0.41287862302,-0.0155041294176,0.0799191293885,0.99999999164,1.16554583055e-05,-0.000120326522397,-4.58964791341e-05,1793248794812048640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.737087464,745,716,680,659.737087464,634,880,785,811,651,629,653,0.413601635443,-0.0155039023397,0.079905019064,0.999999990088,8.77387063531e-06,-0.000131634014975,-4.91805233971e-05,1793248794828715264
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.151681624,745,716,680,659.151681624,634,880,785,811,651,629,653,0.414356086981,-0.0155056561967,0.0799164266316,0.999999993146,5.72272604314e-06,-0.000106013753462,-4.93638850149e-05,1793248794845381888
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659.431150363,634.431150363,880,785,811.431150363,651,629,653,0.41515456053,-0.0155077914508,0.0799375178369,0.99999999612,4.4109003981e-06,-7.4094675977e-05,-4.74400338772e-05,1793248794862048512
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012941058,744.987058942,716,680,660,634.987058942,879.987058942,785,811.987058942,651,629,653,0.415968219998,-0.0155099316252,0.07996106935,0.999999998125,3.58356938815e-06,-4.14558677973e-05,-4.49206965378e-05,1793248794878715136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.588595047,744.411404953,716,680,660,634.411404953,879.411404953,785,811.411404953,651,629,653,0.416772775583,-0.0155064859422,0.0799443452386,0.999999996131,-2.62598749448e-06,-7.33056126219e-05,-4.85518274404e-05,1793248794895381760
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.835797386,744.164202614,715.835797386,680.164202614,660,634,879.164202614,785,811,651,629,653,0.417605001719,-0.0155054047397,0.0799412578825,0.999999995759,-7.16690125301e-06,-7.65811881354e-05,-5.06643409651e-05,1793248794912048384
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.260306125,744.739693875,715.260306125,680.739693875,660,634,879.739693875,785,811,651,629,653,0.418506535982,-0.0155102460007,0.0799723273689,0.999999998738,-7.52825893615e-06,-8.28523730016e-06,-4.89730774904e-05,1793248794928714752
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.676411941,715.323588059,681,660,634,880.323588059,785,811.323588059,651,629,653,0.419371115021,-0.0155152702072,0.0799834807816,0.999999998624,-1.06520131953e-05,1.6436699468e-05,-4.86726165456e-05,1793248794945381376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.085577953,715.914422047,681,660,634,880.914422047,785,811.914422047,651,629,653,0.420205173319,-0.015520445505,0.0799781858427,0.999999998632,-1.60571842815e-05,5.17158826886e-06,-4.95207962089e-05,1793248794962048000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.492758815,716,680.507241185,660.492758815,634,880.507241185,785,812,651,629,653,0.421074598277,-0.0155201404236,0.0799666690802,0.999999998322,-2.12929473795e-05,-1.51849074361e-05,-5.16917174864e-05,1793248794978714880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.068920628,744.931079372,715.931079372,680.068920628,660.931079372,634,880.068920628,785,811.931079372,651,629,653,0.421958384184,-0.0155193297984,0.0799589819509,0.999999997816,-2.52773037229e-05,-2.94603483706e-05,-5.3483240533e-05,1793248794995382016
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.644653919,744.355346081,715.355346081,680.644653919,660.355346081,634,880.644653919,785,811.355346081,651,629,653,0.422903724214,-0.0155216275114,0.0799872056728,0.999999998427,-2.02703502437e-05,1.23051308191e-05,-5.0837337785e-05,1793248795012048640
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.779661171,744,715,681,660.220338829,634,881,785.220338829,811,651,629,653,0.423813637749,-0.0155226821402,0.0799952811054,0.999999998543,-1.47140275096e-05,1.50297637727e-05,-4.97061153919e-05,1793248795028715264
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.204054182,744,715,681,660.795945818,634,881,785.795945818,811,651,629,653,0.424666430742,-0.0155217324552,0.0799708700046,0.999999997643,-8.27191638018e-06,-4.51939647309e-05,-5.10171207934e-05,1793248795045381632
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.383284228,715.383284228,680.616715772,660.616715772,634,880.616715772,785.616715772,811.383284228,651,629.383284228,653,0.425538072406,-0.0155221627692,0.079937473842,0.99999999397,-8.89359582647e-06,-9.47749412379e-05,-5.47636041559e-05,1793248795062048256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.977065415,715.977065415,680.022934585,660.022934585,634,880.022934585,785.022934585,811.977065415,651,629.977065415,653,0.426420065573,-0.0155233509691,0.0798991431491,0.999999988527,-1.33946589665e-05,-0.00013851099072,-5.98476345171e-05,1793248795078714880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.44672957,715.44672957,680.55327043,660,634,880,785.55327043,812,651,629.44672957,653,0.42734743268,-0.0155241353054,0.0799020075783,0.999999989607,-1.6255149651e-05,-0.000130286288984,-5.95606636411e-05,1793248795095381504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.128715859,744.128715859,715.128715859,681,660,634,880.128715859,786,812,651,629.128715859,653,0.428281435946,-0.015525225277,0.0799105915355,0.999999991244,-2.06415733254e-05,-0.000116828255372,-5.86183087056e-05,1793248795112048384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.703975869,744.703975869,715.703975869,681,660,634,880.703975869,786,812,651,629.703975869,653,0.429232137215,-0.0155274318571,0.0799332759958,0.999999993683,-3.05504650044e-05,-9.2456967123e-05,-5.61508956013e-05,1793248795128715264
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.713169225,745,716,680.713169225,660.286830775,634,880.713169225,785.713169225,812,651,629.713169225,653.286830775,0.430182039593,-0.0155311823224,0.0799675908811,0.999999997011,-3.26410584304e-05,-4.55804778312e-05,-5.32445936121e-05,1793248795145382144
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.122262842,745,716,680.122262842,660.877737158,634,880.122262842,785.122262842,812,651,629.122262842,653.877737158,0.431131094988,-0.0155365694942,0.080014235434,0.99999999809,-2.64433012879e-05,2.51542683928e-05,-4.98730158549e-05,1793248795162049024
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.541431543,680.458568457,661,634,880,785,812.458568457,651,629.458568457,654,0.432011301668,-0.0155368800025,0.0800116450314,0.999999998064,-3.02009282774e-05,1.80655874068e-05,-5.13274529917e-05,1793248795178715392
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.036582104,744.963417896,715,681,660.963417896,634,880.036582104,785,813,651,630,653.963417896,0.432871574539,-0.0155357004506,0.0799929999824,0.999999997788,-3.61266143065e-05,-1.32042802039e-05,-5.42652433057e-05,1793248795195381760
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.61180933,744.38819067,715,681,660.38819067,634,880.61180933,785,813,651,630,653.38819067,0.433702808715,-0.0155320821675,0.0799270914277,0.999999992372,-3.57331073871e-05,-0.000101576253347,-6.05058384215e-05,1793248795212048384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.813373973,744,715.186626027,681,660,634,881,785,813,651,629.813373973,653,0.43456204934,-0.0155304524553,0.0798915369258,0.999999986531,-3.72283462221e-05,-0.000146369804965,-6.42422590941e-05,1793248795228714752
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.239409214,744,715.760590786,681,660,634,881,785,813,651,629.239409214,653,0.435479416963,-0.0155329499831,0.0799189816652,0.999999992048,-4.26436409438e-05,-0.000100717197592,-6.2781315718e-05,1793248795245381632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,715.654233995,681,660.345766005,633.654233995,881,785,813,651,629,653,0.436362699537,-0.0155366878215,0.0799514455158,0.999999995458,-4.55506436229e-05,-5.95043537404e-05,-5.88877459147e-05,1793248795262048512
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,715.061036566,681,660.938963434,633.061036566,881,785,813,651,629,653,0.43722159067,-0.0155413132304,0.079987501059,0.999999997263,-4.66627029545e-05,-2.14686237623e-05,-5.32533797721e-05,1793248795278715136
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.517369452,715.517369452,681.517369452,661,633.517369452,881,785,813.517369452,651,629.517369452,653,0.438079809802,-0.0155458872405,0.0800165810071,0.999999996836,-5.1866390483e-05,2.83497335467e-05,-5.3228611592e-05,1793248795295382016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.906043582,681.812087163,661,634,881,785.093956418,813.906043582,651,630,653,0.438924151735,-0.0155495744548,0.0800365767644,0.999999994836,-5.62333706835e-05,6.52316942719e-05,-5.39538657074e-05,1793248795312048640
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.330085262,680.660170525,661,634,881,785.669914738,813.330085262,651,630,653,0.439697698207,-0.0155487425972,0.0800140745023,0.999999996607,-5.3900497714e-05,2.88163391359e-05,-5.52261154053e-05,1793248795328715264
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.250099092,661,634,881,785.749900908,813.500198184,651,630,653,0.440420018693,-0.0155463259786,0.0799624718236,0.999999995341,-5.6304767137e-05,-5.10872693157e-05,-5.94788530696e-05,1793248795345381632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.835956863,661,634,881,785.164043137,814.671913726,651,630,653,0.441073568096,-0.0155417818142,0.0798718017619,0.999999977658,-6.50686620194e-05,-0.000189373967388,-6.77329027409e-05,1793248795362048256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.418877629,661,633.581122371,881,785,814.581122371,651,630,653,0.441789074613,-0.0155406876775,0.0798388647643,0.999999969003,-5.99466923373e-05,-0.000230694151797,-7.19715030349e-05,1793248795378715136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000647501,745,715,681.999352499,661,633,881,785,814,651,630,653,0.442528704047,-0.0155409402374,0.0798284821433,0.999999968575,-4.94526512124e-05,-0.000234166784364,-7.46376403201e-05,1793248795395381504
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.574672849,745,715,681.425327151,661,633,881,785,814,651,630,653,0.443292965886,-0.0155456074103,0.0799084827984,0.999999988947,-6.38621723379e-05,-0.000115961111118,-6.76862971557e-05,1793248795412048384
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.149244625,661,633.149244625,881,785,814,651,630,653,0.444036027275,-0.0155504815503,0.0799761344866,0.999999995062,-7.60247136751e-05,-1.65320493672e-05,-6.18308176789e-05,1793248795428715008
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.725379499,661,633.725379499,881,785,814,651,630,653,0.444718448364,-0.0155559476872,0.0800084639592,0.999999994485,-8.1760136178e-05,2.91895580949e-05,-5.91098807523e-05,1793248795445382144
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681.691521686,661,633.691521686,881,785,814,651,630,653,0.44536300661,-0.0155574118965,0.0800177420401,0.999999994228,-8.04140365391e-05,4.04507925708e-05,-5.86618954409e-05,1793248795462049024
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.102080119,661,633.102080119,881,785,814,651,630,653,0.445973079189,-0.015555231134,0.0800060248216,0.99999999534,-7.2618058664e-05,2.03253822459e-05,-6.02841235505e-05,1793248795478715648
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,881.479195849,785,814,651,630,653,0.44655023101,-0.0155537818704,0.0799919974941,0.999999995573,-7.13233692997e-05,7.5851727768e-06,-6.09087922035e-05,1793248795495382784
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.941562877,745,715,681,661,633,881.941562877,785,814,651,630,653,0.447113707034,-0.0155528533947,0.0799769340958,0.99999999553,-7.16246567567e-05,-4.85356827528e-06,-6.15296245773e-05,1793248795512050176
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.365196483,745,715,681,661,633,881.365196483,785,814,651,630,653,0.447617088365,-0.015555182718,0.07995697647,0.999999994815,-7.40021216103e-05,-2.83302790379e-05,-6.39683256531e-05,1793248795528716288
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.209808622,745,715,681,661,633,881.209808622,785,814,651,630,653.209808622,0.448089448091,-0.0155592168844,0.0799289814324,0.999999991869,-8.29617465217e-05,-7.02432973704e-05,-6.66717440855e-05,1793248795545382656
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.782459458,745,715,681,661,633,881.782459458,785,814,651,630,653.782459458,0.44850815912,-0.0155661993994,0.079887086528,0.999999981852,-0.000103304532897,-0.00014403999159,-6.98329632179e-05,1793248795562049280
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.632545195,745,715,681,661,633,881.632545195,785,814.367454805,651,630,653.632545195,0.448926419155,-0.0155743359024,0.0798555564523,0.999999972583,-0.000111974207914,-0.00019264142633,-7.20042132817e-05,1793248795578715904
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.039987543,745,715,681,661,633,881.039987543,785,814.960012457,651,630,653.039987543,0.449344402951,-0.0155831793392,0.0798303758675,0.999999965359,-0.000113492936013,-0.00022580825026,-7.35690086236e-05,1793248795595382272
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.540627923,745,715.540627923,681,660.459372077,633,881,784.459372077,815,650.459372077,630,653,0.44975221315,-0.0155906304715,0.0798324226104,0.999999964261,-0.000132902914862,-0.000220230546762,-7.28876594551e-05,1793248795612048640
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715.880896618,681,660.119103382,633,881,784,814.880896618,650.119103382,630,653,0.450149722706,-0.0155978607913,0.0798378938754,0.999999963816,-0.000149952759986,-0.000211376220268,-7.21228418492e-05,1793248795628715264
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715.307289482,681,660.692710518,633,881,784,814.307289482,650.692710518,630,653,0.450510734145,-0.0156046329725,0.0798489143435,0.999999965576,-0.000153055503542,-0.00020071759488,-7.16597857733e-05,1793248795645381376
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.273059041,660.726940959,633,881,784,814.273059041,651,630,653,0.450849547899,-0.0156098904452,0.0798534701178,0.999999965262,-0.000158165464203,-0.000198494558435,-7.11333137331e-05,1793248795662048000
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.861186047,660.138813953,633,881,784,814.861186047,651,630,653,0.451162748934,-0.0156134001778,0.0798505666331,0.999999962583,-0.00016559144326,-0.000206004889627,-7.05336694932e-05,1793248795678714624
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632.558842637,881,783.558842637,815,651,629.558842637,653.441157363,0.451411550128,-0.0156126806768,0.0798251606453,0.999999951709,-0.000171254015946,-0.000248785120899,-7.3214997858e-05,1793248795695381504
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660.018629283,632.018629283,881.018629283,783,815,651,629,653.981370717,0.451639679258,-0.0156108176503,0.0797929699594,0.999999935931,-0.000176041335757,-0.000302076287169,-7.67891979061e-05,1793248795712048384
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660.596710562,632.596710562,881.596710562,783,815,651,629,653.403289438,0.451844506976,-0.01561385216,0.0797658059445,0.999999923357,-0.000170904888406,-0.000343787706459,-7.67364311604e-05,1793248795728715008
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.827363099,745,715,682,660.827363099,633,882,783,814.827363099,651,629.172636901,653,0.45204411761,-0.015617411133,0.0797437375582,0.999999911667,-0.000168149432587,-0.000377606201362,-7.61878975983e-05,1793248795745381632
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.51059002,632,881,781,814.51059002,651,629.48940998,653,0.453485808708,-0.0156307663576,0.0796768042501,0.99999985791,-0.000210992559366,-0.000483025960168,-7.96747983332e-05,1793248796759620096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.066110704,715,682,660,632,881.066110704,781,814.066110704,651,630,653,0.453486037737,-0.0156276718068,0.0796766575513,0.999999858455,-0.000208603283478,-0.000482887913497,-7.99673583741e-05,1793248796776286976
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.777856758,715,682,659.777856758,632.222143242,882,781,815,651,630,653,0.453476120743,-0.0156305573907,0.0796719999007,0.999999854717,-0.00021101598629,-0.000489594326031,-7.95973782501e-05,1793248796809619968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.189099439,715,682,659.189099439,632.810900561,882,781,815,651,630,653,0.453459998927,-0.015628235358,0.0796635150689,0.999999848639,-0.000210659211362,-0.00050181262457,-8.08040780544e-05,1793248796826286848
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.972149164,632.027850836,882,781.972149164,815,651,630,653,0.453373607669,-0.0156245152784,0.0796263958144,0.999999815851,-0.00021065734315,-0.000563047016461,-8.3057273056e-05,1793248796859620352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632.54965204,881.45034796,781.45034796,815,651,630,653,0.453311211987,-0.0156205212942,0.0796083158867,0.99999980172,-0.000208405881465,-0.000588363752001,-8.33998551303e-05,1793248796876286720
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.453774042,715.546225958,682,660,632,881,782,815,651,629.453774042,653,0.452867030494,-0.0156033050442,0.0795737112065,0.999999773608,-0.000202239095312,-0.000637224245537,-7.63392476758e-05,1793248796959620352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,660,632.032069613,881.032069613,782,814.967930387,651,630,653,0.452741192291,-0.0155997078251,0.0795689831987,0.999999769292,-0.000200342838919,-0.000644894100538,-7.34134044342e-05,1793248796976287488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,660,632.608675549,881.608675549,782,814.391324451,651,630,653,0.452582499459,-0.0155927478955,0.0795577927228,0.999999758862,-0.00019513880736,-0.00066275484738,-7.03716261211e-05,1793248796992953856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.815637215,715,682,660,633,882,782,814,651,630,653,0.452418718467,-0.0155854120391,0.0795525996073,0.999999753305,-0.00018891034642,-0.000673233482374,-6.67740692549e-05,1793248797009620480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.241890393,715,682,660,633,882,782,814,651,630,653,0.452244191031,-0.0155772822059,0.0795600732384,0.999999758592,-0.000180518236759,-0.000668120701507,-6.20026788657e-05,1793248797026286848
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.065092368,745,715,681.065092368,660,633,882,782.934907632,814,651,630,653,0.451858390912,-0.0155580458705,0.0795866062621,0.999999788792,-0.000159921936614,-0.000627937199663,-5.0366200197e-05,1793248797059619840
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632.666623563,881.333376437,783,814,651,630,653,0.451113030748,-0.0155294482465,0.0796237230481,0.999999827807,-7.9150647472e-05,-0.000580802732122,-2.80805382215e-05,1793248797109619712
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.738084477,745,715,681.261915523,661,633,881,784,814,651,630,653,0.448595434817,-0.0154725552191,0.0797282965558,0.999999916842,3.51719812045e-05,-0.000406297814749,2.8770049907e-07,1793248797226286592
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,744.382155892,715,682,661,633,881,785,813,651,630,653,0.444155870611,-0.0154452468805,0.0798307242324,0.999999959276,0.000104901262593,-0.000264196724262,2.53735230428e-05,1793248797359619840
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.309771132,661,634,881.309771132,785,812.309771132,651,630,653,0.441284388115,-0.0154443641203,0.0797870380018,0.999999942475,0.000100012214241,-0.000323105473833,2.54846789209e-05,1793248797426287104
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.712686978,681.287313022,660,633.287313022,880,785,812,651,630,652.287313022,0.424754617484,-0.015413341266,0.0797586891164,0.99999990246,0.000212730202623,-0.000384820433936,4.17062036223e-05,1793248797742953472
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.704433654,681,660,633.295566346,880,785,811.704433654,651,630,652.295566346,0.423821542379,-0.0154104017564,0.0797380568511,0.999999887859,0.000216385094223,-0.000419274112798,4.08436712842e-05,1793248797759620096
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.115050333,681,660,633.884949667,880,785,811.115050333,651,630,652.884949667,0.422894898997,-0.0154065239154,0.0797201283456,0.999999871496,0.00022224238961,-0.000453800882871,4.10029388489e-05,1793248797776287232
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,634,879.53423746,785,811,651,630,652.53423746,0.422055019012,-0.0154072504056,0.0797567314749,0.999999901206,0.000218286720293,-0.000384803961281,4.31922683003e-05,1793248797792954112
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.044293352,660,634,879.044293352,785,811,651,629.955706648,652.044293352,0.421234072048,-0.0154090949186,0.0798061250087,0.999999933636,0.000212474208912,-0.000292347469934,4.59883231525e-05,1793248797809620736
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.62038296,660,634,879.62038296,785,811,651,629.37961704,652.62038296,0.42038777346,-0.015410954244,0.0798502796593,0.999999951934,0.000212944709078,-0.000219704871429,5.01570540533e-05,1793248797826287104
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.213385054,659.213385054,634,879.213385054,785,811,651,629,653,0.418645822013,-0.0154076391051,0.079830122868,0.999999941276,0.000218056894132,-0.000259989379723,4.80095667229e-05,1793248797859620352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.631493556,745,715,681,659.368506444,634,879.368506444,785,811,651,629.368506444,653,0.417782615839,-0.0154078665941,0.0798069847267,0.999999931413,0.000210954884484,-0.000301149468523,4.45097986626e-05,1793248797876286976
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.474200216,715,681,659.474200216,634,879.474200216,785,811,651,629.474200216,653,0.416099311791,-0.0154033408504,0.0797958783652,0.99999992098,0.000210702734422,-0.00033430005716,4.34520269514e-05,1793248797909620224
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.102709726,744,715.102709726,681,659,634,879.102709726,785,811,651,629,653,0.415275428281,-0.0153968157611,0.0797972863578,0.999999915407,0.000223687135363,-0.00034218657862,4.53677567259e-05,1793248797926286848
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.153145608,744,716,680.153145608,659,634,879.153145608,785,811,651,629,653,0.413028138199,-0.0153987780848,0.0797920993138,0.999999922585,0.00021752853956,-0.000325169271551,4.21386886442e-05,1793248797976287232
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.429293455,744,716,680.429293455,659,634,879,785.429293455,811,651,629,653,0.412314061247,-0.0153991500609,0.0797975498774,0.999999924037,0.000217472791539,-0.000320639557348,4.26737436782e-05,1793248797992953856
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.008493108,715.991506892,680.991506892,659,634.008493108,879,785.991506892,811,651,629.008493108,653,0.411593698824,-0.0153987362823,0.079798125844,0.999999920951,0.000219454087312,-0.000328751667472,4.31353818632e-05,1793248798009620224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.583979455,715.416020545,680.416020545,659,634.583979455,879,785.416020545,811,651,629.583979455,653,0.410897342955,-0.0153959674363,0.0797862847539,0.999999912702,0.000226741884096,-0.000348338500512,4.29454142304e-05,1793248798026286592
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.748640381,680.748640381,659,634.251359619,879.748640381,785,811,651,629.251359619,652.251359619,0.409613677132,-0.0153936731391,0.0797987593276,0.999999920064,0.000223897266417,-0.000328268956139,4.45117566834e-05,1793248798059620864
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.669217132,715.669217132,680.669217132,659,634,879.669217132,785,810.669217132,651,629,652.330782868,0.409025027947,-0.0153941093529,0.0798189945836,0.99999992994,0.000227122026989,-0.00029390970873,4.63958732282e-05,1793248798076287744
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744,715.488738943,680,659,634,878.511261057,785,810,651.488738943,629,653,0.407872674091,-0.0153912526104,0.0798302370499,0.99999993006,0.000243314551167,-0.000279838035209,4.86680830916e-05,1793248798109620736
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634,878.067122377,785.067122377,810.067122377,651.932877623,629,653,0.407294590669,-0.0153866958391,0.079810022996,0.999999917036,0.000247241685923,-0.000320195564424,4.76920649283e-05,1793248798126287616
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744,716,680,659,634,878.642198069,785.642198069,810.642198069,651.357801931,629,653,0.406746445386,-0.0153829499434,0.079774928792,0.999999898172,0.000243626993701,-0.000377456112338,4.27566595668e-05,1793248798142953984
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.782544364,634,878.782544364,785.782544364,811,651,629,653,0.406237745132,-0.0153826890064,0.0797587747888,0.999999890535,0.000240017291414,-0.000399647010312,4.00453538524e-05,1793248798159620608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,716,680,658.206987347,634,878.206987347,785.206987347,811,651,629,653,0.405794002176,-0.0153881670267,0.0797738111145,0.999999904934,0.000236415807667,-0.000364085939714,4.09966494459e-05,1793248798176287488
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.970523318,716,680,658.970523318,634,878.970523318,785,811,651,629,653,0.404991268485,-0.015388578261,0.0798147068171,0.999999926185,0.000245367219201,-0.00029227797869,4.47006551002e-05,1793248798209620992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.5483216,744.4516784,716,680.5483216,659,634,879.5483216,785,810.4516784,651,629,653,0.404618532554,-0.0153861300592,0.0798261098177,0.999999930365,0.000242889587324,-0.000279598168604,4.58293232461e-05,1793248798226287104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.749413588,744.125293206,716,680.874706794,659,634,879.874706794,785,810,651,629,653,0.404249952243,-0.0153827714754,0.0798340306751,0.999999931489,0.00024499291754,-0.000273485856829,4.69775326003e-05,1793248798242952960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.596193627,744.701903187,716,680.298096813,659,634,879.298096813,785,810,651,629,653,0.403892687884,-0.0153764165286,0.0798313409387,0.999999922574,0.000265244993499,-0.000286629678722,4.83700434673e-05,1793248798259619328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.715839893,715.715839893,680,659,634,878.715839893,785,810,651,629,653,0.403561796831,-0.0153713946035,0.0798310858374,0.999999919198,0.000270924420705,-0.000293107860531,4.78618882508e-05,1793248798276285952
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.756739821,716,680,659,634,879,785,810,651,629,653,0.402115129921,-0.0153856686643,0.0798317671448,0.999999922628,0.000253708701937,-0.00029668383622,4.85139651635e-05,1793248798376286976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.658761375,715.658761375,680,659,634,878.658761375,785,810.341238625,651,629,652.658761375,0.401954025135,-0.0153901727567,0.0798345429699,0.999999926021,0.000247730739081,-0.000289941354999,5.02052724509e-05,1793248798392954112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.06677139,715.06677139,680,659,634,878.06677139,785,810.93322861,651,629,652.06677139,0.40180770915,-0.0153914846729,0.0798394170498,0.999999928688,0.000246993249809,-0.000280807586192,5.25925786875e-05,1793248798409621248
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.752857311,716,680,659,634.752857311,879,785,810,651,629,652.247142689,0.401374477929,-0.0153883052008,0.0798472798103,0.999999938198,0.000219157464346,-0.000272454637049,3.66318256404e-05,1793248798476286464
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744.164566409,716,680,659,634.164566409,879,785,810,651,629,652.835433591,0.401288664039,-0.0153884925241,0.0798422393153,0.999999929093,0.000246291154037,-0.000282623168565,3.57572473698e-05,1793248798492953088
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8723678370ee9c61f5c655718f8f13fdd1435307
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
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+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0f7cf301b4b45d8f05c47cbc144e24cb5103737
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be88d2092761c771dc320205070877f606765cfcabe7fcb16a9353c407013d93
+size 25336500
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b5008d3cab79054531b1679522079a1db71ee3d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,400 @@
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+9,0.150000000,BASELINE,766,745.761804392,715.238195608,680,663,634.238195608,879,786,810,653,628,652,0.400918840701,0.00440253843871,0.0599307598119,0.999999968745,-0.000127735991299,-0.000212535301192,-3.19878517808e-05,1793248800917353216
+10,0.166666667,BASELINE,766,745.182714859,715.817285141,680,663,634.817285141,879,786,810,653,628,652,0.400918985467,0.0044034572121,0.0599314845065,0.999999968879,-0.000128310927067,-0.000211515371207,-3.22574249741e-05,1793248800934019328
+11,0.183333333,BASELINE,766,745.3934907,715.6065093,680,663,634.6065093,879,786,810,653,628.3934907,652,0.400919840872,0.00440388500921,0.059931313213,0.999999969082,-0.00012794325821,-0.000210749260126,-3.24114069747e-05,1793248800950686208
+12,0.200000000,BASELINE,766,745.968366897,715.031633103,680,663,634.031633103,879,786,810,653,628.968366897,652,0.400921023856,0.00440408648346,0.0599307289003,0.999999969318,-0.000127141081523,-0.000210100150623,-3.25121054878e-05,1793248800967353088
+13,0.216666667,BASELINE,766,745.445024915,715.554975085,680,663,634.554975085,879,786,810,653,629,652.554975085,0.400919094352,0.00440366919857,0.059930180191,0.999999968921,-0.000126897802039,-0.000212212007872,-3.19639540208e-05,1793248800984019456
+14,0.233333333,BASELINE,766,745,715.859113409,680,663,634.859113409,879,786,810,653,628.859113409,652.859113409,0.400918032464,0.0044033443577,0.0599298695989,0.999999968693,-0.000126774924834,-0.000213411024789,-3.15795462974e-05,1793248801000686080
+15,0.250000000,BASELINE,766,745,715.277518033,680,663,634.277518033,879,786,810,653,628.277518033,652.277518033,0.400920251518,0.00440342139887,0.0599302973789,0.999999969125,-0.000126926875947,-0.000211251666512,-3.18255350486e-05,1793248801017353472
+16,0.266666667,BASELINE,766.300273172,745,715.300273172,680,662.699726828,634.300273172,879,785.699726828,810,653,628,652.300273172,0.400920753302,0.004403476509,0.0599304305226,0.999999969163,-0.000127134894777,-0.000210923567227,-3.19589381104e-05,1793248801034020096
+17,0.283333333,BASELINE,766.874592443,745,715.874592443,680,662.125407557,634.874592443,879,785.125407557,810,653,628,652.874592443,0.400919687809,0.00440351160362,0.0599302947649,0.999999968845,-0.000127394084135,-0.000212266777505,-3.1989589157e-05,1793248801050686720
+18,0.300000000,BASELINE,766.551107014,745.448892986,715.551107014,680,662,634.551107014,879,785.448892986,810,653,628.448892986,653,0.400919159236,0.00440394035205,0.0599297765096,0.99999996891,-0.000125648398057,-0.000213034410519,-3.17487868617e-05,1793248801067353088
+19,0.316666667,BASELINE,766.023841141,746,715.023841141,680,662.023841141,634,879,786,810,653,629,652.976158859,0.400918787568,0.00440450601643,0.0599291873157,0.999999969075,-0.000123416480738,-0.000213608435774,-3.14660193453e-05,1793248801084019712
+20,0.333333333,BASELINE,766.614305393,746,715.614305393,680,662.614305393,634,879,786,810,653,629,652.385694607,0.40091858017,0.00440571207665,0.0599294517106,0.999999969161,-0.000122939700457,-0.000213402559153,-3.19881729019e-05,1793248801100686592
+21,0.350000000,BASELINE,766.798784794,746,716,680,662.798784794,634,879,786,810,653,628.798784794,652,0.400918440335,0.0044062156435,0.0599293703509,0.999999969087,-0.000123257103847,-0.000213526581965,-3.22470336562e-05,1793248801117353216
+22,0.366666667,BASELINE,766.218570022,746,716,680,662.218570022,634,879,786,810,653,628.218570022,652,0.400918427755,0.00440539602648,0.0599286377442,0.99999996871,-0.000125070394561,-0.000214271987963,-3.20099683261e-05,1793248801134019840
+23,0.383333333,BASELINE,766,746,716,680,662,634.358302603,879,785.641697397,810,653.358302603,628,652.358302603,0.400919105608,0.00440448637701,0.0599286705691,0.999999968841,-0.000124921769736,-0.000213787750525,-3.1750671384e-05,1793248801150686720
+24,0.400000000,BASELINE,766,746,716,680,662,634.933155364,879,785.066844636,810,653.933155364,628,652.933155364,0.400920200743,0.00440352231385,0.0599291660037,0.999999969277,-0.000123587406785,-0.000212560343898,-3.1477938125e-05,1793248801167353856
+25,0.416666667,BASELINE,766,746,716,680.508386368,662,635,879,785,810,653.491613632,628.508386368,653,0.400920242935,0.00440536411048,0.059929191789,0.99999996946,-0.000122811720617,-0.000212094130062,-3.18314252385e-05,1793248801184020224
+26,0.433333333,BASELINE,766,745.914147501,715.914147501,680.828295003,662.085852499,635,879.085852499,785.085852499,809.914147501,653,629,653,0.400920045321,0.00440717568339,0.0599291102118,0.999999969544,-0.000122306355773,-0.000211936338947,-3.21878220245e-05,1793248801200686336
+27,0.450000000,BASELINE,766,745.323840356,715.323840356,679.647680713,662.676159644,635,879.676159644,785.676159644,809.323840356,653,629,653,0.400919252737,0.0044066403106,0.0599287609015,0.999999969241,-0.000122957410375,-0.000213002269005,-3.20771519598e-05,1793248801217352704
+28,0.466666667,BASELINE,766,745,715.261273783,679.261273783,663,635,879.738726217,785.738726217,809.261273783,653,628.738726217,652.738726217,0.400918219217,0.00440602862864,0.0599284447435,0.999999968915,-0.000123537043685,-0.00021421765194,-3.1927234732e-05,1793248801234019328
+29,0.483333333,BASELINE,766,745,715.840076765,679.840076765,663,635,879.159923235,785.159923235,809.840076765,653,628.159923235,652.159923235,0.400916892884,0.00440532420725,0.0599281688759,0.99999996856,-0.000124029877793,-0.000215614666701,-3.17296199577e-05,1793248801250685952
+30,0.500000000,BASELINE,766.41689747,745,716,680,663,635,879,785.41689747,810.41689747,653,628,652,0.400916442511,0.00440474678544,0.059927558514,0.99999996836,-0.000125213838701,-0.000215872331934,-3.16432775167e-05,1793248801267352576
+31,0.516666667,BASELINE,766.992961352,745,716,680,663,635,879,785.992961352,810.992961352,653,628,652,0.40091632657,0.00440421785056,0.0599268204464,0.999999968217,-0.000126661663453,-0.00021569500726,-3.15994175117e-05,1793248801284019200
+32,0.533333333,BASELINE,766.433719965,745.566280035,716,680,663,634.433719965,879,786,810.433719965,653,628,652,0.400917564223,0.00440602713183,0.0599280582828,0.999999968717,-0.00012396702283,-0.000214873247027,-3.20667733554e-05,1793248801300686592
+33,0.550000000,BASELINE,766.144341832,746,716,680,662.855658168,634.144341832,879,786,810,653,628,652,0.40091836983,0.00440729153696,0.0599289967695,0.999999969092,-0.000122125021633,-0.000214141198435,-3.23147433291e-05,1793248801317353472
+34,0.566666667,BASELINE,766.73724903,746,716,680,662.26275097,634.73724903,879,786,810,653,628,652,0.400917780747,0.0044067727692,0.0599289290233,0.99999996908,-0.000123091973838,-0.000213712715852,-3.18612849819e-05,1793248801334020096
+35,0.583333333,BASELINE,766.678797761,745.678797761,716,680,662.321202239,635,879,785.678797761,810,653,628,652,0.400918056685,0.00440656383782,0.0599291693661,0.999999969213,-0.000123571810383,-0.000212833193233,-3.17337283816e-05,1793248801350686720
+36,0.600000000,BASELINE,766.101970417,745.101970417,716,680,662.898029583,635,879,785.101970417,810,653,628,652,0.400919021041,0.00440660148609,0.0599296548978,0.99999996946,-0.000123663981643,-0.000211594715547,-3.18655368864e-05,1793248801367353088
+37,0.616666667,BASELINE,766,745,715.526574735,680,663,635,879,785,810,653,628.473425265,652.473425265,0.400919261208,0.004406864456,0.0599297913774,0.999999969474,-0.000123019128111,-0.000211908314708,-3.18150912994e-05,1793248801384019456
+38,0.633333333,BASELINE,766,745,715,680,663,635,879.049619078,785.049619078,810,653,628.950380922,652.950380922,0.400919441795,0.00440705270879,0.0599298913694,0.999999969447,-0.000122509701003,-0.000212348478174,-3.17205695361e-05,1793248801400686080
+39,0.650000000,BASELINE,766,745,715,680,663,635,879.637813328,785.637813328,810,653,628.362186672,652.362186672,0.400920663648,0.00440590478293,0.0599304088964,0.999999969501,-0.000125188091606,-0.000210544781395,-3.15724380674e-05,1793248801417352704
+40,0.666666667,BASELINE,766,745,715,680,663,634.776867162,879.776867162,786,810,653,628.223132838,652.223132838,0.400921488905,0.00440582904211,0.0599306194145,0.999999969646,-0.000125699397717,-0.000209550628595,-3.15471122467e-05,1793248801434019584
+41,0.683333333,BASELINE,766,745,715,680,663,634.196154579,879.196154579,786,810,653,628.803845421,652.803845421,0.400921678599,0.00440747152293,0.0599303379376,0.999999969945,-0.000122737859735,-0.000209853804136,-3.17185876448e-05,1793248801450686720
+42,0.700000000,BASELINE,766,745.381106875,715.381106875,680,663,634,879,785.618893125,810,653,629,653,0.40092179543,0.00440680508515,0.059930257157,0.99999996994,-0.000122727081902,-0.00020988873888,-3.16986516402e-05,1793248801467353856
+43,0.716666667,BASELINE,766,745.956607967,715.956607967,680,663,634,879,785.043392033,810,653,629,653,0.400921875094,0.00440496091882,0.0599302787473,0.999999969781,-0.00012422142187,-0.000209786849896,-3.15810808932e-05,1793248801484020992
+44,0.733333333,BASELINE,766,746,715.469374424,680,663,634,879,785,810,653,628.469374424,653,0.400921856038,0.00440590341973,0.0599303836548,0.999999969908,-0.000123007058093,-0.000209870004304,-3.17452854348e-05,1793248801500686848
+45,0.750000000,BASELINE,766,745.891952028,715.108047972,680.108047972,663,634,879.108047972,785.108047972,809.891952028,653,628,652.891952028,0.400921653461,0.00440703557829,0.0599303840516,0.999999970063,-0.000121330221888,-0.000210090122267,-3.18686757546e-05,1793248801517352960
+46,0.766666667,BASELINE,766,745.298696792,715.701303208,680.701303208,663,634,879.701303208,785.701303208,809.298696792,653,628,652.298696792,0.400920662901,0.00440799894403,0.0599298846148,0.999999970238,-0.000118568508446,-0.000210857534512,-3.17055965059e-05,1793248801534019584
+47,0.783333333,BASELINE,766,745,715.712925134,680.712925134,662.712925134,634,879.712925134,785.712925134,809.287074866,653,628.287074866,652.287074866,0.400919547383,0.00440763877786,0.0599291502386,0.99999996986,-0.000119777394572,-0.000211985016886,-3.15697517484e-05,1793248801550686208
+48,0.800000000,BASELINE,766,745,715.134742125,680.134742125,662.134742125,634,879.134742125,785.134742125,809.865257875,653,628.865257875,652.865257875,0.400918305153,0.00440593648484,0.0599281776221,0.999999968905,-0.000125012665133,-0.000213477628308,-3.14615240945e-05,1793248801567353088
+49,0.816666667,BASELINE,765.552749832,745,715.447250168,680,662.447250168,634,879.447250168,785,809.552749832,653,628.552749832,652.552749832,0.40091942919,0.00440596798556,0.059929029028,0.999999969264,-0.000124517180588,-0.000212055728221,-3.1631410294e-05,1793248801584019712
+50,0.833333333,BASELINE,765.030242234,745,715.969757766,680.030242234,662.969757766,634.030242234,879.969757766,785.030242234,809.030242234,653,628,652,0.400921160812,0.00440657217047,0.0599303596875,0.999999970003,-0.000122267874551,-0.000209832037607,-3.18668189543e-05,1793248801600686336
+51,0.850000000,BASELINE,765.610367559,745,715.389632441,680.610367559,662.389632441,634.610367559,879.389632441,785.610367559,809.610367559,653,628,652,0.40092086655,0.00440801022453,0.0599303269006,0.999999970453,-0.000119791323198,-0.000209132065526,-3.17570477252e-05,1793248801617352704
+52,0.866666667,BASELINE,766,745.190312298,715.190312298,680.809687702,662,634.809687702,879.190312298,786,809.809687702,653,628,652.190312298,0.400920461844,0.00440867528371,0.0599299889591,0.999999970532,-0.00011873431139,-0.000209358114729,-3.17402949211e-05,1793248801634019328
+53,0.883333333,BASELINE,766,745.769887636,715.769887636,680.230112364,662,634.230112364,879.769887636,786,809.230112364,653,628,652.769887636,0.400919831237,0.00440775926609,0.0599290268569,0.999999969859,-0.000120580812976,-0.000211478239464,-3.19138011623e-05,1793248801650685952
+54,0.900000000,BASELINE,766,745.652725244,716,680,662.347274756,634,880,785.652725244,809,653,628,652.652725244,0.400919443423,0.00440739055679,0.0599284875198,0.999999969595,-0.000121144476424,-0.000212422182656,-3.17963432081e-05,1793248801667352576
+55,0.916666667,BASELINE,766,745.076779031,716,680,662.923220969,634,880,785.076779031,809,653,628,652.076779031,0.400919215482,0.00440738223593,0.0599282265625,0.999999969603,-0.000120863424023,-0.000212591640598,-3.148729284e-05,1793248801684019200
+56,0.933333333,BASELINE,766,745,716,680,662.492407572,634,879.492407572,785.507592428,809.507592428,653,628.507592428,652,0.400920496976,0.0044073538638,0.0599291880628,0.99999996977,-0.000121759247989,-0.000211288989025,-3.14752776602e-05,1793248801700686848
+57,0.950000000,BASELINE,765.907827444,745,715.907827444,680,662,634.092172556,879,785.907827444,809.907827444,652.907827444,628.907827444,652,0.400921621858,0.00440746392446,0.0599300338892,0.999999969956,-0.000122221047617,-0.000210138965688,-3.15040699203e-05,1793248801717354240
+58,0.966666667,BASELINE,765.328988184,745,715.328988184,680,662,634.671011816,879,785.328988184,809.328988184,652.328988184,628.328988184,652,0.400920693979,0.00440832118792,0.0599292761654,0.999999970113,-0.000119435440109,-0.000210990359917,-3.15070917354e-05,1793248801734020608
+59,0.983333333,BASELINE,765.249561275,745.249561275,715.249561275,680,662,634.750438725,879,785.249561275,809.249561275,652.249561275,628.249561275,652,0.400919944123,0.00440839477852,0.0599287452094,0.999999969994,-0.000118803325718,-0.000211900302475,-3.15445123458e-05,1793248801750687232
+60,1.000000000,BASELINE,765.827729221,745.827729221,715.827729221,680,662,634.172270779,879,785.827729221,809.827729221,652.827729221,628.827729221,652,0.400919428675,0.00440743647785,0.0599285128471,0.999999969518,-0.000121006795933,-0.000212887337927,-3.16272271383e-05,1793248801767353856
+61,1.016666667,BASELINE,766,745.59604621,715.59604621,680.40395379,662.40395379,634,879,786,810,653,628.59604621,652,0.400917792951,0.00440675083834,0.0599273379623,0.999999968874,-0.000123028258492,-0.000214738211524,-3.16786852647e-05,1793248801784020224
+62,1.033333333,BASELINE,766,745.020646482,715.020646482,680.979353518,662.979353518,634,879,786,810,653,628.020646482,652,0.400915681761,0.00440618092165,0.0599257630524,0.999999968153,-0.000124972473288,-0.000216955714966,-3.17168774419e-05,1793248801800686848
+63,1.050000000,BASELINE,766,745,715.566846756,680.433153244,663,634.566846756,879,785.433153244,810,653,628,652,0.400917543445,0.00440727970952,0.0599268823169,0.999999968821,-0.000122906349431,-0.00021502771189,-3.18568892579e-05,1793248801817353472
+64,1.066666667,BASELINE,766,745,715.847553093,680,662.847553093,634.847553093,879,785,810,652.847553093,628,652,0.400918769855,0.00440778487351,0.0599276719092,0.999999969271,-0.000121562557235,-0.000213693680405,-3.18545056122e-05,1793248801834020352
+65,1.083333333,BASELINE,766,745,715.268509949,680,662.268509949,634.268509949,879,785,810,652.268509949,628,652,0.400917804802,0.00440645509423,0.0599272583826,0.999999968988,-0.000122657747759,-0.000214453515496,-3.14430487901e-05,1793248801850688000
+66,1.100000000,BASELINE,766,745,715,680,662,634,879,785,810,652.309747775,628,652,0.400918666846,0.00440607620501,0.0599277843391,0.999999969049,-0.000123794322301,-0.000213504970963,-3.1510737886e-05,1793248801867354624
+67,1.116666667,BASELINE,766,745,715,680,662,634,879,785,810,652.887326335,628,652,0.400921108734,0.0044065195256,0.0599291226419,0.999999969403,-0.000124966680462,-0.000211079235289,-3.19927319247e-05,1793248801884020224
+68,1.133333333,BASELINE,765.538930586,745,715,679.538930586,662.461069414,634,879,785,809.538930586,653,628.461069414,652.461069414,0.400921040833,0.00440730730863,0.0599296537774,0.999999969559,-0.000124752880714,-0.000210482457665,-3.18876574669e-05,1793248801900686336
+69,1.150000000,BASELINE,765.034991757,745.034991757,715,679.034991757,662.965008243,634,879,785,809.034991757,653,628.965008243,653,0.400920416338,0.00440804571687,0.059929938305,0.999999969656,-0.000124220505752,-0.000210369932936,-3.16386031592e-05,1793248801917352704
+70,1.166666667,BASELINE,765.626549992,745.626549992,715,679.626549992,662.373450008,634,879,785,809.626549992,653,628.373450008,653,0.40092061377,0.00440667092863,0.0599294119017,0.999999969583,-0.000123964443898,-0.000210909369954,-3.13625287252e-05,1793248801934019328
+71,1.183333333,BASELINE,766,745.786336696,715.213663304,680,662,634,879,785,810,652.786336696,628,652.786336696,0.400920810585,0.00440576670498,0.0599289956208,0.999999969493,-0.000123854180392,-0.000211405166156,-3.13238486747e-05,1793248801950685952
+72,1.200000000,BASELINE,766,745.206833992,715.793166008,680,662,634,879,785,810,652.206833992,628,652.206833992,0.400921006343,0.00440566819301,0.0599287678938,0.999999969375,-0.00012399355625,-0.0002118262396,-3.16916409009e-05,1793248801967352576
+73,1.216666667,BASELINE,766,745,715.630600771,680,662.369399229,634,879,785,810,652,628.369399229,652,0.400920276486,0.00440610235595,0.0599283429311,0.999999969154,-0.000124350579035,-0.000212653135906,-3.17370662909e-05,1793248801984019200
+74,1.233333333,BASELINE,766,745,715.056182174,680,662.943817826,634,879,785,810,652,628.943817826,652,0.400919032905,0.00440683215752,0.0599278085011,0.999999968875,-0.000124828397502,-0.000213705266946,-3.16035756242e-05,1793248802000686080
+75,1.250000000,BASELINE,766,745,715,680,662.470063974,634,879,785,809.470063974,652,629,652,0.400919882103,0.0044067764298,0.0599284091394,0.999999969429,-0.000123109826053,-0.000212092055913,-3.16811991006e-05,1793248802017352704
+76,1.266666667,BASELINE,766,745,715.115644547,680,662.115644547,634,879,785.115644547,809.115644547,652.115644547,628.884355453,652,0.400920881881,0.00440655257539,0.0599290645622,0.999999969923,-0.000121791917956,-0.000210521382608,-3.16395664711e-05,1793248802034019584
+77,1.283333333,BASELINE,766,745,715.694629839,680,662.694629839,634,879,785.694629839,809.694629839,652.694629839,628.305370161,652,0.40092157596,0.00440599630504,0.0599294464606,0.999999969841,-0.000123033320685,-0.000210278848401,-3.1028424324e-05,1793248802050686208
+78,1.300000000,BASELINE,766,745,716,680,662.726106077,634,879,786,810,653,628,652,0.400921602966,0.00440635773611,0.0599294902188,0.999999969871,-0.000122525759386,-0.000210456586855,-3.0893312521e-05,1793248802067352832
+79,1.316666667,BASELINE,766,745,716,680,662.146530886,634,879,786,810,653,628,652,0.400920885482,0.00440774337444,0.059929156593,0.99999997002,-0.000120066254214,-0.00021110337363,-3.12894778237e-05,1793248802084019456
+80,1.333333333,BASELINE,766,745,715.571473258,680,662.428526742,634,879.428526742,786,810,653,628,652,0.400919437005,0.00440882128078,0.0599279924153,0.999999969673,-0.000119748322904,-0.000212863031599,-3.16654094938e-05,1793248802100686080
+81,1.350000000,BASELINE,765.997892737,745,715.002107263,679.997892737,662.997892737,634,879.997892737,785.997892737,810,653,628,652,0.400917751071,0.00440978168191,0.0599265565533,0.999999969157,-0.000120169390407,-0.000214985274238,-3.20328429164e-05,1793248802117352448
+82,1.366666667,BASELINE,765.410004265,745,715.589995735,679.410004265,662.410004265,634,879.410004265,785.410004265,810,653,628,652,0.400918815103,0.00440702356845,0.0599277206479,0.999999968998,-0.000124578417094,-0.000213220755985,-3.19411211369e-05,1793248802134019328
+83,1.383333333,BASELINE,765.175277915,745,715.824722085,679.350555829,662,634,879,785,810,653,628,652,0.400919899137,0.00440532060068,0.0599286462733,0.999999969001,-0.000126959900646,-0.000211821632564,-3.17945201752e-05,1793248802150685696
+84,1.400000000,BASELINE,765.75455298,745,715.24544702,680.509105961,662,634,879,785,810,653,628,652,0.400921029278,0.00440604963219,0.0599290222528,0.999999969416,-0.000124668111491,-0.000211264705439,-3.15214284562e-05,1793248802167352320
+85,1.416666667,BASELINE,766,745,715.332273779,681,662,634,879,785.332273779,810,653,628.332273779,652.332273779,0.40092060866,0.00440727951668,0.0599284997992,0.999999969455,-0.000123180806152,-0.000211923872616,-3.17103951623e-05,1793248802184019200
+86,1.433333333,BASELINE,766,745,715.908851769,681,662,634,879,785.908851769,810,653,628.908851769,652.908851769,0.400919047848,0.00440887765316,0.059927316773,0.999999969217,-0.000122284997472,-0.000213477172849,-3.22390902233e-05,1793248802200685824
+87,1.450000000,BASELINE,766,745.483811263,715.516188737,680.516188737,662.483811263,634,879,786,809.516188737,653,628.516188737,652.516188737,0.400918498724,0.00440879640224,0.0599272545766,0.999999969363,-0.000120724305835,-0.000213722551562,-3.1982954232e-05,1793248802217352448
+88,1.466666667,BASELINE,766,745.939653496,715,680,662.939653496,634,879,785.939653496,809.060346504,653,628,652,0.400918431738,0.00440836726371,0.0599275347469,0.999999969581,-0.00011951076516,-0.00021343839858,-3.16188989435e-05,1793248802234019328
+89,1.483333333,BASELINE,766,745.346523304,715,680,662.346523304,634,879,785.346523304,809.653476696,653,628,652,0.400920944294,0.00440765073007,0.0599289795213,0.999999969816,-0.000122464344426,-0.000210647362069,-3.16031105818e-05,1793248802250685952
+90,1.500000000,BASELINE,766,745,715.240354618,680,662,634,879,785,810,653,628,652,0.400922161585,0.00440699801036,0.0599297139061,0.99999996994,-0.000123589870203,-0.000209415235254,-3.14744502523e-05,1793248802267352576
+91,1.516666667,BASELINE,766,745,715.818447021,680,662,634,879,785,810,653,628,652,0.400921558816,0.00440643495976,0.0599294500765,0.999999969925,-0.000122146679807,-0.000210373633291,-3.11871862388e-05,1793248802284019200
+92,1.533333333,BASELINE,766,745,715.606026306,680,662.393973694,634,879,785,810,653,628,652,0.400921244382,0.00440810698266,0.0599290721947,0.999999970269,-0.000119100629859,-0.000210454117469,-3.14154562926e-05,1793248802300685824
+93,1.550000000,BASELINE,766,745,715.031674284,680,662.968325716,634,879,785,810,653,628,652,0.400921061961,0.00441080231958,0.0599286420949,0.999999970765,-0.000115320720827,-0.000210132654504,-3.18797602848e-05,1793248802317352448
+94,1.566666667,BASELINE,765.446588409,745,715,680,662.446588409,634,879,785.553411591,810,653,628,652,0.400921176147,0.00441052497926,0.059928688192,0.999999970511,-0.000116358821422,-0.000210769282011,-3.18610773675e-05,1793248802334019328
+95,1.583333333,BASELINE,765.13843298,745,715,680,662,634,879,785.86156702,809.86156702,653,628,652,0.400921144369,0.00440995404177,0.0599287369095,0.999999970311,-0.000117345607528,-0.000211188902369,-3.17251687025e-05,1793248802350685696
+96,1.600000000,BASELINE,765.721236455,745,715,680,662,634,879,785.278763545,809.278763545,653,628,652,0.40092058847,0.00440899760846,0.0599287048194,0.99999997043,-0.000117264985296,-0.000210732423793,-3.13034559318e-05,1793248802367352320
+97,1.616666667,BASELINE,766,745,715,680,662.299460738,634.299460738,879,785.299460738,809.299460738,653,628,652,0.40092016548,0.00440837469553,0.0599283410435,0.999999970181,-0.000118415643849,-0.000211292983179,-3.11610883526e-05,1793248802384019200
+98,1.633333333,BASELINE,766,745,715,680,662.873486488,634.873486488,879,785.873486488,809.873486488,653,628,652,0.400919864348,0.00440805757574,0.0599276731564,0.999999969588,-0.000120695220422,-0.0002127860289,-3.12748425726e-05,1793248802400685824
+99,1.650000000,BASELINE,766,745,715,680,663,635,879,785.551297523,810,653,628,652,0.400921207609,0.00440794000753,0.059928667279,0.99999996981,-0.000121262733757,-0.000211399973059,-3.13877079649e-05,1793248802417352192
+100,1.666666667,BASELINE,766,745,715.024926835,680,663,634.975073165,879,785.024926835,810,653,628,652,0.40092288854,0.00440782254223,0.0599300320906,0.999999970231,-0.00012136801618,-0.00020932487768,-3.14841196601e-05,1793248802434019072
+101,1.683333333,BASELINE,766,745,715.616422786,680,663,634.383577214,879,785.616422786,810,653,628,652,0.400921678134,0.00440642516514,0.0599291428888,0.999999970006,-0.000121968257503,-0.000210088534419,-3.1212261945e-05,1793248802450685696
+102,1.700000000,BASELINE,766,745,715.796660411,680,663,634.203339589,879,785.796660411,809.796660411,653,628,652,0.40092022503,0.00440601070001,0.0599281514267,0.999999969741,-0.000122255624056,-0.00021118907607,-3.11628450641e-05,1793248802467352576
+103,1.716666667,BASELINE,766,745,715.218191478,680,663,634.781808522,879,785.218191478,809.218191478,653,628,652,0.400918324189,0.00440740955197,0.0599269713102,0.9999999694,-0.000121965786137,-0.00021291111695,-3.15237963305e-05,1793248802484019200
+104,1.733333333,BASELINE,766,745,715,680,663,634.641821413,879.358178587,785.358178587,809.358178587,653,628.358178587,652,0.40091870263,0.00440890782637,0.0599274335481,0.999999969779,-0.000119991943589,-0.000212218569852,-3.17415208638e-05,1793248802500685824
+105,1.750000000,BASELINE,766,745,715,680,663,634.06672241,879.93327759,785.93327759,809.93327759,653,628.93327759,652,0.400920461451,0.00441046631322,0.0599288904299,0.999999970584,-0.000116998232722,-0.000210063698127,-3.1872504338e-05,1793248802517352448
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,785,810,653,628,653,0.400920485621,0.00440888773696,0.0599284236053,0.999999970093,-0.000118687023336,-0.000211482041252,-3.16653459141e-05,1793248802548265472
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.591669348,680,662,635,878.408330652,785,809.408330652,653,628,652.408330652,0.400919569862,0.00440946667546,0.059928024546,0.999999969723,-0.000119948121572,-0.00021252818039,-3.15945532965e-05,1793248802564932352
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.820856559,680,662.179143441,634.820856559,878.179143441,785,809,653,628,652,0.400918944487,0.00440954270302,0.0599277438089,0.999999969473,-0.000120665606107,-0.000213307048067,-3.153053109e-05,1793248802581599232
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.242725996,680,662.757274004,634.242725996,878.757274004,785,809,653,628,652,0.400918965855,0.00440849865065,0.0599277265981,0.999999969495,-0.00012017235794,-0.00021349065066,-3.14815878858e-05,1793248802598265600
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.667208331,634,879,785.332791669,809.332791669,653,628,652,0.40092045086,0.00440782506602,0.0599284410325,0.999999969757,-0.000120592511655,-0.000212045829093,-3.12933719154e-05,1793248802614932224
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.093581605,634,879,785.906418395,809.906418395,653,628,652,0.400922995072,0.00440741958195,0.0599296849447,0.999999970188,-0.000121673677122,-0.000209422547649,-3.10043668727e-05,1793248802631599104
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.506564587,745,715,679.506564587,662.493435413,634,879,786,810,653,628,652,0.400924430982,0.0044077064609,0.0599296954012,0.999999970254,-0.000121885429809,-0.00020894854577,-3.12342239494e-05,1793248802648265728
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.081411691,745,715,679.081411691,662.918588309,634,879,785.918588309,809.918588309,653,628,652,0.400927132685,0.00440804069378,0.0599300304009,0.999999970536,-0.000121637873021,-0.000207701990086,-3.14964211762e-05,1793248802664932096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.659318683,745,715,679.659318683,662.340681317,634,879,785.340681317,809.340681317,653,628,652,0.400938871566,0.00440784058401,0.0599338110775,0.999999972516,-0.000119622807522,-0.000199188728843,-3.13389841754e-05,1793248802681598976
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.236863897,680,662.236863897,634.236863897,879,785.236863897,809.236863897,653,628.236863897,652,0.40095597085,0.00440824612791,0.0599381590634,0.999999974805,-0.000118847643059,-0.000187796193822,-3.15950176219e-05,1793248802698265600
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.813889509,680,662.813889509,634.813889509,879,785.813889509,809.813889509,653,628.813889509,652,0.400980768242,0.00440952145484,0.0599433217654,0.999999977453,-0.000119853108353,-0.000172268716534,-3.24448385609e-05,1793248802714932224
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.60940438,680,662.60940438,634.60940438,879.39059562,785.60940438,809.60940438,653,628.60940438,652,0.40101429125,0.00440980208218,0.0599490491116,0.999999980375,-0.0001205508905,-0.000153651300911,-3.33050452326e-05,1793248802731599104
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.032850331,680,662.032850331,634.032850331,879.967149669,785.032850331,809.032850331,653,628.032850331,652,0.401051968433,0.00440960914372,0.0599550452794,0.999999983164,-0.000121102188024,-0.000133562797019,-3.41701965081e-05,1793248802748265728
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.555410453,679.444589547,662,634,879.444589547,785,809,653,628,652.555410453,0.40109948609,0.00440950138947,0.0599560941761,0.999999984709,-0.000122108950033,-0.000120205548044,-3.49542542493e-05,1793248802764932096
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.85810454,679,662,634,879,785,809.14189546,653,628,652.85810454,0.401150506386,0.00440953906493,0.0599564550489,0.999999985621,-0.000123146042576,-0.000110991381789,-3.57012431629e-05,1793248802781598464
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.279265662,679,662,634,879,785,809.720734338,653,628,652.279265662,0.401210481649,0.00441000871826,0.0599556177164,0.999999985211,-0.000124191793207,-0.000113282782221,-3.63491726127e-05,1793248802798265344
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.297376752,662.297376752,634,879,785.297376752,810,653,628.297376752,652.297376752,0.401282383565,0.0044101533161,0.0599557177234,0.999999985308,-0.000124979468097,-0.000111331109469,-3.69944183814e-05,1793248802814931968
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.871971561,662.871971561,634,879,785.871971561,810,653,628.871971561,652.871971561,0.401365403642,0.00440999489341,0.0599566915292,0.999999985856,-0.000125526561724,-0.000105423994538,-3.76371623516e-05,1793248802831598592
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.543435981,634,879.456564019,786,809.543435981,653,629,653,0.401467609403,0.00440944064965,0.0599590752449,0.999999986389,-0.000126248285649,-9.90741602949e-05,-3.83090985825e-05,1793248802848265472
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.043395324,634,879.956604676,785.956604676,809.043395324,653,628.956604676,653,0.401578369475,0.00440889203226,0.0599621974719,0.999999986944,-0.00012703907829,-9.19213429852e-05,-3.9042928458e-05,1793248802864932352
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.622481423,634,879.377518577,785.377518577,809.622481423,653,628.377518577,653,0.401726827846,0.00440981371586,0.059969446406,0.999999988062,-0.000128064452936,-7.64229758516e-05,-4.04374864934e-05,1793248802881598976
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,634,879,785.201244946,810,653,628,652.798755054,0.401879889792,0.0044105617992,0.0599737656101,0.999999988701,-0.000128874755621,-6.51835956156e-05,-4.17093471471e-05,1793248802898265344
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,634,879,785.779404248,810,653,628,652.220595752,0.40204157382,0.00441098474419,0.0599725976825,0.999999988812,-0.000129282247079,-6.19209307927e-05,-4.27514060889e-05,1793248802914932224
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,634,879,785.644158876,810,653,628,652,0.402225388659,0.0044108996856,0.0599708436381,0.99999998896,-0.000129817690069,-5.74781476769e-05,-4.38529715361e-05,1793248802931598848
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,634,879,785.06878458,810,653,628,652,0.402422856931,0.00441050121854,0.0599687279939,0.999999989114,-0.00013043207171,-5.23073002426e-05,-4.49912491187e-05,1793248802948265472
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.517635479,745,715,680,663,634.517635479,879.517635479,785,810,653,628,652,0.40265031584,0.00441093080806,0.0599685440391,0.999999989593,-0.000128168042218,-4.78510652069e-05,-4.57959605318e-05,1793248802964932096
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.896184817,745,715,680.103815183,662.896184817,634.896184817,879.896184817,785.103815183,810,653,628,652,0.402891238096,0.00441147310331,0.0599689998719,0.999999990094,-0.000125755296309,-4.2749129629e-05,-4.65951845698e-05,1793248802981598720
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.317956995,745,715,680.682043005,662.317956995,634.317956995,879.317956995,785.682043005,810,653,628,652,0.403175076284,0.00441201664395,0.0599711808127,0.999999990538,-0.000124448954142,-3.42530775383e-05,-4.7576305002e-05,1793248802998265344
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.260153375,715,680.739846625,662.260153375,634,879,785.739846625,810,653,628,652.260153375,0.403469070976,0.00441370915503,0.0599709877223,0.999999991035,-0.00012114899104,-3.04197664948e-05,-4.82523737371e-05,1793248803014932224
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.838120228,715,680.161879772,662.838120228,634,879,785.161879772,810,653,628,652.838120228,0.403775473231,0.00441680529304,0.059967894423,0.99999999164,-0.000115413543175,-3.2282641709e-05,-4.85557794023e-05,1793248803031598848
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.586615058,715.413384942,680,662.586615058,634,879,785.413384942,810,653,628,653,0.404096715905,0.00441850920163,0.0599551232071,0.999999991161,-0.000111758835845,-5.26114784251e-05,-4.91957602755e-05,1793248803048265728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.012401632,715.987598368,680,662.012401632,634,879,785.987598368,810,653,628,653,0.404423732276,0.00441967145969,0.0599385867728,0.999999989611,-0.000108913646076,-8.01245452751e-05,-4.99666865673e-05,1793248803064932352
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,879,785.422579377,810,653,628,652.422579377,0.404786208914,0.00442126601151,0.0599238190614,0.999999987933,-0.000103481807105,-0.00010428258899,-5.05060593605e-05,1793248803081598976
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.8353944,680.1646056,662,634,879,785,810,652.8353944,628.1646056,652.1646056,0.405176777035,0.00442266816551,0.0599150215577,0.999999986732,-9.86652192884e-05,-0.000119181504295,-5.09663433275e-05,1793248803098265600
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.255728338,680.744271662,662,634,879,785,810,652.255728338,628.744271662,652.744271662,0.405636205276,0.00442356111737,0.0599211797547,0.999999987971,-9.55439927626e-05,-0.00011091985075,-5.12400898335e-05,1793248803114932224
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680.677834802,662,634.322165198,879,785,810,652,629,653,0.406128218144,0.00442350792037,0.0599408900872,0.999999991316,-9.2627827119e-05,-7.84423448387e-05,-5.13251277673e-05,1793248803131598592
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680.101340501,662,634.898659499,879,785,810,652,629,653,0.406645954568,0.00442270779862,0.0599712989765,0.999999994287,-8.98735435833e-05,-2.68479498249e-05,-5.12611921109e-05,1793248803148265472
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.482202911,635,879,785.482202911,810,652.482202911,629,653,0.407180201564,0.00442300779195,0.0599967471555,0.99999999454,-8.9889412083e-05,1.46532459728e-05,-5.1239821594e-05,1793248803164932096
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.066938262,680,663,634.933061738,879.066938262,786,810.066938262,653,629,653,0.407718328462,0.00442354120222,0.0600172677595,0.99999999355,-9.0369438322e-05,4.5991402531e-05,-5.11733997991e-05,1793248803181598976
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.64927556,680,663,634.35072444,879.64927556,786,810.64927556,653,629,653,0.408259216243,0.00442406525848,0.0600079942595,0.999999994554,-8.98742432216e-05,1.56528064228e-05,-5.06902015578e-05,1793248803198265600
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.228765839,715.771234161,680.228765839,663,634,880,785.771234161,811,653,629,652.771234161,0.408822246229,0.00442468667887,0.0599960207259,0.999999993329,-0.000102823590776,-1.50868727514e-05,-5.04139577223e-05,1793248803214932224
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.80394493,715.19605507,680.80394493,663,634,880,785.19605507,811,653,629,652.19605507,0.409418805458,0.00442545553481,0.0599799586128,0.999999988383,-0.000136131606157,-4.64338981462e-05,-5.04510987506e-05,1793248803231599104
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.620930849,715,681,663,634,880,785.379069151,811,653,629,652.379069151,0.4100618729,0.00442693674376,0.0599806206809,0.999999987512,-0.000143465289341,-4.1691542929e-05,-5.15308764496e-05,1793248803248265472
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.045835022,715,681,663,634,880,785.954164978,811,653,629,652.954164978,0.410728990949,0.00442878632925,0.0599899312656,0.999999988986,-0.000137366957841,-1.82864141928e-05,-5.31498291385e-05,1793248803264932096
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.540866033,681,663,634.540866033,880.540866033,785.459133967,811,653,628.459133967,653,0.41140782503,0.00442946412043,0.0599951827621,0.999999989993,-0.00013065226294,-4.05685380707e-06,-5.41096906498e-05,1793248803281598976
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.872527139,681,663,634.872527139,881,785,811,653,628,653,0.412089269883,0.00443083688061,0.0599935881668,0.99999999104,-0.000122109897049,-3.97210665218e-06,-5.4711607322e-05,1793248803298265600
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.289845937,681,663,634.289845937,881,785,811,653,628,653,0.412776414427,0.00443505377608,0.0599688013322,0.99999999145,-0.000107231495001,-5.15611833738e-05,-5.42391238412e-05,1793248803314932224
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,634,880.712277571,785,811,653,628.287722429,653,0.413480232198,0.00443695149542,0.0599418250894,0.999999988466,-9.78922603464e-05,-0.000102856691233,-5.38951469705e-05,1793248803331598848
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,634,880.139769782,785,811,653,628.860230218,653,0.414200553078,0.00443655371325,0.0599126817849,0.999999981684,-9.40356475066e-05,-0.000157820800604,-5.36783648361e-05,1793248803348265472
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.435962642,681,663.435962642,634,880,785.435962642,811,653,629,653,0.41502619137,0.00443455414947,0.0599422157713,0.999999988736,-9.51429768972e-05,-0.000102572403761,-5.43543158455e-05,1793248803364932096
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,716,681,663.986948707,634,880.013051293,786,811.013051293,652.986948707,629,653,0.415884839458,0.004432150414,0.0599902242171,0.999999993622,-9.76449120182e-05,-1.28556251515e-05,-5.52900178021e-05,1793248803381598720
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,716,681,663.395921772,634,880.604078228,786,811.604078228,652.395921772,629,653,0.416698912171,0.00443475913999,0.0600170786529,0.999999993997,-9.09048421083e-05,2.68598060221e-05,-5.49595264912e-05,1793248803398265344
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.809068206,681,663,634,881,785.809068206,811.809068206,652,629,653,0.417517865873,0.00443639635642,0.060029760972,0.999999993768,-8.56103997996e-05,4.61399306559e-05,-5.4829253225e-05,1793248803414932224
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.230683581,681,663,634,881,785.230683581,811.230683581,652,629,653,0.418346724391,0.00443606211409,0.0600136841884,0.99999999473,-8.32495319078e-05,2.39512267989e-05,-5.51052772856e-05,1793248803431598848
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.344681681,634,881,785,811.344681681,652,629,653,0.419186137591,0.00443571971844,0.0599913387812,0.999999994679,-8.5553483542e-05,-1.39393150496e-05,-5.59266024877e-05,1793248803448265472
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.918043713,634,881,785,811.918043713,652,629,653,0.420032553303,0.00443537191343,0.0599648344331,0.999999992296,-9.09523270851e-05,-6.22472991237e-05,-5.71097096674e-05,1793248803464932096
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.506049763,633.506049763,880.506049763,785.493950237,812,652,629,653,0.420853162388,0.00443734344994,0.0599336213414,0.999999988155,-8.87973726513e-05,-0.000111455970105,-5.8153601466e-05,1793248803481598720
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633.07226657,880.07226657,785.92773343,812,652,629,653,0.421673271887,0.00443950194695,0.0599038237001,0.999999982051,-8.58959526912e-05,-0.000158227969947,-5.90229964008e-05,1793248803498265344
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633.664878496,880.664878496,785.335121504,812,652,629,653,0.422520774198,0.00444022139634,0.0598898724204,0.999999977146,-8.66908501939e-05,-0.00018637342704,-5.8803130943e-05,1793248803514932224
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.250173941,715,681,663.250173941,634,881,785,812,652,629,653,0.423430700657,0.0044394500637,0.0599121025993,0.999999983049,-8.9538803481e-05,-0.000149775672774,-5.87585475348e-05,1793248803531598848
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.825947131,715,681,663.825947131,634,881,785,812,652,629,653,0.424421871729,0.00443673849107,0.0599814226357,0.999999993327,-9.50587906019e-05,-2.89151837153e-05,-5.89420916187e-05,1793248803548265472
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.598221689,715,681,664,634,881,785,812.401778311,652,629.401778311,653,0.425379883041,0.00443656611009,0.0600211844424,0.99999999314,-9.44229231314e-05,3.7390650819e-05,-5.83568289441e-05,1793248803564932096
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.022365418,715,681,664,634,881,785,812.977634582,652,629.977634582,653,0.426323527207,0.0044374938815,0.0600481395896,0.999999990994,-9.11199165656e-05,8.00596547545e-05,-5.74384665187e-05,1793248803581598720
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.435240422,745.564759578,715,681,663.435240422,634,881,785,813,652,630,653,0.427199486461,0.00443459105625,0.0600267382913,0.999999991802,-9.79443775409e-05,5.65998597488e-05,-5.99959380295e-05,1793248803598265600
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.301269718,745.849365141,715,681,663.150634859,634,881.150634859,785,813.150634859,652,630,653,0.428068633596,0.00443286082177,0.0600021304918,0.999999992461,-0.00010237733621,2.6701683738e-05,-6.23177272697e-05,1793248803614931968
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.463277378,745.268361311,715,681,663.731638689,634,881.731638689,785,813.731638689,652,630,653,0.428926132238,0.00443492294987,0.0599739442082,0.999999993001,-9.88085061533e-05,-1.3956806198e-05,-6.35648900244e-05,1793248803631598848
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.690078996,745.309921004,715,681,663.690078996,634,881.690078996,784.690078996,813.690078996,652.309921004,630,653,0.429769832679,0.00443536616648,0.0599444278736,0.999999991336,-9.50485762721e-05,-6.53650228672e-05,-6.34166557656e-05,1793248803648265472
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.114132763,745.885867237,715,681,663.114132763,634,881.114132763,784.114132763,813.114132763,652.885867237,630,653,0.430601689188,0.00443441976661,0.0599137698718,0.999999985984,-9.11246130749e-05,-0.000126000422537,-6.20706618857e-05,1793248803664932096
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.540579647,715,681,663,634,881.459420353,784,813.459420353,652.540579647,630,653,0.431546586453,0.00443168800501,0.0599445441391,0.999999991212,-9.6520600653e-05,-6.5909236274e-05,-6.25718415312e-05,1793248803681598720
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.033503056,633.966496944,881.966496944,784.033503056,814,652,630,653,0.43251332067,0.00442875528039,0.0599892881465,0.999999992395,-0.000103704759407,2.07593163315e-05,-6.34424769421e-05,1793248803698265344
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.626299139,633.373700861,881.373700861,784.626299139,814,652,630,653,0.433378221809,0.00442983361023,0.0600137882868,0.999999991387,-0.00010228885973,5.30218533209e-05,-6.28598328111e-05,1793248803714932224
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.213399876,745,715,681.213399876,663.786600124,633.213399876,881,785,814,652,630,653,0.434223581915,0.0044289016631,0.0600189302744,0.999999991241,-0.000102243959668,5.63235337634e-05,-6.23789634598e-05,1793248803731598592
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.790786408,745,715,681.790786408,663.209213592,633.790786408,881,785,814,652,630,653,0.435035611893,0.00442454087631,0.0599910539277,0.999999992557,-0.000104537512317,1.02279771545e-05,-6.20716867193e-05,1793248803748265216
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.26598653,745,715,682,663,634,881.73401347,784.632993265,814,652,630,653,0.435829750714,0.00442249778866,0.0599617141187,0.999999991369,-0.000107174926608,-4.37680165364e-05,-6.21274554407e-05,1793248803764932096
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.114871333,745,715,682,663,634,882.885128667,784.057435666,814,652,630,653,0.436613722872,0.00442177172931,0.0599315427017,0.999999986775,-0.000110007739261,-0.000102253415379,-6.23895239355e-05,1793248803781598720
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.530032449,745,715,682,663.530032449,634,881.939935102,784,814,652,630,653,0.437376998408,0.00442337029774,0.0599204006934,0.999999984444,-0.00010749086362,-0.000125282637409,-6.21405851342e-05,1793248803798266368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,663.883092781,634,881.116907219,784,814,652,630,653,0.438139193528,0.00442415249504,0.0599136830715,0.999999982681,-0.0001055752415,-0.000140243496115,-6.18374803923e-05,1793248803814933760
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,682,663.303787085,634,881.696212915,784,814,652,630,653,0.438906189826,0.004420686488,0.0599161215155,0.999999982595,-0.00010838332976,-0.000138837805674,-6.15441888564e-05,1793248803831600384
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681.726569523,663.273430477,633.726569523,882,784,814,652,630,653,0.439687627376,0.00441712694577,0.0599427225353,0.999999987112,-0.000113116127377,-9.59303110836e-05,-6.14590061722e-05,1793248803848266752
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.151654379,663.848345621,633.151654379,882,784,814,652,630,653,0.440484987812,0.0044134642718,0.0599959652309,0.99999999088,-0.000119971110274,-7.26289258642e-06,-6.16032841402e-05,1793248803864933120
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,881.574930283,784.425069717,814.425069717,652,630,653,0.441207377529,0.00441325503231,0.0600172029115,0.999999990399,-0.000122222955502,2.14214277227e-05,-6.16899038639e-05,1793248803881599488
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681.002494062,664,633,881.002494062,784.997505938,815,652,630,652.997505938,0.441902605661,0.004414265552,0.0600267762415,0.999999990147,-0.000122833361898,2.83671575478e-05,-6.1755847962e-05,1793248803898266112
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681.59217368,664,633,881.59217368,784.40782632,815,652,630,652.40782632,0.442527292122,0.00441113082572,0.0599899807096,0.999999989981,-0.000125295603479,-2.27545071696e-05,-6.18178406173e-05,1793248803914932992
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,881.094954461,784,814.094954461,652,630,653,0.44492970456,0.00440616556778,0.0599695438422,0.999999988802,-0.000128145304612,-4.65573128685e-05,-6.16978135869e-05,1793248803981600512
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633.479750667,881.479750667,784.479750667,814.479750667,652.479750667,630,653,0.445459962994,0.00440552416839,0.0599693445057,0.999999988382,-0.000128277881823,-5.47971841901e-05,-6.14711732271e-05,1793248803998267136
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+247,4.116666667,HOLD_POSE2,766,745,715.480571657,682,661.480571657,632,882,784,815,652,630.480571657,653,0.451720291782,0.00445327500165,0.0598409257605,0.99999996558,-6.68632295428e-05,-0.000244794056456,-6.66665500417e-05,1793248804917222912
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+249,4.150000000,HOLD_POSE2,766,745,715.353944273,682,662,632,881.353944273,784,815,652,630.353944273,653,0.451721651056,0.00445423073309,0.0598416108976,0.999999965969,-6.58641028266e-05,-0.000243613582616,-6.61612243369e-05,1793248804950555904
+250,4.166666667,HOLD_POSE2,766,745,715,682,661.768903627,632.231096373,881.462192745,784,815,652.231096373,630,653,0.451721242797,0.00445513030325,0.0598413343233,0.999999965897,-6.52739401542e-05,-0.000244039204261,-6.62568648704e-05,1793248804967222784
+251,4.183333333,HOLD_POSE2,766,745,715,682,661.189755818,632.810244182,882.620488363,784,815,652.810244182,630,653,0.451721047056,0.00445639595515,0.0598410443648,0.999999965941,-6.28045625067e-05,-0.000244395589573,-6.66601833857e-05,1793248804983889664
+252,4.200000000,HOLD_POSE2,766,745,715,682,661,633,882.223898551,784,815.388050724,652.611949276,630.388050724,653,0.451721703284,0.00445606107395,0.0598415468117,0.999999966022,-6.40270999792e-05,-0.000243723967385,-6.6749307801e-05,1793248805000556544
+253,4.216666667,HOLD_POSE2,766,745,715,682,661,633,881.069592597,784,815.965203702,652.034796298,630.965203702,653,0.451722774689,0.00445494623191,0.0598424354082,0.999999966113,-6.7048756325e-05,-0.000242551383568,-6.66853213091e-05,1793248805017223680
+254,4.233333333,HOLD_POSE2,766.540111907,745.540111907,715,681.459888093,661.540111907,633,881.540111907,784.540111907,815.459888093,652,630.459888093,653,0.451721990263,0.00445430853786,0.0598417611196,0.999999965778,-6.66428895631e-05,-0.000244032112145,-6.67142642072e-05,1793248805033890304
+255,4.250000000,HOLD_POSE2,766.882082028,745.882082028,715,681.117917972,662,633,882,784.882082028,815,652,630.117917972,653,0.451721237899,0.00445399838471,0.0598411309188,0.999999965479,-6.60115614196e-05,-0.000245429737991,-6.6698885982e-05,1793248805050556416
+256,4.266666667,HOLD_POSE2,766.292098107,745.292098107,715,681.707901893,662,633,882,784.292098107,815,652,630.707901893,653,0.451721090551,0.0044548769366,0.0598410786356,0.999999965442,-6.53579754937e-05,-0.000245813186278,-6.64822067325e-05,1793248805067222784
+257,4.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,632,883,784,815,652,631,653,0.451722198596,0.00445715336271,0.0598416293939,0.999999966104,-6.01627888073e-05,-0.000244619182515,-6.58384169543e-05,1793248805104279296
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766.574491278,745,715,682,662,632.574491278,882.425508722,784,815,652,631,653,0.451721068676,0.00445596229953,0.0598403812962,0.99999996546,-6.40001357846e-05,-0.000246122261496,-6.63856952314e-05,1793248805120946176
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766.850966169,744.850966169,715,682,661.850966169,633,882,784,815,652,630.850966169,653,0.451720305659,0.00445478193735,0.0598396562909,0.999999965028,-6.72866669563e-05,-0.000246931885251,-6.6647763522e-05,1793248805137612800
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766.276277037,744.276277037,715,682,661.276277037,633,882,784,815,652,630.276277037,653,0.451720590549,0.00445363213804,0.0598404252883,0.999999965236,-6.90000148201e-05,-0.000245760932927,-6.60952441268e-05,1793248805154279680
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766.306937856,744.306937856,715,682,661,633,882,784,815,652,630,653,0.451721486932,0.00445315325745,0.0598409967266,0.999999965544,-6.85873773556e-05,-0.000244697724957,-6.58154378189e-05,1793248805170946304
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.898046066,744.898046066,715,682,661,633,882,784,815,652,630,653,0.451722949448,0.0044532955294,0.0598413852602,0.999999965941,-6.62064521057e-05,-0.00024373426934,-6.5788115794e-05,1793248805187612672
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.522178625,745,715.477821375,682,661.477821375,633,882,784,815,652,630,653,0.451723095538,0.00445307452564,0.0598416071951,0.999999965924,-6.77674301597e-05,-0.000243334647396,-6.59423428316e-05,1793248805204279552
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766.055076737,745,715.944923263,682,661.944923263,633,882,784,815,652,630,653,0.45172287845,0.00445279634977,0.0598417533888,0.999999965821,-6.98955341793e-05,-0.000243105137215,-6.61200357382e-05,1793248805220945920
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.630839927,745,715.369160073,682,661.369160073,633,882,784,815,652,630,653,0.451721821891,0.00445269349605,0.0598415118125,0.999999965773,-6.96178168406e-05,-0.000243372827706,-6.61618371416e-05,1793248805237612544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,745,715.211556551,682,661,632.788443449,882,784,815,652,630,653,0.451718218422,0.00445318924796,0.0598401865417,0.999999965389,-6.89443284739e-05,-0.000245109249813,-6.62538674352e-05,1793248805254279168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,745,715.801123947,682,661,632.198876053,882,784,815,652,630,653,0.451710064113,0.00445475459296,0.0598369249174,0.999999964393,-6.75636734738e-05,-0.000249470012631,-6.64356470837e-05,1793248805270945792
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.616444478,745,715.616444478,681.616444478,661,632.383555522,882,784,815.383555522,652,630,653,0.451682970448,0.00445563401834,0.0598263624774,0.999999959937,-6.64146637719e-05,-0.000266989269968,-6.65707805053e-05,1793248805287612928
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.037645241,745,715.037645241,681.037645241,661,632.962354759,882,784,815.962354759,652,630,653,0.451646235961,0.00445616428581,0.0598120836563,0.999999953239,-6.53835697974e-05,-0.000291206680005,-6.66821692847e-05,1793248805304279808
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.538145027,661.538145027,633,882,784,816,652.538145027,630,653,0.451591761328,0.00445680190037,0.0597966109409,0.999999948568,-6.27437100744e-05,-0.000307362127485,-6.67533825147e-05,1793248805320946176
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,882.115048285,784.115048285,816,652.884951715,630.115048285,653,0.451531494997,0.00445716687942,0.0597815373604,0.999999943311,-6.07582546478e-05,-0.000324384951306,-6.67871910982e-05,1793248805337612800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,882.697321782,784.697321782,816,652.302678218,630.697321782,653,0.45145271964,0.00445639432565,0.0597684219992,0.999999935585,-6.188490859e-05,-0.000347207894732,-6.66804449071e-05,1793248805354279424
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.719601685,662,633,882.719601685,784.719601685,815.719601685,652,631,653,0.451366316698,0.00445638020281,0.0597581129472,0.999999929758,-6.08922051418e-05,-0.000363847828252,-6.62649236367e-05,1793248805370946048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.135655854,662,633,882.135655854,784.135655854,815.135655854,652,631,653,0.451271656456,0.0044571871257,0.0597508418893,0.999999926334,-5.7605173761e-05,-0.000373794291964,-6.55151353777e-05,1793248805387612672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.444649015,745,715,681.444649015,662,633,882,784,815,652,630.555350985,653,0.451160737453,0.0044591495213,0.0597448835405,0.999999923264,-5.40223417765e-05,-0.000382497485948,-6.51814282099e-05,1793248805404279040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.976376812,745,715,682,662,633,882,784,815,652,630,653,0.451044242699,0.00446134157783,0.0597397567599,0.999999920506,-5.04630635588e-05,-0.000390160173792,-6.49315430795e-05,1793248805420945408
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.402732278,745,715,682,662,633,882,784,815,652,630,653,0.450912480489,0.00446073980968,0.059744742595,0.999999923646,-4.95362941646e-05,-0.000382356276215,-6.37017376088e-05,1793248805437612544
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.824735158,662.175264842,633,882,784,815,652,630.175264842,653,0.450769565657,0.00446030850499,0.0597493588726,0.999999926351,-4.7853040278e-05,-0.000375671796625,-6.22860199671e-05,1793248805454279680
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.236481824,662.763518176,633,882,784,815,652,630.763518176,653,0.450600371158,0.00446027887504,0.0597531043358,0.999999928136,-4.43872305602e-05,-0.000371625079078,-6.04322249867e-05,1793248805470946816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.345872968,715,681.345872968,663,633,881.654127032,784,815,652,630.654127032,653,0.450410393298,0.00446258861558,0.0597553293929,0.999999929161,-3.9829702301e-05,-0.000369591700278,-5.91049646861e-05,1793248805487613184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.924262465,715,681.924262465,663,633,881.075737535,784,815,652,630.075737535,653,0.4502064436,0.00446647102109,0.0597565323423,0.999999929666,-3.4538255088e-05,-0.000368911807991,-5.81316723547e-05,1793248805504279552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.497408159,715,681.497408159,663,633.502591841,881.502591841,784,815,652,630,653,0.449969832683,0.00446701544613,0.059756530798,0.999999930367,-2.89272198388e-05,-0.000367765186909,-5.63801664721e-05,1793248805520946176
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.080116741,745,715,681.080116741,663.080116741,633.919883259,882,784.080116741,815,652,630,653,0.449724624308,0.00446736865704,0.0597573713171,0.999999931664,-2.2966470411e-05,-0.000364933487846,-5.4473569405e-05,1793248805537612544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.652752053,745,715,681.652752053,663.652752053,633.347247947,882,784.652752053,815,652,630,653,0.449456816363,0.00446963828736,0.0597645041311,0.999999936502,-1.51518752563e-05,-0.000352175074679,-5.23343917588e-05,1793248805554279168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766.766975109,745,715,682,663.766975109,633,882,784.766975109,815,652,630,653,0.449166623587,0.00447189289256,0.0597711548208,0.999999940697,-7.58216193263e-06,-0.000340619288287,-5.02759699228e-05,1793248805570945792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.174935384,745,715,682,663.174935384,633,882,784.174935384,815,652,630,653,0.448841943154,0.00447412434884,0.0597770627148,0.999999944079,-3.8973156476e-07,-0.000330916355647,-4.83419664079e-05,1793248805587612928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.407599439,745,715,682,663,633,881.592400561,784,814.592400561,652,630,653,0.448494788883,0.00447503063368,0.0597819754381,0.999999946042,7.19551170222e-06,-0.000325287737308,-4.52935952479e-05,1793248805604279808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.98614785,745,715,682,663,633,881.01385215,784,814.01385215,652,630,653,0.448138208996,0.00447538113581,0.0597864707825,0.999999947377,1.49455022208e-05,-0.000321367904282,-4.17778535133e-05,1793248805620946432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.437669204,745,715,682,663,633,881.562330796,784,814.562330796,652,630.562330796,653,0.447749288893,0.00447834970642,0.0597989151337,0.999999955209,2.62349568224e-05,-0.000295600542941,-3.89052490069e-05,1793248805637612800
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.138016526,682,663,633,882.138016526,784,814.861983474,652,630.861983474,653,0.447346590371,0.00448107986028,0.0598109201645,0.999999961227,3.67703976503e-05,-0.00027369331775,-3.58696301034e-05,1793248805654279168
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.712313825,682,663,633,882.712313825,784,814.287686175,652,630.287686175,653,0.446902845014,0.00448285334965,0.0598209200853,0.999999963189,4.46478839412e-05,-0.000265682385399,-3.22688407103e-05,1793248805670945792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.294846919,715.705153081,681.705153081,663,633,882.705153081,784.294846919,813.705153081,652,630,653,0.446416606589,0.0044855935803,0.0598162990635,0.999999959401,5.51348240396e-05,-0.000278077886369,-2.8813702182e-05,1793248805687612672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.885646768,715.114353232,681.114353232,663,633,882.114353232,784.885646768,813.114353232,652,630,653,0.445887715645,0.00448930417884,0.0597970022551,0.999999948999,6.82410072801e-05,-0.000310956366901,-2.55047604185e-05,1793248805704279552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.533818067,715.466181933,681.466181933,663,633,882,785,813,652,630,653,0.445323890706,0.00449410876591,0.0597692641126,0.999999934279,8.34650938995e-05,-0.000352098961644,-2.24196604912e-05,1793248805720946432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.955921146,682,663,633,881.955921146,784.955921146,813,652.044078854,630,653,0.444753375656,0.00449906149522,0.0597425903089,0.999999918803,9.90520533332e-05,-0.000390139737121,-1.93263927904e-05,1793248805737613312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.380129796,682,663,633,881.380129796,784.380129796,813,652.619870204,630,653,0.444203300389,0.00450263390082,0.059753194817,0.999999926224,0.000112884488381,-0.00036683767705,-1.54865271178e-05,1793248805754279936
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.199963549,715,682,663,633.199963549,881,784.199963549,813,652.800036451,630,653,0.443645458162,0.00450587821794,0.059769529079,0.999999935246,0.000126648218471,-0.000336659309399,-1.13699867433e-05,1793248805770946560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.78841474,715,682,663,633.78841474,881,784.78841474,813,652.21158526,630,653,0.443072526377,0.00450848512711,0.0597969950621,0.999999947178,0.000140278468238,-0.000293121705727,-6.71592512097e-06,1793248805787612928
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.474230922,663,633,881,784.525769078,812.474230922,652,630,652.474230922,0.441003295166,0.00452104238189,0.0597790081036,0.999999919793,0.00018890697687,-0.000353045235693,9.33241090878e-06,1793248805837612544
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.258569291,682,663.258569291,633,881.741430709,785,812,652,630,653,0.438850332069,0.00453106223746,0.0597936703338,0.999999919552,0.000232559483024,-0.000325924589443,2.41988654363e-05,1793248805887613184
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.849819542,682,663.849819542,633,881.150180458,785,812,652,630,653,0.438127896634,0.00453427383823,0.0598213824736,0.999999929426,0.000247185303651,-0.00028141173997,2.92290762237e-05,1793248805904280064
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715.568825296,682,663.568825296,633.431174704,881,785,812,652,630,653,0.437288274808,0.00453873219478,0.0597953906923,0.999999910528,0.000259564440195,-0.000332397152595,3.29124354208e-05,1793248805920946176
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.990880701,633.990880701,881,784.990880701,812,652,630,652.990880701,0.436409924682,0.00454357112285,0.0597515604802,0.999999876842,0.000270478000436,-0.000414571088833,3.59059327188e-05,1793248805937612544
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663.468590722,633.734295361,881,784,812,652,630,652.734295361,0.43398456917,0.00454521467606,0.0597523617918,0.999999914008,0.000207511190976,-0.000358625034037,1.76150226577e-05,1793248805987612416
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.491866368,662.508133632,633.508133632,881,785,812.491866368,652,630,652.508133632,0.431441176137,0.00455733357773,0.0598056990256,0.999999931855,0.000231339348548,-0.000286403729519,2.72918258906e-05,1793248806037612544
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.141351259,633.070675629,880.929324371,785,812.929324371,652,630,652.070675629,0.430564451894,0.00455758607078,0.0598211226072,0.999999939898,0.000231317376504,-0.000256567749434,2.94903062229e-05,1793248806054279424
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.375249258,633.187624629,880.812375371,785,812,652,630,653,0.427836197449,0.00456237909301,0.0597568468021,0.999999901001,0.000220288045365,-0.000385462606911,2.98197341409e-05,1793248806104279040
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.448851351,682.551148649,663.551148649,634,880.551148649,785,811.448851351,652,629.551148649,653,0.425157245278,0.00456421954045,0.0597916156221,0.999999924039,0.000210264974427,-0.000326681414357,3.14741094473e-05,1793248806154278912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.870095832,663.740191664,634,881,785,811,652,630,653,0.424258119019,0.00456648775082,0.0598177899431,0.999999931959,0.000209608552767,-0.000301718507154,3.33526254297e-05,1793248806170945792
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.297400612,715.297400612,682,662.297400612,634,881,785,811,652.297400612,630,653,0.42254763005,0.00456219858097,0.0598357010166,0.999999947186,0.000191871846958,-0.000260067846406,3.43302141085e-05,1793248806204280320
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.02888705,681.02888705,662.9422259,634,880,785.97111295,811,652.02888705,629.97111295,652.97111295,0.419781148173,0.00456610152734,0.0597412850426,0.999999886858,0.000181027207792,-0.000438473252887,3.54145707015e-05,1793248806254279168
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.065595568,682,662.065595568,634,880,785,811,652,629.934404432,653,0.415757808186,0.00456038820639,0.0598374578362,0.999999952598,0.00014669128419,-0.000268185683473,3.69094037264e-05,1793248806337612544
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,715,681,662.090716755,634,880,785.090716755,811,652.090716755,629,652.909283245,0.414201230333,0.00455869526206,0.0598426715322,0.999999948113,0.000168250584076,-0.000272096360707,3.78071431404e-05,1793248806370946304
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,715,681,662.666360608,634,880,785.666360608,811,652.666360608,629,652.333639392,0.413418577097,0.0045596970366,0.0598354735544,0.999999932119,0.000232778225123,-0.000283000378057,3.85635196343e-05,1793248806387612928
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.410130585,716,681,662,634.410130585,880,786,811,653,629.410130585,652,0.411202139654,0.00455672166215,0.0597474578379,0.999999882597,0.000233619113506,-0.000423079555245,3.50995330283e-05,1793248806437612544
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.9956525,716,681,662,634.9956525,880,786,811,653,629.9956525,652,0.410540347458,0.00455605714871,0.0597491865001,0.999999894554,0.00022045606079,-0.000401497569112,3.30342777674e-05,1793248806454279168
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.572777586,745.427222414,716,681,662.572777586,634.427222414,880,786,810.427222414,653,629.427222414,652.572777586,0.409939439115,0.00455300057613,0.0597973914716,0.999999920552,0.000208439390412,-0.000337926010158,3.54401921227e-05,1793248806470946304
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.850866179,745,716,681.149133821,662.850866179,634,880.149133821,786,810,653,629,652.850866179,0.409339098007,0.00455007302068,0.0598373092287,0.999999939595,0.000197721880257,-0.000283396661623,3.74579315581e-05,1793248806487613696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.276522866,745,716,681.723477134,662.276522866,634,880.723477134,786,810,653,629,652.276522866,0.408739075498,0.00454756433637,0.0598526072702,0.999999948436,0.000190684076963,-0.000255543973825,3.82735465541e-05,1793248806504280320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.693230637,681.693230637,662.306769363,634,880.386461273,786,810,653,629,652.306769363,0.408156854186,0.0045460315161,0.0598520158778,0.99999995041,0.000184986023499,-0.000252021543923,3.80060953261e-05,1793248806520946688
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.478534292,745,715.478534292,680.521465708,662.521465708,634.478534292,879,786,810,653,629.478534292,653,0.407063757364,0.00454447291256,0.0598255165645,0.999999943272,0.000177711259421,-0.00028386476149,3.59804177032e-05,1793248806554279424
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.943788379,745,715.943788379,680,662.056211621,634.943788379,879,785.943788379,810,653,629.943788379,653,0.406549587972,0.00454325084839,0.0598168923641,0.999999941166,0.000174576564903,-0.000293152696578,3.53806236948e-05,1793248806570946048
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.367167401,745,715.367167401,680,662.632832599,634.367167401,879,785.367167401,810,653,629.367167401,653,0.406084416025,0.00453992800042,0.059823650611,0.999999945873,0.000165397746078,-0.000282238366739,3.51961996442e-05,1793248806587612928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.206481731,715.206481731,680.206481731,663,634,879,785.206481731,810,653,629,653,0.40562611518,0.00453728722222,0.0598252937322,0.999999947925,0.000158433170841,-0.000278980234817,3.49063197259e-05,1793248806604279552
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.638385437,716,681,662.638385437,634,879,785.638385437,810,653,629,652.638385437,0.404750406405,0.00453479847234,0.0598005990684,0.999999937041,0.000155078381049,-0.000317385987678,3.36725393613e-05,1793248806637613312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.039726335,716,681,662.039726335,634,879,785.039726335,810,653,629,652.039726335,0.404331968173,0.00453401803778,0.0597766416695,0.999999923299,0.000156649516043,-0.000357480306746,3.27271388963e-05,1793248806654279936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,716,681,662,634,879,785,810,653,629,652,0.403969881903,0.00453318595192,0.0597609267622,0.999999914077,0.000159637174737,-0.000381249046294,3.18078619827e-05,1793248806670946304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.11498546,716,681,662.11498546,634,879,785.11498546,810,653,629,652,0.403628424036,0.00453178636273,0.059752487723,0.999999909275,0.000162557785435,-0.000392504201307,3.10712150686e-05,1793248806687612672
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.69113796,716,681,662.69113796,634,879,785.69113796,810,653,629,652,0.403353635854,0.00452812543673,0.0597708800849,0.999999921774,0.000164805698429,-0.000358225437865,3.10595871297e-05,1793248806704279040
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.019128579,715.980871421,680.980871421,662.980871421,634,879,786,811,653,629,652.980871421,0.402416511648,0.00452303183095,0.0598374448257,0.999999954967,0.000158953133638,-0.000252567860742,3.17596337808e-05,1793248806770946560
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.923637951,680,663,634,879.076362049,786,810,653,628.923637951,653,0.401579648771,0.00451448789634,0.0598265057413,0.999999947997,0.000139321309632,-0.000289085238394,3.20216691214e-05,1793248806854279168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.502424241,745,716,680.502424241,662.497575759,634.502424241,878.497575759,786,810,653,629,652.497575759,0.401475363926,0.00451487743506,0.0598294331276,0.999999949715,0.000139684153417,-0.000282916148654,3.18800077528e-05,1793248806870945536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.08070497,716,680.91929503,662.08070497,635,878.08070497,786,810.08070497,653,629,652.08070497,0.401377948444,0.00451542614783,0.0598322948042,0.999999951359,0.000140039156768,-0.000276892830606,3.16570021881e-05,1793248806887612160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.655576825,716,680.344423175,662.655576825,635,878.655576825,786,810.655576825,653,629,652.655576825,0.401300649511,0.00451438147782,0.0598346182558,0.999999952453,0.000136106644701,-0.000274944351748,3.12324953896e-05,1793248806904279040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.764225104,746,716,680,662.764225104,635,879,786,810.764225104,653,629,653,0.40122843049,0.00451322975219,0.0598340676029,0.999999952309,0.000133287058032,-0.000276874066626,3.09524985165e-05,1793248806920945920
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.176066633,746,716,680,662.176066633,635,879,786,810.176066633,653,629,653,0.401163803791,0.00451191802385,0.0598292213815,0.999999950295,0.000132130823542,-0.000284600038128,3.08884827804e-05,1793248806937612800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.406007696,745.593992304,715.593992304,680.406007696,662,634.593992304,879,786,810,653,629,653,0.401111739047,0.0045121429932,0.0598257916277,0.999999948598,0.000132320904148,-0.000290471853275,3.03538415474e-05,1793248806954279424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.985482556,745.014517444,715.014517444,680.985482556,662,634.014517444,879,786,810,653,629,653,0.401065041411,0.00451302451809,0.0598229670611,0.99999994703,0.000133086199153,-0.000295551478206,2.96181251374e-05,1793248806970946048
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.437920821,745,715.562079179,680.437920821,662,634,878.437920821,786,810,653,629,653,0.401035186377,0.00451392798496,0.0598235780582,0.999999946909,0.000134018518205,-0.000295538210384,2.96512715829e-05,1793248806987612672
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,878.138165895,785.861834105,810,653,629,652.861834105,0.401010201419,0.00451402109121,0.0598249587551,0.999999947514,0.000133697781239,-0.000293630492549,2.96318469241e-05,1793248807004279296
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,878.712875102,785.287124898,810,653,629,652.287124898,0.400999236312,0.00451155203353,0.0598284924316,0.999999950254,0.000129404378908,-0.000286150638374,2.93838969979e-05,1793248807020945664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.295307863,745,715.704692137,680,662,634,879,785.295307863,810,653,628.704692137,652,0.400988824632,0.00451064798024,0.0598305343066,0.999999951621,0.000127566034725,-0.000282181597802,2.92902278873e-05,1793248807037612288
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.88545191,745,715.11454809,680,662,634,879,785.88545191,810,653,628.11454809,652,0.400978965492,0.00451130643137,0.0598310867635,0.999999951672,0.000128178826856,-0.000281717762329,2.93505931404e-05,1793248807054279168
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,715.466560328,680,662,634,879,785.533439672,810,653,628.466560328,652.466560328,0.400974033536,0.00451060158641,0.0598322811723,0.999999952215,0.000126996221271,-0.000280304565671,2.95212702673e-05,1793248807070946304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.954951259,745,716,680,662.045048741,634,879,785.045048741,810,653,629,653,0.400970429236,0.00450957365449,0.0598335398403,0.999999952864,0.000125343507785,-0.000278711806178,2.96873440072e-05,1793248807087613184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.381665887,745,716,680,662.618334113,634,879,785.618334113,810,653,629,653,0.400968477521,0.00450860746113,0.0598337390057,0.999999953413,0.000123248922537,-0.000277694697743,2.94878962113e-05,1793248807104279552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.807354062,634.192645938,879,785.807354062,810,653,629,652.807354062,0.400967147145,0.00450849161807,0.0598342621011,0.999999953863,0.00012207725712,-0.000276623659609,2.91554169454e-05,1793248807120946176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.230997792,634.769002208,879,785.230997792,810,653,629,652.230997792,0.400967054345,0.00451006949464,0.0598354303974,0.999999954124,0.000122743854696,-0.00027544520488,2.85579668857e-05,1793248807137613056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.354098496,634.645901504,879.354098496,785,810,653,629,652.354098496,0.400966233553,0.00451072141905,0.0598358622272,0.999999954064,0.000124250997137,-0.000275001823853,2.84187319409e-05,1793248807154279424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.945040644,634.054959356,879.945040644,785,810,653,629,652.945040644,0.400964925834,0.00451075400754,0.0598358014614,0.999999953787,0.000126320349547,-0.000275050107034,2.85859805043e-05,1793248807170945792
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.475873899,634,879.475873899,785,810,653,628.475873899,653,0.40096500994,0.00450964696289,0.0598362879118,0.999999954251,0.000124101751923,-0.000274351376297,2.87706054199e-05,1793248807187612416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.101539394,745,716,680.101539394,662,634,878.898460606,785.101539394,810.101539394,653,628.101539394,652.898460606,0.400965290869,0.00450867816418,0.0598368683289,0.999999954709,0.000122191410701,-0.000273524034502,2.8909102228e-05,1793248807204279296
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.676823187,745,716,680.676823187,662,634,878.323176813,785.676823187,810.676823187,653,628.676823187,652.323176813,0.400965824234,0.00450889958109,0.0598376253656,0.999999954809,0.000123770676528,-0.000272454021401,2.88240696587e-05,1793248807220946432
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.743724627,745,716,680.487449254,662,634,878.256275373,786,810.743724627,653,629,652.256275373,0.400966164419,0.00450924807074,0.0598383515835,0.999999955134,0.000123784873502,-0.000271269587445,2.8675444694e-05,1793248807237613056
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.158928883,745,716,679.317857767,662,634,878.841071117,786,810.158928883,653,629,652.841071117,0.400966256965,0.00450975945546,0.059839038295,0.999999955745,0.000121792803,-0.000269938476814,2.84453003851e-05,1793248807254279424
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.57524781,679.42475219,662.42475219,634,879,786,810,653,628.57524781,653,0.400964658209,0.0045095664164,0.0598381027697,0.999999955282,0.000122329011049,-0.0002714240214,2.83049698752e-05,1793248807270946048
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.007922401,745,715.007922401,680,662.992077599,634.007922401,879,786,810,653,628.007922401,653,0.400962460946,0.00450913466363,0.0598365881921,0.999999954423,0.000123809427279,-0.000273916012286,2.81999234791e-05,1793248807287612416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.584287315,745,715.584287315,680,662.415712685,634.584287315,879,786,810,653,628.584287315,653,0.400962607594,0.00451043710813,0.0598369641554,0.999999954428,0.0001253387921,-0.000273200816666,2.82216310522e-05,1793248807304279296
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.839558736,745,716,680,662.160441264,634.839558736,879,785.839558736,810,653.160441264,629,653,0.400963286406,0.00451123201772,0.0598377438486,0.999999954643,0.00012625341948,-0.000271983880077,2.82778979624e-05,1793248807320946176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.263950727,745,716,680,662.736049273,634.263950727,879,785.263950727,810,653.736049273,629,653,0.400965342271,0.00451071360164,0.0598395682558,0.999999955405,0.000125577317957,-0.000269468610675,2.84235925353e-05,1793248807337612800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.319514773,745.319514773,716,680.319514773,662.680485227,634.319514773,879,785.319514773,810,653.680485227,629,653,0.400965517017,0.00451041182489,0.0598398078317,0.99999995561,0.000124444489017,-0.000269233721548,2.84064898793e-05,1793248807354279424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.909634957,745.909634957,716,680.909634957,662.090365043,634.909634957,879,785.909634957,810,653.090365043,629,653,0.400964098595,0.00451029352567,0.0598387051725,0.999999955344,0.000122924845726,-0.000270930146205,2.82515099879e-05,1793248807370946304
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.509764217,745.509764217,716,680.509764217,662,635,879,786,810,653,629,652.509764217,0.400965305282,0.00450917696312,0.0598388997571,0.999999955834,0.000120949944291,-0.000270017661384,2.81736118234e-05,1793248807387613184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.931493999,680,662,634.931493999,879.068506001,786,810,653,629,652.068506001,0.400966648478,0.00450815387213,0.0598392953665,0.999999956373,0.000119299470665,-0.000268760987894,2.81078367404e-05,1793248807404279808
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.35771824,680,662,634.35771824,879.64228176,786,810,653,629,652.64228176,0.400965497569,0.00450915150803,0.059839443592,0.999999956298,0.000120648982607,-0.000268445072914,2.80286770408e-05,1793248807420946176
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,879.778363881,786,810,653,629,653,0.40096412794,0.00450956964223,0.0598390488777,0.999999955988,0.000121430651899,-0.000269250124081,2.79826701655e-05,1793248807437612544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,879.189773149,786,810,653,629,653,0.400962396187,0.00450902831736,0.0598377552386,0.999999955287,0.00012127216562,-0.000271911116819,2.79915531658e-05,1793248807454279168
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45939e0498007ab30f5e4c07b584250eb37b7923
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,400 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+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
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+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
+33,0.550000000,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
+36,0.600000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+38,0.633333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+39,0.650000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+40,0.666666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+393,6.550000000,pose2_to_pose3_retreat,0.583246178155,0.00992789974001,1.05004249624,0.553818006043,0.0186023549399,1.04966588262
+394,6.566666667,pose2_to_pose3_retreat,0.583246157833,0.00992789914289,1.05004249354,0.553817985723,0.01860235435,1.04966587989
+395,6.583333333,pose2_to_pose3_retreat,0.583246017911,0.0099279218737,1.05004247016,0.553817845453,0.0186023758944,1.04966585649
+396,6.600000000,pose2_to_pose3_retreat,0.583245846428,0.00992794973185,1.0500424415,0.553817673542,0.0186024022986,1.04966582781
+397,6.616666667,pose2_to_pose3_retreat,0.583245553397,0.0099279973362,1.05004239252,0.553817379778,0.0186024474184,1.04966577881
+398,6.633333333,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817213778,0.0186024338697,1.04966577809
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6a94c5c8b000fe279d7bf099d6e123cc332c393
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9736d51e2b5fc9c4954af269915d69b3a7b92696622c7668456195ae00702341
+size 25397225
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b33ee3d388b3a6f90d64aff10a1cfac110a46017
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,401 @@
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+53,0.883333333,BASELINE,766,745,715.747439168,680,662,634,879,785.252560832,810,653,629,652,0.400963197722,0.00450811396596,0.0598411875158,0.999999957175,0.000117175538441,-0.000266793252547,2.721873859e-05,1793248808457931008
+54,0.900000000,BASELINE,766,745,715.677982393,680,662,634.322017607,879,785.322017607,810,653,628.677982393,652,0.400964225559,0.00450816025993,0.0598417704795,0.999999957416,0.000117070006814,-0.000265925527778,2.73167262635e-05,1793248808474597888
+55,0.916666667,BASELINE,766,745,715.103221755,680,662,634.896778245,879,785.896778245,810,653,628.103221755,652,0.400965840365,0.00450857548784,0.0598424970194,0.999999957732,0.000116958067596,-0.000264784226759,2.72980273617e-05,1793248808491264512
+56,0.933333333,BASELINE,766,745,715.484161954,680,662,634.515838046,879,786,810,653,628.484161954,652,0.400964514751,0.00450830028975,0.0598414605597,0.999999957284,0.000118238920194,-0.000265921841158,2.71669346447e-05,1793248808507930880
+57,0.950000000,BASELINE,766,745.072868091,716,680,662,634,879,786,810,653,629,652.072868091,0.400962892339,0.00450803659855,0.0598402927103,0.999999956779,0.000119557598554,-0.000267240878408,2.70204883978e-05,1793248808524597760
+58,0.966666667,BASELINE,766,745.651572088,716,680,662,634,879,786,810,653,629,652.651572088,0.400963677844,0.00450890194959,0.0598408918154,0.999999957081,0.000119022384699,-0.000266356302844,2.69382534035e-05,1793248808541264384
+59,0.983333333,BASELINE,766,746,716,680,662,634,879,786,810,653,628.770826863,652.770826863,0.400964154712,0.00450942253067,0.0598413648915,0.999999957265,0.000118710219881,-0.000265809251903,2.69052856943e-05,1793248808557931008
+60,1.000000000,BASELINE,766,746,716,680,662,634,879,786,810,653,628.194894582,652.194894582,0.400964164587,0.00450942144457,0.0598416472751,0.99999995727,0.000118735547822,-0.000265772905316,2.69468637153e-05,1793248808574597888
+61,1.016666667,BASELINE,766.38828451,745.61171549,716,679.61171549,662,634,878.61171549,785.61171549,810,653,628,652,0.400964791588,0.00450929803225,0.0598422381424,0.999999957343,0.000119593688988,-0.000265096998324,2.71072602577e-05,1793248808591264512
+62,1.033333333,BASELINE,766.975170192,745.024829808,716,679.024829808,662,634,878.024829808,785.024829808,810,653,628,652,0.400965734241,0.00450911205207,0.0598429867941,0.999999957448,0.000120877800485,-0.000264093966654,2.73284305266e-05,1793248808607931136
+63,1.050000000,BASELINE,766.444750135,745,716,679.555249865,662,634,878,785.555249865,810,653,628.555249865,652.555249865,0.400965192264,0.00450865787913,0.0598427886585,0.999999957544,0.000118932945367,-0.000264610167054,2.73574273043e-05,1793248808624598016
+64,1.066666667,BASELINE,766,745,716,680,662.134355233,634,878.134355233,786,810,653,629,652.865644767,0.400964617476,0.00450838856043,0.0598424722096,0.999999957542,0.000117666560745,-0.000265188720568,2.73119251284e-05,1793248808641264640
+65,1.083333333,BASELINE,766,745,716,680,662.711241781,634,878.711241781,786,810,653,629,652.288758219,0.40096415064,0.0045087671276,0.0598419038312,0.999999957229,0.00011910471881,-0.000265751590453,2.70490052557e-05,1793248808657931264
+66,1.100000000,BASELINE,766,745,716,680,663,634,878.712853685,786,810,653,629,652,0.400964066336,0.00450930366793,0.0598417832423,0.999999957005,0.000120767996979,-0.000265853867165,2.69687321228e-05,1793248808674597632
+67,1.116666667,BASELINE,766,745,716,680,663,634,878.137933344,786,810,653,629,652,0.4009643654,0.00450999852674,0.0598421114219,0.999999956868,0.000122656887285,-0.000265494543798,2.70715050159e-05,1793248808691264256
+68,1.133333333,BASELINE,766,745,715.551561393,680,662.551561393,634.448438607,878,786,810,653,629,652.448438607,0.400965278039,0.00451040321031,0.0598424477247,0.999999957181,0.000122934133929,-0.000264196927665,2.6932094237e-05,1793248808707931136
+69,1.150000000,BASELINE,766,745,715,680,662,634.962285134,878,786,810.037714866,653,628.962285134,652.962285134,0.40096617765,0.00451046566667,0.0598427000404,0.999999957594,0.000122430611759,-0.0002628806032,2.67807924579e-05,1793248808724597760
+70,1.166666667,BASELINE,766,745,715,680,662,634.383206023,878,786,810.616793977,653,628.383206023,652.383206023,0.400964110262,0.00450693048216,0.0598417099883,0.999999957398,0.000118021912765,-0.000265546983554,2.75560989296e-05,1793248808741264384
+71,1.183333333,BASELINE,766,745,715,680,662,634,878.194076921,786,810.805923079,653,628,652,0.400962991598,0.00450602670647,0.0598411047833,0.999999957072,0.000117262414948,-0.000267071503255,2.79161679952e-05,1793248808757931008
+72,1.200000000,BASELINE,766,745,715,680,662,634,878.767845943,786,810.232154057,653,628,652,0.400963729017,0.00451027101856,0.0598412524932,0.999999956505,0.000123642213813,-0.000266362087165,2.74638667059e-05,1793248808774597632
+73,1.216666667,BASELINE,766,745,715.350582913,680,662,634,879,785.649417087,810,653,628.350582913,652.350582913,0.400963768247,0.00451056417165,0.0598415332197,0.999999956542,0.000123646004408,-0.00026623603798,2.73082779526e-05,1793248808791264256
+74,1.233333333,BASELINE,766,745,715.939414268,680,662,634,879,785.060585732,810,653,628.939414268,652.939414268,0.400963333002,0.00450817220367,0.0598419043414,0.999999956995,0.000119316799542,-0.000266506432167,2.73543285443e-05,1793248808807931136
+75,1.250000000,BASELINE,766,745,716,680,662.520280625,634,879,785,810,652.479719375,628.479719375,652.479719375,0.400963161594,0.0045086344485,0.059841340441,0.99999995661,0.000121337638124,-0.00026701773101,2.7554897423e-05,1793248808824597504
+76,1.266666667,BASELINE,766.099583441,745.099583441,715.900416559,679.900416559,662.900416559,634,878.900416559,785.099583441,810,652.099583441,628.099583441,652.099583441,0.40096335826,0.00450924040998,0.0598409668668,0.999999956412,0.00012300799762,-0.000266980745527,2.7691906211e-05,1793248808841264128
+77,1.283333333,BASELINE,766.675775245,745.675775245,715.324224755,679.324224755,662.324224755,634,878.324224755,785.675775245,810,652.675775245,628.675775245,652.675775245,0.400965171715,0.00450896746793,0.0598420174493,0.999999957584,0.000119515291776,-0.000264187422789,2.74398969496e-05,1793248808857931008
+78,1.300000000,BASELINE,766.748578861,745.748578861,715,679,662.251421139,634,878.502842279,786,809.748578861,653,629,652.748578861,0.400965490677,0.00450850384712,0.0598420535636,0.999999957916,0.000118070098712,-0.000263604641588,2.72059648715e-05,1793248808874597888
+79,1.316666667,BASELINE,766.173635475,745.173635475,715,679,662.826364525,634,879.65272905,786,809.173635475,653,629,652.173635475,0.400963886565,0.00450779486581,0.0598407842863,0.999999957182,0.000119259592631,-0.000265866328525,2.69952940671e-05,1793248808891264512
+80,1.333333333,BASELINE,766,745,715.412289228,679,662.587710772,634,879.175421543,785.587710772,809.412289228,653,628.587710772,652,0.400964228984,0.00450964383851,0.0598413569562,0.999999957047,0.000121930948706,-0.000265175203743,2.68433130678e-05,1793248808907931136
+81,1.350000000,BASELINE,766,745,716,679.00290864,662,634,878,785.00290864,810,653,628.00290864,652,0.400965405038,0.00451257228151,0.0598427188811,0.99999995716,0.000125221618636,-0.000263222473959,2.67199050601e-05,1793248808924597760
+82,1.366666667,BASELINE,766,745,716,679.582295911,662,634,878,785.582295911,810,653,628.582295911,652,0.400964880586,0.00451009197867,0.0598425531473,0.999999956954,0.000124181808268,-0.000264440838076,2.72266496619e-05,1793248808941264384
+83,1.383333333,BASELINE,766.160214082,745,715.839785918,680,662,634,878.160214082,786,810,653,629,652.160214082,0.400964664905,0.00450834481477,0.0598422589639,0.999999956854,0.00012296575941,-0.000265359986744,2.74931116283e-05,1793248808957931008
+84,1.400000000,BASELINE,766.734336994,745,715.265663006,680,662,634,878.734336994,786,810,653,629,652.734336994,0.400965246928,0.00450849169531,0.0598416329339,0.999999957029,0.000121294402862,-0.000265506120508,2.71388098912e-05,1793248808974597888
+85,1.416666667,BASELINE,766.691274788,745.308725212,715.308725212,680,662,634,879,786,810.308725212,653,629,653,0.400965952412,0.00450902409514,0.0598420767585,0.999999957428,0.000120696702977,-0.000264283370107,2.70457944634e-05,1793248808991264768
+86,1.433333333,BASELINE,766.116658108,745.883341892,715.883341892,680,662,634,879,786,810.883341892,653,629,653,0.400966764229,0.00450988852579,0.059843442002,0.999999958016,0.000121023696526,-0.000261881659883,2.71778134802e-05,1793248809007931392
+87,1.450000000,BASELINE,766,745.527084262,716,680,662,634,878.527084262,786,810.527084262,653,628.527084262,653,0.400965869884,0.00451015361384,0.0598429070442,0.99999995759,0.000122154006024,-0.000262980440984,2.72002955484e-05,1793248809024598016
+88,1.466666667,BASELINE,766.064316321,745,716,680,662,634,878,786,810,652.935683679,628,652.935683679,0.400964737239,0.00451013986831,0.0598420460351,0.999999957061,0.000122901438861,-0.000264639313718,2.71947345921e-05,1793248809041264384
+89,1.483333333,BASELINE,766.639949041,745,716,680,662,634,878,786,810,652.360050959,628,652.360050959,0.400965165349,0.00450912314749,0.0598424411038,0.999999957794,0.000118978156998,-0.000263661908278,2.71880596592e-05,1793248809057931008
+90,1.500000000,BASELINE,766.784240812,745,715.784240812,680,662.215759188,634,878.215759188,786,810,652.215759188,628.215759188,652,0.4009659038,0.00450881329622,0.0598431054114,0.999999958267,0.000117319173292,-0.000262615046915,2.71076370728e-05,1793248809074597632
+91,1.516666667,BASELINE,766.208134397,745,715.208134397,680,662.791865603,634,878.791865603,786,810,652.791865603,628.791865603,652,0.400967160562,0.00450968401346,0.0598442193844,0.999999958326,0.000119441876276,-0.000261452184804,2.69040458629e-05,1793248809091264512
+92,1.533333333,BASELINE,766,745,715,679.623286642,662.623286642,634,879,786,810.376713358,652.623286642,629,652,0.40096630767,0.00450993288889,0.059843634417,0.999999957959,0.000120613911814,-0.00026231276033,2.69668552289e-05,1793248809107931136
+93,1.550000000,BASELINE,766,745,715,679.033494507,662.033494507,634,879,786,810.966505493,652.033494507,629,652,0.400964261504,0.00450983003464,0.0598420884853,0.999999957348,0.000121248225562,-0.000264317844183,2.71803476025e-05,1793248809124597760
+94,1.566666667,BASELINE,766,745,715.545132409,679.545132409,662,634,879,786,810.454867591,652.545132409,628.454867591,652,0.400965785416,0.00450860117742,0.0598433541536,0.999999957978,0.000120272845039,-0.000262361546579,2.73041239567e-05,1793248809141264640
+95,1.583333333,BASELINE,766.122597375,745,716,680,662,634,879,785.877402625,810,653,628.122597375,652,0.400967029382,0.00450798338787,0.0598444596734,0.999999958481,0.000119636597106,-0.000260722944538,2.73641620568e-05,1793248809157931008
+96,1.600000000,BASELINE,766.698252835,745,716,680,662,634,879,785.301747165,810,653,628.698252835,652,0.400966444453,0.00450987433693,0.0598443477714,0.999999958259,0.000120611776391,-0.000261139810298,2.72086179733e-05,1793248809174597632
+97,1.616666667,BASELINE,766.726129136,745,716,679.726129136,662.273870864,634,879,785.273870864,810.273870864,653,629,652,0.40096642956,0.00451040399385,0.0598441959664,0.999999958283,0.00012030296376,-0.000261202001752,2.70929338151e-05,1793248809191264512
+98,1.633333333,BASELINE,766.150552376,745,716,679.150552376,662.849447624,634,879,785.849447624,810.849447624,653,629,652,0.400967042639,0.00450943400278,0.0598440002029,0.999999958577,0.000118579659856,-0.000260873471333,2.70211607793e-05,1793248809207931136
+99,1.650000000,BASELINE,766,745,716,679.436282361,663,634,879,785.563717639,810.563717639,653,629,652,0.400965422618,0.00450887363392,0.0598429034612,0.999999957946,0.000118790725429,-0.000263163275646,2.72387041532e-05,1793248809224597504
+100,1.666666667,BASELINE,766,745,715.973441815,680,662.973441815,634,879,785,810,653,628.973441815,652.026558185,0.400963096428,0.00450850339456,0.0598415366249,0.999999957019,0.000119660218704,-0.000266244944918,2.751911451e-05,1793248809241264384
+101,1.683333333,BASELINE,766,745,715.394536261,680,662.394536261,634,879,785,810,653,628.394536261,652.605463739,0.40096253475,0.00450906973285,0.0598411899179,0.999999956927,0.00011997304831,-0.000266506393338,2.69756301527e-05,1793248809257931008
+102,1.700000000,BASELINE,766,745,715,680,662.183436305,634,878.816563695,785,810,653,628,653,0.400962927612,0.00450978310833,0.0598416855139,0.999999957173,0.000120648451014,-0.000265299501277,2.67072039792e-05,1793248809274597632
+103,1.716666667,BASELINE,766,745,715,680,662.759412274,634,878.240587726,785,810,653,628,653,0.400965363117,0.00451081113204,0.0598439835737,0.999999958133,0.000122099732376,-0.000260950472833,2.70273813547e-05,1793248809291264256
+104,1.733333333,BASELINE,766.330622751,745,715,680,663,634,878.330622751,785.330622751,810,653,628,652.669377249,0.400965889674,0.00451032624153,0.0598441201582,0.999999958313,0.000121372261786,-0.000260582438797,2.72068488923e-05,1793248809307931136
+105,1.750000000,BASELINE,766.898414804,745,715,680,663,634,878.898414804,785.898414804,810,653,628,652.101585196,0.400965046862,0.00450875607551,0.0598427062278,0.999999957935,0.000119081882927,-0.000263070135394,2.72853795069e-05,1793248809324597760
+106,1.766666667,BASELINE,766.507814823,745,715.492185177,679.507814823,662.507814823,634,879,785.507814823,810,653,628.492185177,652,0.400965281321,0.00450945852447,0.0598430317631,0.999999958177,0.000118540991921,-0.000262421312351,2.69845079012e-05,1793248809341264384
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,880,786,810,653,628,652,0.400962373095,0.00451064540505,0.0598411881766,0.999999956921,0.000120941326106,-0.000266109817834,2.67709360443e-05,1793248809384269056
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.575762668,716,679.424237332,662,634,879.424237332,785.424237332,810,653,628.575762668,652,0.400962923564,0.00450881408451,0.0598417655507,0.999999957448,0.000118889584871,-0.000265020782625,2.70776288906e-05,1793248809400935936
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.845999989,715.845999989,679,662,634,879,785,810,653,628.845999989,652.154000011,0.40096354209,0.00450766325207,0.0598422887227,0.999999957795,0.000117684254162,-0.000264228535481,2.72610299967e-05,1793248809417602816
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.260833968,715.260833968,679,662,634,879,785,810,653,628.260833968,652.739166032,0.400964351164,0.00450841763556,0.0598426601413,0.999999957652,0.000118848685471,-0.00026426722911,2.70992415376e-05,1793248809434269184
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.323100034,662,634,879,785,810,653,628.323100034,652.676899966,0.400964533386,0.0045085705705,0.0598427170198,0.999999957627,0.000119549471946,-0.000264047662752,2.70859050311e-05,1793248809450935808
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.906043189,662,634,879,785,810,653,628.906043189,652.093956811,0.400964211483,0.00450823980917,0.0598425209394,0.999999957697,0.000119877386463,-0.000263620398857,2.71919563852e-05,1793248809467602432
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.481979303,680,662,634,879,785,810,653,629,652.481979303,0.400964126575,0.00450903407114,0.0598428231163,0.999999957576,0.000120569605527,-0.00026376771669,2.71407973158e-05,1793248809484269056
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.056589695,745,715.943410305,680,662,634,879,785,810,653,629,652.943410305,0.400964071342,0.00450978667314,0.0598430773463,0.999999957426,0.000121077044049,-0.00026411050515,2.70764246195e-05,1793248809500935680
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.631389229,745,715.368610771,680,662,634,879,785,810,653,629,652.368610771,0.400963870845,0.00450817825488,0.0598420158063,0.999999957346,0.000119251378944,-0.000265232279191,2.71676690068e-05,1793248809517602304
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.788039906,745,715,680,662,634,879,785,810,653,629,652,0.400966590351,0.00450683222074,0.0598425380894,0.999999957828,0.000117551552848,-0.000264160093324,2.73091086085e-05,1793248809534268928
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.197151497,745,715,680,662,634,879,785,810,653,629,652,0.400974530049,0.00450595525984,0.0598458918274,0.9999999593,0.000116076693646,-0.000259165690113,2.75402839028e-05,1793248809550935552
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.385888337,715.385888337,679.614111663,662,634,879,785,810,653,628.614111663,652,0.40100411141,0.00450623540992,0.0598582044245,0.999999964607,0.000116888819527,-0.000237377579019,2.78259037492e-05,1793248809567602176
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.964998294,715.964998294,679.035001706,662,634,879,785,810,653,628.035001706,652,0.401044529163,0.00450709494738,0.0598750028928,0.99999997108,0.000118846082057,-0.000207180538771,2.81387850167e-05,1793248809584268800
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.539150949,745.460849051,715.460849051,680.078301899,662,634,879,785.539150949,810,653,628.539150949,652.539150949,0.401105111015,0.00450695317258,0.0598935839077,0.999999977201,0.000117309396125,-0.000176210631162,2.80494933681e-05,1793248809600935680
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.886605081,745,715.113394919,680.886605081,662,634,879,785.886605081,810,653,629,653,0.40117037932,0.00450672857891,0.0599112649486,0.999999982072,0.000115819156732,-0.000147180147261,2.79363952155e-05,1793248809617602560
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.310687746,745,715.689312254,680.310687746,662,634,879,785.310687746,810,653,629,653,0.401249472237,0.00450642891012,0.0599248074055,0.999999984979,0.000115435134568,-0.000126263090083,2.78317187626e-05,1793248809634269184
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662.273052078,634,879,785,810,653,629,653,0.401333860797,0.00450617864088,0.0599333999337,0.999999986847,0.000114246316703,-0.000111837149229,2.73027496055e-05,1793248809650935808
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662.865955064,634,879,785,810,653,629,653,0.401424452622,0.00450598623787,0.0599361941562,0.999999987856,0.000112114767982,-0.000105014848767,2.6276767558e-05,1793248809667602432
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662.553521987,634,878.553521987,785.446478013,810,653,628.553521987,652.553521987,0.401538134494,0.00450548431019,0.0599416631893,0.999999989206,0.000109615439737,-9.44104583645e-05,2.56772389117e-05,1793248809684269056
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.023263926,745,716,680,662,634,878.023263926,786,810,653,628.023263926,652,0.401659276052,0.00450495931392,0.0599477335988,0.9999999905,0.000107124475404,-8.30154155057e-05,2.51593078228e-05,1793248809700935936
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.597198035,745,716,680,662,634,878.597198035,786,810,653,628.597198035,652,0.401797329195,0.0045060285767,0.0599495431041,0.999999990831,0.000107374616503,-7.90576360798e-05,2.36239899649e-05,1793248809717602560
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.823777384,745,716,680,662,634,878.823777384,786,810,652.823777384,628.823777384,652,0.401944014103,0.00450658526268,0.0599498487561,0.999999991206,0.000106248364471,-7.62573568377e-05,2.19846392203e-05,1793248809734268928
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.232771198,745,716,680,662,634,878.232771198,786,810,652.232771198,628.232771198,652,0.40211101599,0.00450593547209,0.0599466147171,0.999999991706,0.000101882430288,-7.61815415082e-05,2.01004215287e-05,1793248809750935808
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.648696065,680,662,634,878.351303935,786,810,652.351303935,628.351303935,652.351303935,0.402300707746,0.00450647477898,0.0599453363914,0.999999992357,9.79450763027e-05,-7.33230590898e-05,1.77796134822e-05,1793248809767602176
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.069124481,680,662,634,878.930875519,786,810,652.930875519,628.930875519,652.930875519,0.402505142772,0.00450778672868,0.0599453288342,0.999999993083,9.42862015222e-05,-6.86564760156e-05,1.51751208275e-05,1793248809784268800
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,785.494345271,810,653,629,653,0.40274870909,0.00450774285025,0.0599476342294,0.999999994182,8.91666672365e-05,-5.931467836e-05,1.29443722625e-05,1793248809800935680
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,785,810,653,629,653,0.403001343243,0.00450751139384,0.0599502000654,0.999999995184,8.37440134303e-05,-5.00483968665e-05,1.06770035571e-05,1793248809817602304
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,785,810,653,629,653,0.403277328252,0.00450725532425,0.0599524388911,0.999999995933,7.76688112426e-05,-4.51727720578e-05,7.86914442825e-06,1793248809834268928
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.235627752,680,662.235627752,634,879,785.235627752,810,653,629,653,0.403565423245,0.00450671868774,0.0599487866376,0.999999996072,7.23211655013e-05,-5.09973156031e-05,5.01515579752e-06,1793248809850935552
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.829571006,680,662.829571006,634,879,785.829571006,810,653,629,653,0.40387193369,0.00450575539744,0.0599361759102,0.999999995009,6.8079904016e-05,-7.30934410702e-05,2.09101890882e-06,1793248809867602176
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.58871184,680,662.58871184,634,879,785.58871184,810,653,628.58871184,653,0.404202776694,0.00450536786811,0.0599246836081,0.999999993765,6.10387364795e-05,-9.3504086219e-05,-1.32455925213e-06,1793248809884269056
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.01191468,680,662.01191468,634,879,785.01191468,810,653,628.01191468,653,0.404543411507,0.00450521203433,0.0599136413788,0.999999992179,5.2870841601e-05,-0.000113236466297,-4.93790124927e-06,1793248809900935936
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879.563264769,785,810,652.436735231,628.563264769,652.436735231,0.404923605626,0.00450451255487,0.0599015747469,0.999999989823,4.57125979692e-05,-0.000134861669594,-8.79807378789e-06,1793248809917602304
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.858945013,715,680,662.141054987,634,879.858945013,785,810,652.141054987,629,652,0.405321757779,0.00450444500001,0.0598954545603,0.99999998848,3.90539723994e-05,-0.000146137081899,-1.26027926274e-05,1793248809934268928
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.272809301,715,680,662.727190699,634,879.272809301,785,810,652.727190699,629,652,0.405773941275,0.00450640758325,0.0599081657918,0.999999991528,3.39046318977e-05,-0.000124629091196,-1.62161061931e-05,1793248809950935552
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.311499697,715.311499697,680.311499697,663,634,879,785,810,653,628.688500303,652.311499697,0.406277927609,0.00450655874908,0.0599322195552,0.999999995926,2.49550307955e-05,-8.44135697833e-05,-2.00066291225e-05,1793248809967602176
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.894218262,715.894218262,680.894218262,663,634,879,785,810,653,628.105781738,652.894218262,0.406827018076,0.00450513273677,0.0599661491201,0.999999999243,1.26965899398e-05,-2.79096340106e-05,-2.39514463777e-05,1793248809984269056
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.546622797,681,662.546622797,634,879,785,810.453377203,653,628.453377203,653,0.407378959628,0.00450262999255,0.0599883469308,0.999999999615,1.78627990156e-06,4.43340261069e-06,-2.73295193024e-05,1793248810000935680
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,634,879.007898889,785,811,653,629,653,0.407931364431,0.00449992088292,0.0600075269222,0.999999999026,-8.80974056949e-06,3.05874224731e-05,-3.05814490297e-05,1793248810017602304
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,634,879.606397553,785,811,653,629,653,0.408471127944,0.00449963784429,0.05999561867,0.999999999248,-1.8263159049e-05,-5.33798012818e-06,-3.38002941793e-05,1793248810034268928
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.201012213,745,715,680.798987787,662.201012213,634,880,785,811,652.798987787,629,653,0.409025266367,0.00449952227992,0.0599835178211,0.999999998246,-2.61519836851e-05,-3.79844134637e-05,-3.71775529862e-05,1793248810050935552
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.788165726,745,715,680.211834274,662.788165726,634,880,785,811,652.211834274,629,653,0.409607018732,0.00449972843099,0.0599710469974,0.999999996614,-3.10352476113e-05,-6.43319962416e-05,-4.0859121802e-05,1793248810067602432
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.627838032,745,715.372161968,680,662.627838032,634.372161968,879.627838032,785,811,652,629,653,0.410268756774,0.00449980123675,0.0599743200835,0.999999997469,-2.43574392509e-05,-5.21283625979e-05,-4.18536788881e-05,1793248810084269056
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.045623808,745,715.954376192,680,662.045623808,634.954376192,879.045623808,785,811,652,629,653,0.410975639582,0.00449979878096,0.0599864792036,0.999999998919,-1.11544359393e-05,-1.81660027565e-05,-4.13316572109e-05,1793248810100935936
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.470861205,680,662.529138795,634.470861205,879.529138795,785,811,652,629,653,0.411667507672,0.00450382729512,0.0599876088618,0.999999999029,1.96307282936e-05,-1.43982243e-05,-3.67413938518e-05,1793248810117602560
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680.103138075,663,634,880,785.103138075,811,652,629,653,0.412353195301,0.00450699965782,0.0599816076673,0.999999998105,4.48753798227e-05,-2.58958795181e-05,-3.3264060299e-05,1793248810134269184
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680.676545595,663,634,880,785.676545595,811,652,629,653,0.413016523178,0.00450470556502,0.0599473684936,0.999999994072,3.8041143294e-05,-9.52920513121e-05,-3.64384413659e-05,1793248810150935808
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,634,880,785.742271219,811.257728781,652.257728781,629,653,0.41370987197,0.00450422279014,0.0599214925193,0.99999998815,3.55062492251e-05,-0.000144543499991,-3.93165351318e-05,1793248810167602176
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,634,880,785.151025771,811.848974229,652.848974229,629,653,0.414442069737,0.00450608397015,0.0599064390272,0.999999984317,3.8534964162e-05,-0.000167726465774,-4.18112157728e-05,1793248810184268800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.568624363,745,715.431375637,681,663,634,880.862751275,785,811.568624363,653,629,653,0.415300418203,0.0045071178125,0.0599468630583,0.999999993774,4.67359680668e-05,-9.20780216033e-05,-4.22933513152e-05,1793248810200935680
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.010665277,745,716,680.989334723,663.010665277,634,881.989334723,785,811,653,629,652.989334723,0.416200526664,0.00450780769166,0.060005477014,0.99999999739,5.65669238855e-05,1.57590185508e-05,-4.20877345062e-05,1793248810217602304
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.585846646,745,716,680.414153354,663.585846646,634,881.414153354,785,811,653,629,652.414153354,0.417020268065,0.00450531491846,0.06001948684,0.999999996857,5.87494784041e-05,3.26935045853e-05,-4.20245065875e-05,1793248810234269184
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.839289221,680,663.839289221,634,881,785,811.160710779,652.839289221,629,652.160710779,0.417841042692,0.00450387009936,0.0600237294209,0.999999996543,6.11204002841e-05,3.68205975408e-05,-4.27022332912e-05,1793248810250935808
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.265241032,680,663.265241032,634,881,785,811.734758968,652.265241032,629,652.734758968,0.418664474656,0.00450512054849,0.0600028512978,0.999999996896,6.39757903369e-05,8.00792812789e-06,-4.52856459049e-05,1793248810267602176
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.320470454,663.320470454,634,881,785,812,652.320470454,629,653,0.419488222566,0.00450492475339,0.0599784122836,0.999999996257,6.55790232319e-05,-3.09026806152e-05,-4.72177990681e-05,1793248810284269056
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.916199761,663.916199761,634,881,785,812,652.916199761,629,653,0.420312241808,0.00450348674848,0.0599509147458,0.999999993554,6.61067516219e-05,-7.84866215895e-05,-4.85905715184e-05,1793248810300935680
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.506317019,634,881,785,812,653,629,653,0.421139609575,0.00450339508422,0.0599138886032,0.999999988216,9.3636539693e-07,-0.000145552160858,-4.88057931035e-05,1793248810317602048
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931763668,745,715,681,663,634,881,785,812,652.931763668,629,653,0.421977293708,0.00450344866573,0.0598812406364,0.999999975765,-6.54486157153e-05,-0.000204418162353,-4.89853638082e-05,1793248810334268672
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.356787872,745,715,681,663,634,881,785,812,652.356787872,629,653,0.422887518632,0.00450294421341,0.0598926894202,0.999999980906,-6.09882608617e-05,-0.000178709806709,-5.03073493814e-05,1793248810350935296
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.224502616,745,715,681,663.224502616,634,881,785,812.224502616,652.224502616,629.224502616,653,0.423817308377,0.00450093103256,0.0599261659925,0.999999989637,-5.83493269884e-05,-0.000121349819994,-5.09464420976e-05,1793248810367602432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.816119185,745,715,681,663.816119185,634,881,785,812.816119185,652.816119185,629.816119185,653,0.424779091293,0.00449645072984,0.0599956631202,0.999999996929,-5.86888385928e-05,-1.22320553614e-05,-5.04688461206e-05,1793248810384269312
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.398768868,681,664,634,881,785,813,652.601231132,630,653,0.425716918527,0.0044939803645,0.0600272818808,0.999999996417,-5.45918870682e-05,4.00984751861e-05,-5.07760220188e-05,1793248810400935680
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.977374628,681,664,634,881,785,813,652.022625372,630,653,0.426643942163,0.00449241644152,0.0600418182411,0.999999995269,-4.84941783589e-05,6.68190771465e-05,-5.1437114722e-05,1793248810417602048
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.448654271,681,663.448654271,633.448654271,881,785,813,652.551345729,630,653,0.427561561096,0.00449029770579,0.0600200868156,0.999999996498,-4.67989635082e-05,4.42617384204e-05,-5.34280581867e-05,1793248810434268928
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715.125369216,681,663.125369216,633.125369216,881,785,813,652.874630784,629.874630784,653,0.428461770292,0.00448912485772,0.0599955016755,0.999999997432,-4.29529546389e-05,1.51990558643e-05,-5.53250075513e-05,1793248810450935552
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.700256761,681,663.700256761,633.700256761,881,785,813,652.299743239,629.299743239,653,0.429300928118,0.00449142449698,0.0599659763102,0.99999999747,-3.07527744494e-05,-2.99986274101e-05,-5.66908937728e-05,1793248810467602176
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715.716174283,681.283825717,663.716174283,634,881,785,813,652.283825717,629.283825717,653,0.430139908703,0.00449080269321,0.0599391210315,0.999999995214,-2.3851685646e-05,-7.56979597886e-05,-5.72077680451e-05,1793248810484268800
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715.123147805,681.876852195,663.123147805,634,881,785,813,652.876852195,629.876852195,653,0.430978696144,0.00448699825869,0.0599151745566,0.999999990694,-2.27234469646e-05,-0.000121943787528,-5.67997255546e-05,1793248810500935680
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765.965776237,745.034223763,715,681,664,633.965776237,881.965776237,784.965776237,814,652.034223763,629,653,0.43288605557,0.00448116507955,0.0600036556077,0.99999999698,-2.47913275478e-05,4.28600829006e-05,-5.99066484902e-05,1793248810534268928
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.390691502,745.609308498,715,681,664,633.390691502,881.390691502,784.390691502,814,652.609308498,629,653,0.43376509331,0.00448001607153,0.060010950468,0.999999997076,-1.94701182006e-05,4.42983816812e-05,-5.92234865349e-05,1793248810550935808
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765.778487035,745.221512965,715,681,663.221512965,633,881,784,814,652.221512965,629.778487035,653,0.435420216651,0.00447367415864,0.059974359486,0.999999997837,-1.82424225002e-05,-2.16269369415e-05,-5.93758506124e-05,1793248810584269056
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+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.939722894,663,633.939722894,881,784,814,652,630,653,0.436997636879,0.0044726330837,0.0599269616403,0.999999991782,-1.70697240824e-05,-0.000111377526972,-6.11599866236e-05,1793248810617602048
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+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681.090481427,663.090481427,633.909518573,881,784.090481427,814,652,630,653,0.438520473905,0.0044685713342,0.0599042298416,0.999999985023,-9.19570694226e-06,-0.00016253349108,-5.87579284077e-05,1793248810650935552
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766.584630234,745,715,681.584630234,663.584630234,633.584630234,882,784,815,652.415369766,630,652.584630234,0.441621471889,0.00445865566163,0.0600211013459,0.999999997599,-1.85456983459e-05,2.677358809e-05,-6.11683402592e-05,1793248810717602304
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.849198238,715,681.849198238,663.150801762,633,882,784,815,652,630,652.150801762,0.443557154775,0.00445569252798,0.059951292629,0.999999985775,-0.000138425261867,-7.27344335562e-05,-6.32340665245e-05,1793248810767602432
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.259535309,715,681.259535309,663.740464691,633,882,784,815,652,630,652.740464691,0.444179385028,0.00445503443966,0.0599510089224,0.999999985824,-0.000137446095622,-7.3264509964e-05,-6.39785076051e-05,1793248810784269056
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.675895979,633,881.675895979,784,815,652,630,652.675895979,0.444782512998,0.0044543378736,0.0599587945983,0.999999986334,-0.00013839039524,-6.294358825e-05,-6.49479244821e-05,1793248810800935680
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.631364948,745,715.631364948,681.631364948,663,633,881.631364948,784,815,652,630,653,0.446867449935,0.0044492473778,0.059934689342,0.999999980166,-0.000143030041587,-0.000120209385572,-6.89901304775e-05,1793248810867602432
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766.198543594,745,715.198543594,682,663.801456406,633,882,784,815,652,630.801456406,653,0.447840433692,0.00444458935324,0.0599596277778,0.999999983949,-0.000149833602215,-6.72401432578e-05,-7.16337003101e-05,1793248810900935680
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766.473630574,745,715,682.473630574,661.473630574,632.526369426,882.473630574,784,815,652,630.526369426,653.473630574,0.452215630012,0.0044525325739,0.0598439532976,0.999999966014,-8.43103582013e-05,-0.00023845997426,-6.32568054733e-05,1793248811467602176
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.103359942,745,715,682,661,632.896640058,882,784,815,652.103359942,631,653.103359942,0.452216172807,0.00445219903376,0.059843693347,0.99999996584,-8.44200556848e-05,-0.000239175508691,-6.31610282627e-05,1793248811484269056
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.678466942,745,715,682,661,632.321533058,882,784,815,652.678466942,631,653.678466942,0.452216612018,0.00445445076349,0.0598439184603,0.999999966143,-8.20809903802e-05,-0.000238625299647,-6.35174446274e-05,1793248811500935936
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.739975887,745,715,682,661,632,882,784,815,653,630.739975887,653.739975887,0.452216995267,0.00445477924011,0.0598442410018,0.999999966189,-8.27251739578e-05,-0.000238224667498,-6.34608238192e-05,1793248811517602560
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.150239786,745,715,682,661,632,882,784,815,653,630.150239786,653.150239786,0.452217307557,0.00445266902165,0.0598446870827,0.9999999659,-8.71521330099e-05,-0.000238013699587,-6.28804696793e-05,1793248811534269184
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,682,661,632.430727669,881.569272331,784,815.430727669,652.569272331,630,653,0.452216636085,0.00445301584671,0.0598432327999,0.99999996564,-8.62420831371e-05,-0.000239477609232,-6.27068093312e-05,1793248811550935552
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.008664899,745,715,681.991335101,661,633,881.008664899,784,815.991335101,652,630.008664899,653,0.452215648024,0.00445418614765,0.0598411669744,0.99999996539,-8.35341328945e-05,-0.00024148483627,-6.26743596702e-05,1793248811567602432
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.584463848,745,715,681.415536152,661,633,881.584463848,784,815.415536152,652,630.584463848,653,0.452215949683,0.00445427956595,0.0598415940605,0.999999965441,-8.25627081232e-05,-0.000241578797016,-6.27848759511e-05,1793248811584269056
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.836396179,745,715.163603821,681.163603821,661,633,882,784,815.163603821,652,631,653,0.452215774859,0.00445433322541,0.0598414989056,0.999999965311,-8.18745350154e-05,-0.000242329503101,-6.28514886476e-05,1793248811600935680
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.248593497,745,715.751406503,681.751406503,661,633,882,784,815.751406503,652,631,653,0.452214364587,0.00445428379644,0.0598400496623,0.999999964713,-8.19207887824e-05,-0.000244783046102,-6.28042662786e-05,1793248811617602304
+242,4.033333333,HOLD_POSE2,766,745,716,682,661,632,881,784,815,652,630,653,0.452218075911,0.00445474290346,0.0598423887396,0.999999965638,-8.23704802473e-05,-0.000240821249108,-6.28024702246e-05,1793248811653444096
+243,4.050000000,HOLD_POSE2,766,745,715.420693605,681.420693605,661,632.579306395,881.579306395,784,815,652,630,653,0.452216617214,0.00445551214895,0.0598410194698,0.999999965152,-8.16052900094e-05,-0.000243018576269,-6.30721229623e-05,1793248811670110720
+244,4.066666667,HOLD_POSE2,766,745,715,681.156806157,661,632.843193843,881.843193843,784,815,652,630,653,0.452215862176,0.00445568162597,0.0598403417955,0.999999964897,-8.11495935512e-05,-0.000244225210053,-6.30530748714e-05,1793248811686777088
+245,4.083333333,HOLD_POSE2,766,745,715,681.729514255,661,632.270485745,881.270485745,784,815,652,630,653,0.452216973479,0.00445426031824,0.059841498462,0.999999965262,-8.15147770892e-05,-0.000242804196871,-6.22682964803e-05,1793248811703443712
+246,4.100000000,HOLD_POSE2,766.311380246,745,715,682,661,632,881.311380246,784,815.311380246,652,630.311380246,653,0.452217926099,0.00445368453887,0.0598420907688,0.999999965484,-8.19950888779e-05,-0.000241800894889,-6.19790679777e-05,1793248811720110592
+247,4.116666667,HOLD_POSE2,766.901442419,745,715,682,661,632,881.901442419,784,815.901442419,652,630.901442419,653,0.4522187367,0.00445386549824,0.0598421779798,0.999999965578,-8.25784391743e-05,-0.000241171439963,-6.21333512704e-05,1793248811736777216
+248,4.133333333,HOLD_POSE2,766.517536656,745,715,681.517536656,661.482463344,632.482463344,881.517536656,784,816,652,630.517536656,653,0.452216974981,0.00445531776876,0.059840928728,0.99999996529,-8.09246529794e-05,-0.000242837619349,-6.24644433873e-05,1793248811753443840
+249,4.150000000,HOLD_POSE2,766,745,715,681.06136114,661.93863886,633,881,784,816,652,630.06136114,652.93863886,0.452215159585,0.00445683705856,0.0598396800446,0.999999965015,-7.89573525364e-05,-0.000244542449802,-6.27295647477e-05,1793248811770110464
+250,4.166666667,HOLD_POSE2,766,745,715,681.637656148,661.362343852,633,881,784,816,652,630.637656148,652.362343852,0.452217222313,0.00445677946145,0.0598406850685,0.999999965564,-7.81236346883e-05,-0.000242708647964,-6.21435433622e-05,1793248811786778112
+251,4.183333333,HOLD_POSE2,766,745,715,682,661,633,881.215627906,784,815.784372094,652,631,652.215627906,0.452217965991,0.00445662076331,0.0598409094211,0.999999965686,-7.74074477624e-05,-0.000242494871977,-6.19097791512e-05,1793248811803445248
+252,4.200000000,HOLD_POSE2,766,745,715,682,661,633,881.796439322,784,815.203560678,652,631,652.796439322,0.452216475747,0.00445629084231,0.059839811643,0.999999965086,-7.68903091579e-05,-0.000245024742558,-6.22725913579e-05,1793248811820111872
+253,4.216666667,HOLD_POSE2,766,745,715,682,661,632.621647988,881.621647988,784,815,652,630.621647988,653,0.452216341817,0.00445611310445,0.0598396271999,0.999999965039,-7.73961856232e-05,-0.000245027835095,-6.23884092595e-05,1793248811836778240
+254,4.233333333,HOLD_POSE2,766,745,715,682,661,632.039141008,881.039141008,784,815,652,630.039141008,653,0.45221693974,0.00445601748307,0.059839935583,0.99999996529,-7.84540707604e-05,-0.000243667503656,-6.23709515333e-05,1793248811853444352
+255,4.250000000,HOLD_POSE2,766.540805873,745,715,682.540805873,661.540805873,632.540805873,881.540805873,784,815,652,630.540805873,653,0.452217320481,0.00445407077126,0.0598397403348,0.999999965088,-7.9168744122e-05,-0.00024439995179,-6.18460231963e-05,1793248811870110720
+256,4.266666667,HOLD_POSE2,766.880421182,745,715.119578818,682.880421182,662,633,882,784,815,652.119578818,630.880421182,653,0.452217727357,0.00445264478957,0.0598396982028,0.999999964912,-8.01357605083e-05,-0.000244899196951,-6.14768454121e-05,1793248811886777600
+257,4.283333333,HOLD_POSE2,766.305416742,745,715.694583258,682.305416742,662,633,882,784,815,652.694583258,630.305416742,653,0.452218293355,0.0044537098943,0.0598403773969,0.999999964961,-8.21580056354e-05,-0.000243936118756,-6.18400799313e-05,1793248811903444224
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,662,633,882,784,815,652,630,653,0.452218545468,0.0044509579746,0.0598414535384,0.999999964942,-8.44732406977e-05,-0.000243354303824,-6.13171720022e-05,1793248811940694272
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,745.419996372,715,681,661.419996372,633,882,784,815,652,630,653,0.452218368749,0.00445123543314,0.059841151707,0.999999964928,-8.38508223494e-05,-0.000243678022575,-6.11033415075e-05,1793248811957361152
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.159291384,661,632.840708616,882,784,815.159291384,652.159291384,630,653,0.452218079655,0.00445200593444,0.0598407598126,0.999999964936,-8.25392167729e-05,-0.000244125200291,-6.09805898676e-05,1793248811974027776
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.736700199,661,632.263299801,882,784,815.736700199,652.736700199,630,653,0.452217495593,0.00445407060355,0.0598401315155,0.999999964993,-7.94185917175e-05,-0.000244896440465,-6.10969073386e-05,1793248811990694144
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632,882,784,815.686564092,652.686564092,630,653,0.452217103372,0.00445565269488,0.0598398297835,0.999999965033,-7.76492072967e-05,-0.000245247233042,-6.13069632428e-05,1793248812007360512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632,882,784,815.110392644,652.110392644,630,653,0.452216871961,0.00445683026852,0.0598398017925,0.999999965065,-7.70124914221e-05,-0.00024524558821,-6.15955947509e-05,1793248812024027136
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.524910909,661,632,882,784,815,652,630.475089091,653,0.452217326302,0.00445557047166,0.0598399751587,0.999999965142,-7.7492646166e-05,-0.000244854013398,-6.13000487238e-05,1793248812040693760
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.061931244,661,632.061931244,882.061931244,784.061931244,815,652,631,653,0.452217766173,0.00445409432545,0.0598401024001,0.999999965214,-7.80441015934e-05,-0.000244471023126,-6.09552169634e-05,1793248812057360640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.641698113,661,632.641698113,882.641698113,784.641698113,815,652,631,653,0.452216726083,0.00445563937127,0.0598394449367,0.999999965159,-7.69784088028e-05,-0.00024493254458,-6.13559614402e-05,1793248812074027520
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.219743708,745,715,682.219743708,661,633,882.780256292,784.780256292,815.219743708,652.219743708,631,653,0.452212263026,0.00445660848212,0.0598375541989,0.999999964497,-7.68255796726e-05,-0.000247581638679,-6.17008709834e-05,1793248812090694400
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.795004447,745,715,682.795004447,661,633,882.204995553,784.204995553,815.795004447,652.795004447,631,653,0.452202262048,0.00445664580418,0.059833668182,0.999999962827,-7.81496465381e-05,-0.000253769943671,-6.19554467509e-05,1793248812107361024
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.63021962,745.36978038,715,682.63021962,661,632.63021962,882,784,815.63021962,652.63021962,630.63021962,653,0.452175628848,0.00445608504574,0.0598234497576,0.999999958468,-7.892852316e-05,-0.000270186317973,-6.19199753481e-05,1793248812124027392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766.055712044,745.944287956,715,682.055712044,661,632.055712044,882,784,815.055712044,652.055712044,630.055712044,653,0.452139787296,0.00445519316281,0.0598097254248,0.999999952233,-7.94055578212e-05,-0.000292265415959,-6.17239206726e-05,1793248812140693760
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.466911059,715,682,661,632,882,784,815.533088941,652,630.533088941,653,0.452086426981,0.00445697615939,0.0597941371245,0.999999946594,-7.70826408119e-05,-0.00031141433909,-6.2376583772e-05,1793248812157360128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632.121465118,882.121465118,784,815.878534882,652,630.878534882,653,0.452027398558,0.00445834142544,0.0597793176238,0.999999940814,-7.49962355421e-05,-0.000329845230771,-6.28442256322e-05,1793248812174027008
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632.70242785,882.70242785,784,815.29757215,652,630.29757215,653,0.451954044749,0.00445703978666,0.0597681636784,0.999999935135,-7.49420011583e-05,-0.000346750203619,-6.22671553268e-05,1793248812190693376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,882.720189484,784,815.279810516,652,630.279810516,653,0.451873490242,0.00445739532591,0.0597611849215,0.999999931479,-7.38325206788e-05,-0.000357411311586,-6.20345331279e-05,1793248812207360256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,882.146566076,784,815.853433924,652,630.853433924,653,0.451785374702,0.00445949097236,0.0597585902898,0.999999930157,-7.16149871221e-05,-0.000361516096023,-6.21635960779e-05,1793248812224027136
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632.562565268,882,784,815.562565268,652,631,653,0.451674620185,0.00446027894939,0.0597516913549,0.999999926236,-6.9346581201e-05,-0.000372723806389,-6.1609036519e-05,1793248812240694016
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632,882,784,815,652.024652217,631,653,0.451555055277,0.0044606338737,0.0597435050712,0.99999992136,-6.70242417947e-05,-0.00038612397595,-6.07970405112e-05,1793248812257361152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632,882,784,815,652.604109091,631,653,0.451412069203,0.00446134301818,0.0597395922683,0.999999918571,-6.38810426977e-05,-0.000394004399542,-5.94715371667e-05,1793248812274027264
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.183386888,632.183386888,881.816613112,784,815,652.816613112,631,653,0.451261458451,0.00446173100363,0.0597363212201,0.999999916564,-6.09025773887e-05,-0.000399723569688,-5.81732664547e-05,1793248812290693376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.762278402,632.762278402,881.237721598,784,815,652.237721598,631,653,0.45109440382,0.0044614263556,0.0597344342239,0.999999916368,-5.82793885761e-05,-0.000400781632818,-5.69337276676e-05,1793248812307360256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,881.675033945,784,815,652.337516972,631,653,0.450913215226,0.00446132516583,0.0597375602879,0.999999919095,-5.60359072337e-05,-0.000394464674536,-5.53933751792e-05,1793248812324026880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,882.820420583,784,815,652.910210291,631,653,0.450722178298,0.00446136574245,0.0597441793707,0.999999923752,-5.40569996184e-05,-0.000383008921146,-5.36434204557e-05,1793248812340693504
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.502916324,662.497083676,633,882.502916324,784.497083676,815,652.502916324,631,653,0.450494674659,0.00446424766647,0.0597485469736,0.999999926128,-4.65664730964e-05,-0.000377962971985,-5.21526055294e-05,1793248812357360640
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633,882,784.915263542,815,652,631,653,0.450254655733,0.00446694108137,0.059752313052,0.99999992815,-3.87724787419e-05,-0.000373690637126,-5.05114245922e-05,1793248812374027520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633,882,784.338396747,815,652,631,653,0.449981330448,0.00446547136168,0.0597550169428,0.999999930903,-3.51679009495e-05,-0.000366989452646,-4.77171108544e-05,1793248812390694656
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633,882,784,814.760990222,652,630.760990222,653,0.449693148912,0.00446538091304,0.0597590473073,0.999999934282,-2.88658550924e-05,-0.000358583939218,-4.49581528475e-05,1793248812407361280
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633,882,784,814.182817838,652,630.182817838,653,0.449383885892,0.00446724769471,0.0597649599807,0.999999938463,-1.87360150087e-05,-0.000347759928252,-4.224936593e-05,1793248812424027392
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633,882,784.391550143,814.391550143,652.391550143,630,653,0.449042493608,0.00447126032724,0.0597695115098,0.999999941283,-8.84901543444e-06,-0.000340194000122,-4.02980968352e-05,1793248812440693760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,633,882,784.964158896,814.964158896,652.964158896,630,653,0.448686244283,0.00447626523307,0.0597734336254,0.999999943428,9.25690796094e-07,-0.000334134658233,-3.86971153201e-05,1793248812457360384
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.712325908,663,633,881.856162954,784,814,651.856162954,630,652.856162954,0.44789124031,0.0044787519208,0.0597880468031,0.999999950575,2.02555678248e-05,-0.000312137466892,-3.17893785917e-05,1793248812490693888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.556489652,663,633,881.278244826,784,814,651.278244826,630,652.278244826,0.447459485818,0.00448162063999,0.0598017868761,0.999999956967,2.87618029591e-05,-0.000290565476621,-2.84545436149e-05,1793248812507360768
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.298019417,663,633,881.298019417,784,814,651.298019417,630.298019417,652.298019417,0.446999629643,0.00448522581509,0.0598119312566,0.999999960217,4.01905754276e-05,-0.00027808846406,-2.48431619801e-05,1793248812524027648
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,633,881.540895247,784.459104753,813.540895247,652,630.540895247,653,0.445960982101,0.00449177546175,0.0598023660272,0.999999952022,6.63579409565e-05,-0.000302093711219,-1.70762558501e-05,1793248812557361408
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.952098915,662.952098915,633,881,784.952098915,813.047901085,652,630,653,0.445387357332,0.00449362757379,0.0597791846562,0.999999939497,7.79693720307e-05,-0.000338747525778,-1.32671731305e-05,1793248812574028288
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.205460992,662.205460992,633.205460992,881,784,813.794539008,652,630,653,0.444203113886,0.00450081588414,0.05974563337,0.999999923891,0.000105683724745,-0.000375499043864,-6.96519023287e-06,1793248812607360768
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,633.07081355,881,784.92918645,812.07081355,652,630,653,0.442383546834,0.00451188942074,0.0598097931699,0.999999950047,0.000146342891169,-0.000280063186758,7.39947097655e-06,1793248812657360384
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.690344525,662.309655475,633.690344525,880.309655475,784,812,652,630.690344525,653,0.440167999739,0.00452213899557,0.0597681768668,0.999999911731,0.000194373135682,-0.000371794672385,2.29426314189e-05,1793248812707360256
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.194557233,681,661.389114466,634,880,785,811.194557233,652,630,652.194557233,0.41862340832,0.00456962580808,0.0597178991798,0.999999887986,0.000154213996991,-0.000446337170577,3.20939545729e-05,1793248813124026880
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,662.353310228,634,879.323344886,785.676655114,811.676655114,652.676655114,629,652,0.413933230749,0.00456415899291,0.0598414251689,0.99999993506,0.000236441770439,-0.000269418411082,3.72824810547e-05,1793248813224026880
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.939959456,744.939959456,715.939959456,680.939959456,662,634,879,785.939959456,810,653,629,653,0.4068605024,0.00454614789092,0.059817551389,0.999999939494,0.000166443378894,-0.000303298807104,3.63061488083e-05,1793248813407361536
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.356973765,744.356973765,715.356973765,680.356973765,662,634,879,785.356973765,810,653,629,653,0.406380288503,0.00454376272493,0.0598200489635,0.999999944591,0.000154379520205,-0.000292866361219,3.48404789688e-05,1793248813424027904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744.22211256,715.22211256,680,662.22211256,634,878.77788744,785,810,653,629,652.77788744,0.405914857024,0.00454122512499,0.059823487139,0.999999949194,0.000142823244739,-0.000282960771345,3.38759960089e-05,1793248813440694272
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744.795039993,715.795039993,680,662.795039993,634,878.204960007,785,810,653,629,652.204960007,0.405472773625,0.00453844676403,0.059828410943,0.999999953204,0.000132068670916,-0.000273887323318,3.37031109838e-05,1793248813457360896
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.369080023,745,716,680,662.630919977,634.369080023,878.369080023,785,810,653,629,652,0.405033116024,0.00453842372061,0.059816744872,0.999999949015,0.000129656751528,-0.000289904263213,3.33948193247e-05,1793248813474027520
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.943739829,745,716,680,662.056260171,634.943739829,878.943739829,785,810,653,629,652,0.404594809566,0.00453993540531,0.0597958381418,0.99999993959,0.000131891739539,-0.000319896698422,3.30111053211e-05,1793248813490693632
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.465222826,745,715.465222826,680,662,634.465222826,879,785.534777174,810.534777174,653.534777174,629,652,0.404197879799,0.0045381685326,0.0597700778253,0.999999923836,0.00012789821113,-0.000367223406776,3.340810723e-05,1793248813507360512
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,879,786,810.875673283,653.875673283,628.875673283,652.124326717,0.403827204586,0.00453612600151,0.0597520642007,0.99999991209,0.000123297038489,-0.000399339914149,3.38457448262e-05,1793248813524027392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,879,786,810.298029084,653.298029084,628.298029084,652.701970916,0.403535885003,0.00453437572002,0.0597642169956,0.999999924212,0.000118944956803,-0.000369138016783,3.41226125789e-05,1793248813540694272
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.277303458,680,662,634,879,785.722696542,810,653,628.277303458,652.722696542,0.403264829523,0.00453246037505,0.0597812140144,0.999999935965,0.000116055736432,-0.000336736260123,3.47856632156e-05,1793248813557360896
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.850172074,680,662,634,879,785.149827926,810,653,628.850172074,652.149827926,0.403015372649,0.00453036909653,0.0598033742708,0.999999947177,0.000114725713729,-0.000301989775152,3.58603286226e-05,1793248813574027520
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,879,785,810,653,629,652.424797055,0.402784121814,0.00452876244856,0.0598226908526,0.999999955934,0.000114354609583,-0.000271482933792,3.6761808935e-05,1793248813590694144
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715.99995434,679.99995434,662.00004566,634,879,785.00004566,810,653,629,652.99995434,0.402559319722,0.0045273272468,0.0598409985398,0.999999963359,0.000114325683411,-0.000242480890008,3.76011080391e-05,1793248813607360768
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715.404031277,679.404031277,662.595968723,634,879,785.595968723,810,653,629,652.404031277,0.402343941104,0.00452334739058,0.059836432695,0.999999955989,0.000147689316803,-0.000255846506868,2.74210222255e-05,1793248813624027136
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715.184902058,679.184902058,662.815097942,634,879,786,810,653,629,652.184902058,0.4021406835,0.00451972897321,0.0598324806464,0.999999949364,0.00016993033502,-0.000268232432588,2.11668601271e-05,1793248813640693760
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.759118333,679.759118333,662.240881667,634,879,786,810,653,629,652.759118333,0.401962946911,0.00451687157156,0.0598298209558,0.999999946696,0.000168752506702,-0.000278555601999,2.31787940354e-05,1793248813657360384
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,716,680.334245227,662.334245227,634,879,786,810,653,628.665754773,653,0.401805993425,0.00451681630513,0.0598287754019,0.999999944885,0.000171007666823,-0.00028351012035,2.46550831035e-05,1793248813674027008
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,716,680.910030232,662.910030232,634,879,786,810,653,628.089969768,653,0.401664058671,0.00451878598017,0.0598288962914,0.999999943731,0.000175743649885,-0.000284585024812,2.57442926997e-05,1793248813690693632
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.503885875,680.503885875,662.503885875,634,878.503885875,786,810,653,628.496114125,652.503885875,0.401545560318,0.00451655320392,0.0598286864178,0.999999944216,0.00017271235343,-0.000284675026767,2.64416430359e-05,1793248813707360000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,878.165693133,785.917153434,810,653,629,652,0.401435518761,0.00451409196432,0.0598289705907,0.999999945067,0.000169136252215,-0.000283771674654,2.7053266738e-05,1793248813724026880
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,879.324075978,785.337962011,810,653,629,652,0.401350139849,0.00451492466567,0.0598325816493,0.999999946369,0.000170914089947,-0.000278009772864,2.75860660053e-05,1793248813740694784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.239981026,879.760018974,785,810,653,628.760018974,652,0.401272740866,0.0045147485461,0.0598341760632,0.999999947142,0.000170998447691,-0.000275112013628,2.80710733866e-05,1793248813757361664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.816175041,879.183824959,785,810,653,628.183824959,652,0.401206521755,0.00451315907016,0.0598329451612,0.999999947212,0.000168710242884,-0.000276226913364,2.84891243897e-05,1793248813774027520
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.609623036,879,785,810,653,628.390376964,652.390376964,0.40115098837,0.00451208034376,0.059831340115,0.999999946711,0.000165903781482,-0.000279719421594,2.84637815762e-05,1793248813790693888
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.036354424,879,785,810,653,628.963645576,652.963645576,0.40110046125,0.00451124090361,0.0598295597823,0.99999994592,0.00016285451687,-0.000284325839604,2.82307087023e-05,1793248813807360512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.557066143,745,715.557066143,680,662.557066143,634,879,785,810,653,629,653,0.401061501158,0.00451448079682,0.0598273462499,0.999999943972,0.000167558748239,-0.000288444604707,2.79416344312e-05,1793248813824027392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.852756316,745.147243684,716,680,662.852756316,634,879,785.147243684,810,653,629,653,0.401028208472,0.00451633106326,0.0598258746047,0.999999942864,0.000170209999939,-0.000290736577939,2.77947841911e-05,1793248813840694272
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.276018516,745.723981484,716,680,662.276018516,634,879,785.723981484,810,653,629,653,0.401009162491,0.00451332225686,0.0598266525238,0.999999944524,0.00016534159195,-0.00028779630617,2.80738467587e-05,1793248813857360384
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.300038213,745.699961787,716,680,662,634.300038213,879,786,810,653,629,653,0.400995947684,0.00451147822357,0.0598287619449,0.999999946341,0.000161868490146,-0.000283405635485,2.82344637323e-05,1793248813874027008
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.87546988,745.12453012,716,680,662,634.87546988,879,786,810,653,629,653,0.400988085083,0.00451070329004,0.0598320935002,0.999999948298,0.000159676085282,-0.000277683699477,2.82863641152e-05,1793248813890693888
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.548568136,745,716,679.548568136,662,634.548568136,878.548568136,786,810,653,628.548568136,652.548568136,0.400979877596,0.0045108002399,0.0598330889183,0.999999948634,0.000159647052668,-0.000276496951629,2.81690204774e-05,1793248813907360256
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.028325437,662.028325437,634,878.028325437,786,810,653,628.028325437,652,0.40097178983,0.00451109725131,0.0598334076921,0.999999948526,0.000160207195327,-0.000276577840609,2.80277166325e-05,1793248813924026624
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.620858483,662.620858483,634,878.620858483,786,810,653,628.620858483,652,0.400967984037,0.00451058286317,0.0598331000345,0.999999948349,0.0001606019034,-0.000276959647299,2.83401949264e-05,1793248813940693248
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.793221605,662.793221605,634,878.793221605,786,810,652.793221605,629,652,0.400965649846,0.00451043154743,0.0598333975278,0.999999948374,0.000160956677268,-0.000276644212167,2.85254811466e-05,1793248813957360640
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.219051556,662.219051556,634,878.219051556,786,810,652.219051556,629,652,0.400965930311,0.00451092531735,0.0598347702175,0.999999948758,0.000161240498373,-0.00027508995887,2.84847799739e-05,1793248813974028544
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.643550407,679,662.356449593,634.356449593,878.356449593,785.643550407,810,652.356449593,629,652,0.400966334169,0.00451031161191,0.0598357815762,0.999999949389,0.000159784453948,-0.000273643173252,2.845949488e-05,1793248813990694656
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.067228203,679,662.932771797,634.932771797,878.932771797,785.067228203,810,652.932771797,629,652,0.400966814142,0.00450901477059,0.0598365700512,0.999999950167,0.000157255189673,-0.000272262678127,2.84437190521e-05,1793248814007360256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.522525296,679.522525296,663,634.477474704,879,785.522525296,810,653,628.477474704,652.522525296,0.400965855959,0.00450886365134,0.0598366254907,0.999999950482,0.000155709167219,-0.00027202857115,2.81369014443e-05,1793248814024026624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.88828279,679.88828279,662.88828279,634,879,785.88828279,810,653,628.11171721,653,0.400965140594,0.00450898220105,0.0598367820452,0.999999950784,0.000154601475797,-0.000271573799456,2.78850803804e-05,1793248814040693504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.30886744,679.30886744,662.30886744,634,879,785.30886744,810,653,628.69113256,653,0.400966236842,0.00450959630505,0.0598377671636,0.999999951296,0.000154785259306,-0.000269561458051,2.80243989091e-05,1793248814057360128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,879.267557812,785,810,653,628.732442188,652.732442188,0.400966079461,0.00451007066543,0.0598377964846,0.999999951308,0.000154660958135,-0.000269591477968,2.80252048455e-05,1793248814074026496
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,879.840569531,785,810,653,628.159430469,652.159430469,0.40096449089,0.0045103854894,0.0598367346321,0.999999950746,0.000154184936105,-0.000271953132948,2.78678796945e-05,1793248814090693376
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.425391633,662.425391633,634,879.574608367,785,810,652.574608367,628.425391633,652,0.400963319616,0.00451035324242,0.0598364076474,0.999999950417,0.000154637150053,-0.000272909464645,2.78233221659e-05,1793248814107360000
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.98551818,634,879,785.01448182,810,652.01448182,629,652,0.400962374564,0.00451015374864,0.0598364029535,0.999999950204,0.000155423447158,-0.000273243417084,2.7830963804e-05,1793248814124026624
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.407504048,634,879,785.592495952,810,652.592495952,629,652,0.400963972851,0.00450865240805,0.0598379161926,0.999999950977,0.000155285935636,-0.000270439245153,2.8178263755e-05,1793248814140693248
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.170686458,680,662,634.170686458,879,786,810,653,628.829313542,652,0.400964892226,0.0045079166661,0.0598387387934,0.999999951446,0.000155363436472,-0.000268637777118,2.83669574861e-05,1793248814157360128
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.749298445,680,662,634.749298445,879,786,810,653,628.250701555,652,0.400964189063,0.00450901063722,0.0598379108297,0.999999951199,0.000155954797824,-0.000269232682832,2.81765963673e-05,1793248814174026752
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.325109247,634.674890753,879,785.674890753,810,652.674890753,628.325109247,652,0.400964038518,0.00451022229694,0.0598379297037,0.999999951059,0.000156834024523,-0.00026927711226,2.78384177458e-05,1793248814190693376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.898778398,634.101221602,879,785.101221602,810,652.101221602,628.898778398,652,0.400964310473,0.00451152393457,0.0598385960212,0.999999951,0.000157933336544,-0.000268900679031,2.73872263395e-05,1793248814207360000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.514219208,680,662.514219208,634.485780792,879,785,810,652.485780792,629,652,0.400964178296,0.00451158660045,0.0598383979493,0.999999951103,0.000156772166015,-0.00026921948037,2.7159260081e-05,1793248814224026624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.074342864,680,662.074342864,634.925657136,879,785.074342864,810,653,628.925657136,652.074342864,0.400964041197,0.0045111172938,0.059838178634,0.999999951309,0.000155128363074,-0.000269414409928,2.70855128489e-05,1793248814240693504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.654087564,680,662.654087564,634.345912436,879,785.654087564,810,653,628.345912436,652.654087564,0.400964459275,0.00450883609169,0.0598390739028,0.999999951989,0.000153495945369,-0.000267754602519,2.77350537497e-05,1793248814257360128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.768564229,680,662.768564229,634,879,785.768564229,809.768564229,653,628.231435771,653,0.400964566549,0.00450862106357,0.0598396202391,0.999999952163,0.000153732061771,-0.000266948447189,2.78924032822e-05,1793248814274026752
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.194761111,680,662.194761111,634,879,785.194761111,809.194761111,653,628.805238889,653,0.400964214045,0.00451146256565,0.0598396503933,0.999999951592,0.000156732336044,-0.0002674051154,2.732164484e-05,1793248814290693376
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..118a9f68e31c9c250fa349e8800a66898abe4bae
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,401 @@
+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
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+361,6.016666667,pose2_to_pose3_retreat,0.586014464916,0.00992781487077,1.05004238644,0.556586257241,0.0186022765302,1.04966577991
+362,6.033333333,pose2_to_pose3_retreat,0.585874114337,0.00992785965606,1.05004223884,0.556445906764,0.0186023216973,1.04966563324
+363,6.050000000,pose2_to_pose3_retreat,0.585750263356,0.00992783773348,1.0500423285,0.55632205532,0.0186022978978,1.0496657159
+364,6.066666667,pose2_to_pose3_retreat,0.585642650655,0.00992780934847,1.05004243983,0.556214442133,0.0186022675457,1.04966581995
+365,6.083333333,pose2_to_pose3_retreat,0.585549008216,0.00992778464841,1.0500425367,0.55612079927,0.0186022411338,1.04966591049
+366,6.100000000,pose2_to_pose3_retreat,0.585454967608,0.00992781923391,1.05004256869,0.556026758761,0.0186022761753,1.0496659452
+367,6.116666667,pose2_to_pose3_retreat,0.585371866975,0.00992785721273,1.0500425888,0.555943658282,0.0186023148286,1.04966596886
+368,6.133333333,pose2_to_pose3_retreat,0.585301300653,0.00992788946309,1.05004260588,0.555873092091,0.0186023476518,1.04966598895
+369,6.150000000,pose2_to_pose3_retreat,0.58523940099,0.00992791526677,1.05004261696,0.555811192501,0.0186023738123,1.04966600248
+370,6.166666667,pose2_to_pose3_retreat,0.585173871914,0.00992791378741,1.05004258351,0.555745663035,0.0186023710237,1.04966596935
+371,6.183333333,pose2_to_pose3_retreat,0.585120984156,0.00992791259343,1.05004255651,0.555692774962,0.018602368773,1.04966594262
+372,6.200000000,pose2_to_pose3_retreat,0.585079436806,0.00992791165546,1.0500425353,0.555651227365,0.018602367005,1.04966592162
+373,6.216666667,pose2_to_pose3_retreat,0.585049322569,0.00992791097561,1.05004251993,0.555621112949,0.0186023657235,1.0496659064
+374,6.233333333,pose2_to_pose3_retreat,0.585027449326,0.00992791048181,1.05004250877,0.555599239575,0.0186023647927,1.04966589534
+375,6.250000000,pose2_to_pose3_retreat,0.585012330423,0.00992791014049,1.05004250105,0.555584120582,0.0186023641493,1.0496658877
+376,6.266666667,pose2_to_pose3_retreat,0.585001295541,0.00992790989137,1.05004249542,0.555573085635,0.0186023636797,1.04966588212
+377,6.283333333,pose2_to_pose3_retreat,0.584993176415,0.00992790970807,1.05004249127,0.555564966461,0.0186023633342,1.04966587802
+378,6.300000000,pose2_to_pose3_retreat,0.584987239444,0.00992790957404,1.05004248824,0.555559029454,0.0186023630815,1.04966587502
+379,6.316666667,pose2_to_pose3_retreat,0.584983610116,0.00992790949211,1.05004248639,0.555555400105,0.0186023629271,1.04966587318
+380,6.333333333,pose2_to_pose3_retreat,0.584982276746,0.00992790946201,1.05004248571,0.555554066726,0.0186023628704,1.04966587251
+381,6.350000000,pose2_to_pose3_retreat,0.58498170647,0.00992790944913,1.05004248542,0.555553496447,0.0186023628461,1.04966587222
+382,6.366666667,pose2_to_pose3_retreat,0.584981570002,0.00992790944605,1.05004248535,0.555553359978,0.0186023628403,1.04966587215
+383,6.383333333,pose2_to_pose3_retreat,0.584981487859,0.0099279094442,1.0500424853,0.555553277834,0.0186023628368,1.04966587211
+384,6.400000000,pose2_to_pose3_retreat,0.584981419603,0.00992790944265,1.05004248527,0.555553209578,0.0186023628339,1.04966587207
+385,6.416666667,pose2_to_pose3_retreat,0.584980797025,0.0099279094286,1.05004248495,0.555552586996,0.0186023628074,1.04966587176
+386,6.433333333,pose2_to_pose3_retreat,0.584980117343,0.00992790941325,1.0500424846,0.55555190731,0.0186023627785,1.04966587142
+387,6.450000000,pose2_to_pose3_retreat,0.58497937611,0.00992790939652,1.05004248423,0.555551166073,0.0186023627469,1.04966587104
+388,6.466666667,pose2_to_pose3_retreat,0.584978769413,0.00992790938282,1.05004248392,0.555550559372,0.0186023627211,1.04966587073
+389,6.483333333,pose2_to_pose3_retreat,0.584978451261,0.00992790937564,1.05004248375,0.555550241218,0.0186023627076,1.04966587057
+390,6.500000000,pose2_to_pose3_retreat,0.584978370378,0.00992790937382,1.05004248371,0.555550160335,0.0186023627041,1.04966587053
+391,6.516666667,pose2_to_pose3_retreat,0.584978177729,0.00992790936947,1.05004248361,0.555549967685,0.0186023626959,1.04966587044
+392,6.533333333,pose2_to_pose3_retreat,0.58497765895,0.00992790935775,1.05004248335,0.555549448902,0.0186023626738,1.04966587017
+393,6.550000000,pose2_to_pose3_retreat,0.584977603895,0.00992790935651,1.05004248332,0.555549393847,0.0186023626715,1.04966587015
+394,6.566666667,pose2_to_pose3_retreat,0.584977375839,0.00992790935136,1.05004248321,0.55554916579,0.0186023626618,1.04966587003
+395,6.583333333,pose2_to_pose3_retreat,0.584977303428,0.00992790934973,1.05004248317,0.555549093379,0.0186023626587,1.04966586999
+396,6.600000000,pose2_to_pose3_retreat,0.584977161928,0.00992790934653,1.0500424831,0.555548951878,0.0186023626527,1.04966586992
+397,6.616666667,pose2_to_pose3_retreat,0.584977136087,0.00992790934595,1.05004248308,0.555548926037,0.0186023626516,1.04966586991
+398,6.633333333,pose2_to_pose3_retreat,0.584977126507,0.00992790934573,1.05004248308,0.555548916457,0.0186023626512,1.0496658699
+399,6.650000000,pose2_to_pose3_retreat,0.584977080188,0.00992790934469,1.05004248305,0.555548870138,0.0186023626492,1.04966586988
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0560f352250d9c8e14f48174351c3f5ca7845d2d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a3100ebe2358d2b4f351688c4d199b74c793dd6db590c083b0e5826089c8e0
+size 25538574
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15fa27e3fca7a30e962ea851c7f50a0c15d5a0e0
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
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+35,0.583333333,BASELINE,766,745,715.340680836,679.340680836,662,634,878.340680836,785.340680836,810,653,628,652,0.400962174657,0.00451153599808,0.0598404638277,0.999999952429,0.0001534579586,-0.000266240202321,2.66146601831e-05,1793248814995176960
+36,0.600000000,BASELINE,766,745,715.915774719,679.915774719,662,634,878.915774719,785.915774719,810,653,628,652,0.400962540449,0.00451121594819,0.0598405061333,0.99999995241,0.000155099214628,-0.000265321942005,2.69736259873e-05,1793248815011844096
+37,0.616666667,BASELINE,766,745,716,679.510975484,662.489024516,634.489024516,878.510975484,786,810,653,628.489024516,652,0.400961842936,0.00450993114984,0.0598404042787,0.999999952566,0.000152470081736,-0.000266233765545,2.72197952412e-05,1793248815028510976
+38,0.633333333,BASELINE,766.063819777,745,715.936180223,679,662.936180223,634.936180223,878.063819777,786,810,653,629,652,0.400961269967,0.00450859921325,0.0598404529293,0.999999952796,0.000149416580384,-0.000267080046193,2.73896301234e-05,1793248815045177344
+39,0.650000000,BASELINE,766.653970553,745,715.346029447,679,662.346029447,634.346029447,878.653970553,786,810,653,629,652,0.40096322879,0.00450824371582,0.0598419468159,0.999999953488,0.000148906189054,-0.000264796071373,2.70895405504e-05,1793248815061844224
+40,0.666666667,BASELINE,766.759894212,745,715.240105788,679.240105788,662,634,878.759894212,786,810,652.759894212,629,652.240105788,0.400963777189,0.00450818378464,0.0598424625893,0.999999953552,0.000149903303732,-0.000263997276579,2.7016857464e-05,1793248815078510848
+41,0.683333333,BASELINE,766.179450834,745,715.820549166,679.820549166,662,634,878.179450834,786,810,652.179450834,629,652.820549166,0.400962326384,0.00450854280343,0.0598415919374,0.999999952725,0.000153037230578,-0.000265303648132,2.72665113797e-05,1793248815095177216
+42,0.700000000,BASELINE,766,745.397070438,716,680,662,634,878.397070438,786,810,652.397070438,628.602929562,653,0.400963152537,0.004507879919,0.0598417292457,0.999999953051,0.000151492217033,-0.000264950948557,2.73683454025e-05,1793248815111843584
+43,0.716666667,BASELINE,766,745.971836487,716,680,662,634,878.971836487,786,810,652.971836487,628.028163513,653,0.400964997666,0.0045067597159,0.0598423176329,0.999999953884,0.000147853299928,-0.000263855787082,2.74040275631e-05,1793248815128510208
+44,0.733333333,BASELINE,766,745.453420551,716,680,662.546579449,634,879,785.453420551,810,652.453420551,628.546579449,652.453420551,0.400964354907,0.00450927662062,0.059841879755,0.999999953478,0.000150348255149,-0.000264020523938,2.70502746097e-05,1793248815145177344
+45,0.750000000,BASELINE,766,745,715.875528356,680,662.875528356,634,879,785.124471644,810,652.124471644,629,652,0.400963785576,0.00451106757845,0.0598414802033,0.99999995313,0.000152338483919,-0.000264219013298,2.68535428191e-05,1793248815161844224
+46,0.766666667,BASELINE,766,745,715.285862048,680,662.285862048,634,879,785.714137952,810,652.714137952,629,652,0.400963969751,0.00450944503168,0.0598414215138,0.999999953259,0.000151261195435,-0.00026430103417,2.73186468114e-05,1793248815178511360
+47,0.783333333,BASELINE,766,745,715.298558464,680,662.298558464,634,879,785.701441536,810,653,629,652.298558464,0.400964532522,0.0045083904526,0.0598419818492,0.999999953552,0.000150409509513,-0.000263658806702,2.75125781161e-05,1793248815195177984
+48,0.800000000,BASELINE,766,745,715.878043055,680,662.878043055,634,879,785.121956945,810,653,629,652.878043055,0.400965451528,0.00450787029784,0.0598431246508,0.999999953998,0.000149770102337,-0.000262335103733,2.74513517684e-05,1793248815211844608
+49,0.816666667,BASELINE,766,745,715.546401121,680,662.546401121,634,879,785.453598879,810,653,629,653,0.400965678676,0.00450895351996,0.0598430997507,0.999999953843,0.000151119707045,-0.000262179086181,2.71777555378e-05,1793248815228510976
+50,0.833333333,BASELINE,766,745,715.028748695,680,662.028748695,634.028748695,879.028748695,786,810,653,628.971251305,653,0.400965685935,0.00451034382651,0.059842760888,0.999999953558,0.000152793377855,-0.000262330644139,2.68550521528e-05,1793248815245177088
+51,0.850000000,BASELINE,766,745,715.616364585,680,662.616364585,634.616364585,879.616364585,786,810,653,628.383635415,653,0.400965003674,0.00450939541715,0.0598423694577,0.999999953895,0.000150460173426,-0.000262410691884,2.66781737891e-05,1793248815261843968
+52,0.866666667,BASELINE,766.2020462,745,716,680,662.7979538,634.7979538,879.7979538,786,810,653,628.2020462,652.7979538,0.400964308884,0.00450840489014,0.0598421067601,0.999999953999,0.00014925637934,-0.000262696314564,2.67402422208e-05,1793248815278510848
+53,0.883333333,BASELINE,766.784089902,745,716,680,662.215910098,634.215910098,879.215910098,786,810,653,628.784089902,652.215910098,0.400963590531,0.00450733515058,0.0598420861763,0.999999953671,0.000150176718922,-0.000263368571394,2.72517087968e-05,1793248815295177984
+54,0.900000000,BASELINE,766.637981826,745,716,680,662,634.362018174,879,785.637981826,810,653,629,652,0.400963416027,0.00450805986726,0.0598422483241,0.999999953553,0.000150765558267,-0.000263469308624,2.73336190062e-05,1793248815311844608
+55,0.916666667,BASELINE,766.062480456,745,716,680,662,634.937519544,879,785.062480456,810,653,629,652,0.400963562232,0.00450984278018,0.0598425182294,0.999999953561,0.000151158910901,-0.000263233019022,2.71622185286e-05,1793248815328511488
+56,0.933333333,BASELINE,766,745,715.487485171,680,662,634.487485171,878.487485171,785.512514829,810,652.487485171,628.487485171,652,0.400964319734,0.004509984344,0.0598430433117,0.999999953627,0.000151889885415,-0.000262572010456,2.70497412024e-05,1793248815345178112
+57,0.950000000,BASELINE,766,745,715.089938458,680.089938458,662,634,878,785.910061542,810,652.089938458,628.089938458,652,0.400964844582,0.00450997511824,0.0598433401161,0.999999953653,0.000152389711591,-0.000262194290012,2.69434456149e-05,1793248815361844224
+58,0.966666667,BASELINE,766,745,715.681242367,680.681242367,662,634,878,785.318757633,810,652.681242367,628.681242367,652,0.400963657466,0.00451023965344,0.0598421911313,0.999999953419,0.000151371774066,-0.000263684120408,2.68316063525e-05,1793248815378510848
+59,0.983333333,BASELINE,766,745,716,680.733878009,662,634,878.266121991,785.266121991,810,653,628.733878009,652.266121991,0.40096331679,0.00451034189663,0.059841831059,0.999999953307,0.000151256205968,-0.00026416400693,2.69348023428e-05,1793248815395177216
+60,1.000000000,BASELINE,766,745,716,680.156511859,662,634,878.843488141,785.843488141,810,653,628.156511859,652.843488141,0.400963966071,0.00451025433051,0.0598423936627,0.99999995334,0.00015219600792,-0.000263462709293,2.72894937558e-05,1793248815411843584
+61,1.016666667,BASELINE,766,745,715.581027669,679.581027669,662.418972331,634,879,785.581027669,810,653,628,652.581027669,0.400964064653,0.00451009561924,0.0598425158899,0.999999953309,0.000152626365657,-0.000263340613764,2.71939446667e-05,1793248815428510464
+62,1.033333333,BASELINE,766,745,715.006243399,679.006243399,662.993756601,634,879,785.006243399,810,653,628,652.006243399,0.400963958435,0.00450991044976,0.059842474345,0.999999953254,0.000152867265739,-0.000263433918189,2.69309552721e-05,1793248815445177344
+63,1.050000000,BASELINE,766,745,715.581982237,679.581982237,662.418017763,634,879,785.581982237,809.418017763,653,628.581982237,652,0.400964864934,0.00451021305707,0.0598428887342,0.999999953775,0.0001506603097,-0.000262762666866,2.65993189074e-05,1793248815461843968
+64,1.066666667,BASELINE,766,745,716,680,662,634,879,786,809.167496221,653,629,652.167496221,0.400965582063,0.00451025215471,0.0598434658167,0.999999954175,0.000149438917433,-0.000261952928988,2.6444909429e-05,1793248815478511360
+65,1.083333333,BASELINE,766,745,716,680,662,634,879,786,809.745994133,653,629,652.745994133,0.400965807228,0.00450963150938,0.0598444298299,0.999999954273,0.000150701859015,-0.000260823975184,2.67272285134e-05,1793248815495178496
+66,1.100000000,BASELINE,766,745,715.675593767,680,662.324406233,634.324406233,879,786,810,653,629,652.675593767,0.400964923744,0.00450910776398,0.0598439770472,0.999999954053,0.000151218121513,-0.000261345331625,2.6933095993e-05,1793248815511845120
+67,1.116666667,BASELINE,766,745,715.097248867,680,662.902751133,634.902751133,879,786,810,653,629,652.097248867,0.400963172433,0.00450865986993,0.0598424152252,0.999999953584,0.000151149898599,-0.000263158517748,2.70791186823e-05,1793248815528511232
+68,1.133333333,BASELINE,766,745,715,680,662.522508812,634.522508812,879,786,810,653,629,652,0.400964117972,0.00450893051913,0.0598428872547,0.999999953791,0.000151452854359,-0.000262206071929,2.69899795753e-05,1793248815545177600
+69,1.150000000,BASELINE,766,745,715,679.947066757,662.052933243,634,879,785.947066757,810,652.947066757,629,652.052933243,0.400965423546,0.00450927619571,0.0598436555619,0.999999954075,0.000151781612102,-0.000260939623794,2.690200915e-05,1793248815561843968
+70,1.166666667,BASELINE,766,745,715,679.357110403,662.642889597,634,879,785.357110403,810,652.357110403,629,652.642889597,0.40096485115,0.00450890947856,0.0598432587269,0.99999995377,0.000151610935591,-0.000262159210958,2.73081585213e-05,1793248815578510848
+71,1.183333333,BASELINE,766,745,715.227619857,679.227619857,662.544760285,634,879,785,810,652,629,652.772380143,0.400964505345,0.0045089857555,0.0598430671162,0.999999953695,0.00015153215371,-0.000262492439266,2.73246470966e-05,1793248815595177472
+72,1.200000000,BASELINE,766,745,715.804335067,679.804335067,661.391329867,634,879,785,810,652,629,652.195664933,0.400964507057,0.00450974144224,0.0598431902532,0.99999995397,0.000151594308492,-0.000261466279523,2.6743521913e-05,1793248815611844352
+73,1.216666667,BASELINE,766,745,716,680,661.381925369,634,878.618074631,785.381925369,810,652.381925369,629,652,0.400962528216,0.00450974057216,0.0598419596563,0.999999953485,0.00015086143509,-0.000263738754885,2.66824939869e-05,1793248815628510976
+74,1.233333333,BASELINE,766,745,716,680,661.959964986,634,878.040035014,785.959964986,810,652.959964986,629,652,0.400959532385,0.00450935121887,0.0598400339326,0.999999952597,0.000149720323928,-0.000267705041188,2.68885300071e-05,1793248815645177344
+75,1.250000000,BASELINE,766,745,715.453890279,680,662,634.546109721,878.546109721,786,810,653,629,652.546109721,0.400961878482,0.00450866560524,0.059841021315,0.999999953516,0.000148524003924,-0.000264918277666,2.69731886472e-05,1793248815661843968
+76,1.266666667,BASELINE,766.130885369,745,715.130885369,679.869114631,662,634.869114631,879,786,810,653,629,652.869114631,0.400963973753,0.00450834465871,0.0598419565212,0.999999954194,0.000148150213348,-0.000262550779189,2.70132362695e-05,1793248815678510848
+77,1.283333333,BASELINE,766.708923162,745,715.708923162,679.291076838,662,634.291076838,879,786,810,653,629,652.291076838,0.400963854052,0.00450934486562,0.05984197289,0.999999953625,0.000150600520511,-0.000263332439017,2.69317334698e-05,1793248815695177216
+78,1.300000000,BASELINE,766.712504545,745,716,679.287495455,662,634.287495455,878.712504545,786,810,653,629,652,0.400964130857,0.00450981337135,0.0598424015639,0.999999953617,0.000151617709473,-0.00026278430471,2.68798138013e-05,1793248815711844096
+79,1.316666667,BASELINE,766.133390121,745,716,679.866609879,662,634.866609879,878.133390121,786,810,653,629,652,0.400964809853,0.00450974254969,0.0598432484564,0.99999995418,0.000151181225034,-0.000260887303133,2.68579015766e-05,1793248815728510720
+80,1.333333333,BASELINE,766.442307629,745,715.557692371,679.557692371,662.442307629,634.557692371,878.442307629,786,810.442307629,653,629,652.442307629,0.400964848762,0.00450983643682,0.0598431539621,0.999999954076,0.000151599681931,-0.000261031855287,2.69888856964e-05,1793248815745177600
+81,1.350000000,BASELINE,766.982706467,745,715.017293533,679.017293533,662.982706467,634,879,786,810.982706467,653,629,652.982706467,0.400964691657,0.00450998325031,0.0598427767586,0.999999953764,0.000152336019691,-0.000261779660748,2.71607019093e-05,1793248815761844480
+82,1.366666667,BASELINE,766.397520866,745,715.602479134,679.602479134,662.397520866,634,879,786,810.397520866,653,629,652.397520866,0.400964388146,0.0045102494191,0.059842367236,0.999999953208,0.000155109190811,-0.000262274139832,2.71708022632e-05,1793248815778511104
+83,1.383333333,BASELINE,766,745,716,680,662,634,879,785.813332808,810,653,629,652,0.400963947265,0.00451006808581,0.0598421644818,0.99999995295,0.000155563791513,-0.000262985074134,2.71888711615e-05,1793248815795177728
+84,1.400000000,BASELINE,766,745,716,680,662,634,879,785.231257685,810,653,629,652,0.400963215398,0.00450893883092,0.059842399715,0.999999953324,0.000151107079082,-0.000264154514968,2.72238194369e-05,1793248815811844096
+85,1.416666667,BASELINE,766,745,716,680,662,634.349131454,879,785.349131454,810,653,628.650868546,652.349131454,0.400963259099,0.00450919171828,0.0598425280586,0.999999953671,0.000149392426222,-0.000263823445671,2.71506591838e-05,1793248815828510464
+86,1.433333333,BASELINE,766,745,716,680,662,634.928409162,879,785.928409162,810,653,628.071590838,652.928409162,0.400963814053,0.00451035570914,0.0598425859411,0.999999954008,0.00014948532988,-0.000262503245183,2.70062341581e-05,1793248815845177088
+87,1.450000000,BASELINE,766.502721364,745,716,680,662.502721364,635,879,786,810,653,628.502721364,652.497278636,0.400963965786,0.00450992451422,0.0598425645114,0.999999954171,0.00014915335857,-0.000262078282369,2.69524707354e-05,1793248815861843712
+88,1.466666667,BASELINE,766.921698278,745,716,680,663,635,879,786,810.078301722,653,629,652.078301722,0.400964064778,0.00450943729682,0.0598425863435,0.999999954243,0.000149187474879,-0.000261785887205,2.69217613463e-05,1793248815878510336
+89,1.483333333,BASELINE,766.333294911,745,716,680,663,635,879,786,810.666705089,653,629,652.666705089,0.400964190604,0.00451005052412,0.0598429628669,0.999999953885,0.000151996801262,-0.000261534708486,2.69579532771e-05,1793248815895177216
+90,1.500000000,BASELINE,766.251853847,745,716,680,662.748146153,634.748146153,879,786,810.748146153,653,629,652.748146153,0.400964170442,0.00451003729981,0.0598429957623,0.999999953611,0.000153012441941,-0.00026197898955,2.70563575323e-05,1793248815911844352
+91,1.516666667,BASELINE,766.832750467,745,716,680,662.167249533,634.167249533,879,786,810.167249533,653,629,652.167249533,0.400963959548,0.00450920562706,0.0598425797137,0.999999953453,0.000151684662502,-0.000263331877029,2.72360411296e-05,1793248815928510976
+92,1.533333333,BASELINE,766.59043371,745,716,680,662,634,879,786,810,652.59043371,629,652.40956629,0.400964483072,0.00450838414099,0.0598432471506,0.999999953852,0.000150278594937,-0.000262622129936,2.72490065766e-05,1793248815945177344
+93,1.550000000,BASELINE,766.015267824,745,716,680,662,634,879,786,810,652.015267824,629,652.984732176,0.400965303544,0.00450756677363,0.0598443526724,0.999999954472,0.000148840873087,-0.000261078399644,2.71945630283e-05,1793248815961843712
+94,1.566666667,BASELINE,766,745,716,680,662,634.554967671,879,786,810,652.554967671,629,652.445032329,0.400964799537,0.0045093119828,0.0598438871605,0.999999953885,0.000151169213925,-0.000261993919268,2.71337274718e-05,1793248815978510592
+95,1.583333333,BASELINE,766,745,716,680,662,634.869738199,879,785.869738199,810,653,629,652.130261801,0.400964011621,0.00451066330313,0.0598432209033,0.999999953301,0.000152970946039,-0.00026318870982,2.70248769777e-05,1793248815995176960
+96,1.600000000,BASELINE,766,745,716,680,662,634.275965353,879,785.275965353,810,653,629,652.724034647,0.400962341989,0.0045103643981,0.0598419927725,0.99999995286,0.000152533419654,-0.000265138607564,2.67457949624e-05,1793248816011843584
+97,1.616666667,BASELINE,766.310052904,745,716,679.689947096,662,634,879.310052904,785,810.310052904,653,629,652.689947096,0.400962860055,0.0045100434337,0.0598421637096,0.999999953146,0.000152558366603,-0.000264050826555,2.66785053265e-05,1793248816028510464
+98,1.633333333,BASELINE,766.889337498,745,716,679.110662502,662,634,879.889337498,785,810.889337498,653,629,652.110662502,0.400965277791,0.00450970331426,0.059843549515,0.999999954054,0.000152984898199,-0.000260325304013,2.67951237419e-05,1793248816045177344
+99,1.650000000,BASELINE,767,745,716,679.466141821,662,634,879.533858179,785,810.533858179,653,629,652,0.400964735122,0.00450993016795,0.0598436807353,0.999999953728,0.000153852228483,-0.000261051442393,2.69227267148e-05,1793248816061843968
+100,1.666666667,BASELINE,766.956857524,745,716,680,662,634.043142476,879,785,810,653,629,652,0.400963611341,0.00451010249279,0.0598435089598,0.999999953217,0.000154413963356,-0.000262660324055,2.70599480397e-05,1793248816078510080
+101,1.683333333,BASELINE,766.370001021,745,716,680,662,634.629998979,879,785,810,653,629,652,0.400963974317,0.00450790025195,0.0598432523348,0.999999954046,0.000149812506535,-0.000262145746514,2.72856962902e-05,1793248816095176704
+102,1.700000000,BASELINE,766,745,716,680,662,634.784659048,879,785,810,652.784659048,628.784659048,652,0.400964019242,0.00450691751515,0.0598432001931,0.999999954488,0.000147258868181,-0.000261899694648,2.73482958405e-05,1793248816111843072
+103,1.716666667,BASELINE,766,745,716,680,662,634.20190124,879,785,810,652.20190124,628.20190124,652,0.400963521508,0.00450801550839,0.0598434969427,0.999999954299,0.00014819923836,-0.000262111803992,2.7132529448e-05,1793248816128509952
+104,1.733333333,BASELINE,766.366271966,745,716,680,662,634,879,785.366271966,810,652.366271966,628.366271966,652.366271966,0.400963861443,0.00450931066703,0.0598439952071,0.999999954152,0.000149931842757,-0.000261724531055,2.67701285696e-05,1793248816145176576
+105,1.750000000,BASELINE,766.926713574,745,716,680,662,634,879,785.926713574,810,652.926713574,628.926713574,652.926713574,0.400964645447,0.00451071034793,0.0598446002994,0.999999954023,0.000152084429794,-0.000261019511069,2.63299931777e-05,1793248816161843200
+106,1.766666667,BASELINE,766.486774597,745,716,680.513225403,662,634,879,786,810,653,629,652.486774597,0.400964771247,0.00451013732,0.0598444202688,0.999999954163,0.000151662996319,-0.000260680587555,2.67991230097e-05,1793248816178510080
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,785,811,653,629,653,0.400959151111,0.00450936304824,0.0598401237932,0.999999952358,0.000150124799446,-0.000268364389641,2.69826677866e-05,1793248816220721152
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634.582949776,878.417050224,785.582949776,810.417050224,653,628.417050224,652.417050224,0.400962705616,0.0045101107993,0.0598420540593,0.999999953382,0.000151231164821,-0.000263875360089,2.70957487572e-05,1793248816237388032
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.163788806,679.836211194,662,634.836211194,878,785.836211194,810,653,628,652.163788806,0.400965150337,0.00451041608006,0.0598433928577,0.999999954058,0.000151888862411,-0.000260918685224,2.71246939125e-05,1793248816254054912
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.739321814,679.260678186,662,634.260678186,878,785.260678186,810,653,628,652.739321814,0.400964805201,0.00450960904695,0.0598432447821,0.9999999539,0.000151418666562,-0.000261814153983,2.69421323668e-05,1793248816270721280
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.678079952,679,662.321920048,634,878.321920048,785,810,652.678079952,628,652.678079952,0.400963942077,0.0045088864674,0.0598431876003,0.999999953745,0.000151033872022,-0.000262616709297,2.70368197541e-05,1793248816287387904
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.089632231,679,662.910367769,634,878.910367769,785,810,652.089632231,628,652.089632231,0.400962650095,0.00450823380965,0.0598432056722,0.999999953593,0.000150719783927,-0.00026334233861,2.73610502126e-05,1793248816304054528
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.490696122,662.509303878,634,879,785,810,652.490696122,628,652.490696122,0.400961981842,0.00450874657956,0.0598430367632,0.999999953339,0.000151113696054,-0.000264090608678,2.72535613044e-05,1793248816320721920
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878.931034607,785,810,653,628.068965393,653,0.400961587078,0.00450947130093,0.0598427825664,0.999999953068,0.000151665394411,-0.000264816135397,2.70744345926e-05,1793248816337389312
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878.357158876,785,810,653,628.642841124,653,0.400962374041,0.00451021458576,0.0598421499425,0.999999952814,0.00015244086978,-0.000265345368171,2.69387806178e-05,1793248816354055936
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.222314573,634,878.222314573,785.222314573,810,653,629,652.777685427,0.40096556366,0.00451038268631,0.0598430545739,0.999999953227,0.000152255080707,-0.000263894747345,2.69048481557e-05,1793248816370722560
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.811013247,634,878.811013247,785.811013247,810,653,629,652.188986753,0.400972712959,0.00450960285802,0.0598464926691,0.999999954724,0.000150485085881,-0.000259181241488,2.70385571907e-05,1793248816387389184
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.392289148,680,662.607710852,634,879,785.607710852,810,653,629,652.392289148,0.400999149556,0.00450907308659,0.0598578310773,0.999999959992,0.000148835666848,-0.000239023881522,2.70498946628e-05,1793248816404055552
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.970055558,680,662.029944442,634,879,785.029944442,810,653,629,652.970055558,0.401034705332,0.00450866154386,0.0598729048132,0.999999966415,0.000147243256709,-0.000211564550539,2.70033739339e-05,1793248816420721664
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,879,785,810,653,629,652.450183085,0.401096634042,0.00450857249787,0.0598926143183,0.999999973375,0.000148813057806,-0.000174273153761,2.70995852738e-05,1793248816437388288
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,879,785.128871861,810,653,629,652,0.401161660748,0.00450822645547,0.0599106557465,0.999999978368,0.000149376198341,-0.000142151197467,2.72666790836e-05,1793248816454054656
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,879,785.70509627,810,653,629,652,0.401232437419,0.00450692711016,0.0599220271781,0.999999980553,0.000145844910435,-0.000129839474693,2.76527445755e-05,1793248816470721536
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.286406661,745,715.713593339,680,662,634,879,786,810,653,628.713593339,652.286406661,0.401312869929,0.00450658239618,0.0599304910461,0.999999982379,0.000143943298485,-0.000117347322539,2.74033390368e-05,1793248816487387904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.873048563,745,715.126951437,680,662,634,879,786,810,653,628.126951437,652.873048563,0.401403424488,0.0045072384061,0.0599359069639,0.99999998384,0.000143750048403,-0.000104666030068,2.64877799772e-05,1793248816504054528
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.453227583,715.453227583,680,662,634,879,786,810,653,628,652.546772417,0.401508223345,0.0045068262713,0.0599387216634,0.999999984727,0.000141952970816,-9.86822708429e-05,2.56253230671e-05,1793248816520721152
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.968405234,745.968405234,715.968405234,680,662,634,878.968405234,785.968405234,810,653,628.031594766,652.031594766,0.401618713576,0.00450613887691,0.0599410005998,0.999999985497,0.00013972252681,-9.41860640202e-05,2.47667959701e-05,1793248816537388032
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.390504795,745.390504795,715.390504795,680,662,634,878.390504795,785.390504795,810,653,628.609495205,652.609495205,0.401759593954,0.00450579258197,0.0599464370189,0.999999986764,0.000137657352571,-8.34290083476e-05,2.37226451055e-05,1793248816554054656
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878.18655402,785.18655402,810,653,629,652.81344598,0.401905413067,0.00450561647157,0.0599491403493,0.999999987678,0.000134988267614,-7.69387662403e-05,2.24378431185e-05,1793248816570721024
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878.761858941,785.761858941,810,653,629,652.238141059,0.402061523755,0.00450579500053,0.0599461483276,0.999999988051,0.000131060722597,-7.93399319901e-05,2.06515600275e-05,1793248816587387904
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.345242718,634,879,786,810,653,629,652.345242718,0.402244891135,0.00450620690131,0.0599449114746,0.999999988794,0.000127386815367,-7.64674665903e-05,1.83536627522e-05,1793248816604054784
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.934332703,634,879,786,810,653,629,652.934332703,0.402447510116,0.00450678363419,0.0599449143088,0.999999989761,0.000123892053815,-6.98702000729e-05,1.56944087335e-05,1793248816620721152
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.514833167,680,662.485166833,634,879,785.485166833,810,652.485166833,629,653,0.402684210654,0.00450679468081,0.0599473643971,0.999999990838,0.000119791525725,-6.15840160613e-05,1.34404203717e-05,1793248816637387776
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,879,785.093672501,810,652,629,653,0.402930788654,0.00450673861091,0.0599500139706,0.99999999181,0.000115782831679,-5.33851964063e-05,1.11785096976e-05,1793248816654054400
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,879,785.669508533,810,652,629,653,0.403206200429,0.00450670237404,0.0599521099946,0.999999992528,0.000112638023254,-4.67267217468e-05,8.61411044863e-06,1793248816670721024
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.754757131,679.754757131,662,634,879.245242869,785.754757131,810,652.245242869,629,652.754757131,0.403491576966,0.00450602159675,0.0599504012703,0.999999993192,0.000106555301374,-4.72070236207e-05,5.79577274787e-06,1793248816687387648
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.179159817,679.179159817,662,634,879.820840183,785.179159817,810,652.820840183,629,652.179159817,0.403790376521,0.00450447259118,0.059943567359,0.999999993697,9.65150629075e-05,-5.73036159059e-05,2.6353673704e-06,1793248816704054272
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.40627242,679.81254484,662,634.40627242,879.59372758,785,810.40627242,653,628.59372758,652,0.404115057273,0.00450544005094,0.0599334007181,0.999999993062,9.05917341597e-05,-7.52920700733e-05,-6.95448030333e-07,1793248816720721664
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.996149284,680.992298568,662,634.996149284,879.003850716,785,810.996149284,653,628.003850716,652,0.404451434362,0.00450754476299,0.0599217279354,0.999999991558,8.65289378501e-05,-9.68470493515e-05,-4.10327580259e-06,1793248816737389312
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,716,680.425619659,662,634.425619659,879,785,810.425619659,653,628,652.574380341,0.404821981099,0.00450658101507,0.0599068605708,0.9999999895,7.7928002558e-05,-0.000121905958583,-8.07402270486e-06,1793248816754055680
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.848242583,680,662,634,879,785,810,652.848242583,628.151757417,652.848242583,0.405212735638,0.00450578373721,0.0598975179453,0.999999987942,6.88171813968e-05,-0.000138701170223,-1.19419832214e-05,1793248816770722304
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.273034951,680,662,634,879,785,810,652.273034951,628.726965049,652.273034951,0.405659249651,0.00450550722225,0.0599036496285,0.999999989415,5.83668282803e-05,-0.000132373857237,-1.55128161908e-05,1793248816787389184
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,785.301630316,810,652.301630316,629,652.301630316,0.4061432895,0.0045047185833,0.059923457921,0.999999993572,4.93106269321e-05,-0.000100316898194,-1.89780812561e-05,1793248816804056064
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,785.875805582,810,652.875805582,629,652.875805582,0.406661236724,0.00450346720299,0.0599556240266,0.999999997876,4.15141419027e-05,-4.50113296326e-05,-2.23479583996e-05,1793248816820722432
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.465557668,715,680,662,634,879,785.534442332,810.465557668,653,628.534442332,652.534442332,0.407218337176,0.00450193440565,0.0599838833329,0.999999999258,2.87001908577e-05,-1.26198431401e-06,-2.56647775824e-05,1793248816837389056
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.942358513,715,680,662,634,879,785.057641487,810.942358513,653,628,652.057641487,0.407783065342,0.0045005839671,0.0600075845786,0.999999998928,1.54916410419e-05,3.26224743778e-05,-2.89937662313e-05,1793248816854055424
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.367914202,715,680,662,634,879,785.632085798,810.367914202,653,628,652.632085798,0.40831929555,0.00450156490535,0.0600000867235,0.999999999385,1.11611977097e-05,6.65677564978e-06,-3.25631612889e-05,1793248816870721792
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.207824544,680,662,634,879.207824544,785.792175456,810.207824544,652.792175456,628,653,0.408873326656,0.00450132956964,0.0599896578358,0.999999999101,3.50188827915e-06,-2.1457106404e-05,-3.64046559468e-05,1793248816887388416
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.785869174,680,662,634,879.785869174,785.214130826,810.785869174,652.214130826,628,653,0.409459068374,0.00449892755497,0.0599740075868,0.999999997694,-1.0087486055e-05,-5.33977755705e-05,-4.07308705119e-05,1793248816904055040
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,716,680.371133929,662.371133929,634,880,785.371133929,811,652,628,653,0.410091195116,0.00449874514955,0.0599745124442,0.999999997549,-1.87129581875e-05,-4.96637297799e-05,-4.565477449e-05,1793248816920721920
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,716,680.960647063,662.960647063,634,880,785.960647063,811,652,628,653,0.410750615286,0.00449986878624,0.059984523141,0.999999998094,-2.44176162534e-05,-2.49382958825e-05,-5.09303652072e-05,1793248816937388544
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,716,680.46007143,663,634,879.46007143,786,811,652.53992857,628.53992857,653,0.411462810902,0.00450006783659,0.0599871092771,0.99999999791,-3.00308224773e-05,-1.59449148446e-05,-5.49924325116e-05,1793248816954055168
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,680.117882709,663,634,879.117882709,785.882117291,811,653,629,653,0.412169448416,0.00450185969867,0.0599831143848,0.999999998212,-1.58457422995e-05,-1.99799224571e-05,-5.40943081511e-05,1793248816970722048
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,680.693524271,663,634,879.693524271,785.306475729,811,653,629,653,0.412839843612,0.00451009353892,0.0599556264948,0.999999994119,7.51940923108e-05,-7.02366236523e-05,-3.42719762806e-05,1793248816987388928
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,716,680.732131255,662.732131255,634,880,785,811,652.732131255,629,653,0.41352982578,0.00451278651828,0.0599289220654,0.999999985619,0.000115730772195,-0.000121174464338,-2.61635660564e-05,1793248817004055552
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,716,680.15926359,662.15926359,634,880,785,811,652.15926359,629,653,0.41424211002,0.00450917060068,0.0599031096913,0.999999979685,9.87638996686e-05,-0.000172887866521,-3.13927807625e-05,1793248817020721920
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.574007913,745,715.574007913,680.425992087,662.425992087,634,880.425992087,785,811,652,629,653,0.415056422744,0.00450128006124,0.0599328632079,0.999999989145,8.16952018115e-05,-0.000117644410559,-3.45779646984e-05,1793248817037388544
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.015812084,745,715.015812084,681,663.015812084,634,880.984187916,785.015812084,811,652.015812084,629,652.984187916,0.415910367,0.00449175614652,0.0599833988796,0.999999996952,6.50049555816e-05,-2.26733559052e-05,-3.68295133024e-05,1793248817054054912
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.598256915,745,715.598256915,681,663.598256915,634,880.401743085,785.598256915,811,652.598256915,629,652.401743085,0.416776645749,0.00448268456355,0.060011924238,0.999999997224,6.3281744741e-05,2.0067016627e-05,-3.3829219459e-05,1793248817070721792
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,716,680.822015479,663.822015479,634,880.177984521,785.822015479,811.177984521,652.822015479,629,652.177984521,0.417628500584,0.0044730677608,0.0600256263531,0.99999999693,5.8531776363e-05,4.12385938495e-05,-3.18214400371e-05,1793248817087388416
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,716,680.248328946,663.248328946,634,880.751671054,785.248328946,811.751671054,652.248328946,629,652.751671054,0.418448287571,0.00446223880512,0.0600063728634,0.999999998276,4.70526048763e-05,1.44575959272e-05,-3.20202570066e-05,1793248817104055296
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.67606437,680.32393563,663,634,880.67606437,785,812,652,629,653,0.419272348069,0.00446131557908,0.0599840157942,0.999999998108,4.660645563e-05,-2.22835651415e-05,-3.33825991877e-05,1793248817120722176
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.104885128,680.895114872,663,634,880.104885128,785,812,652,629,653,0.420099670284,0.00446795289382,0.0599592899212,0.999999995656,5.45812523018e-05,-6.66268115529e-05,-3.5633001014e-05,1793248817137389312
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.512240885,663.487759115,634,880,785,812,652,629,653,0.42091064836,0.00446807751596,0.059922354142,0.999999990792,-2.85484660097e-05,-0.000127633792369,-3.62078012293e-05,1793248817154055680
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.082196242,680.082196242,663.917803758,634,880.082196242,785,812,652.082196242,629,653,0.421732547011,0.00446690063947,0.0598878297006,0.999999975598,-0.000116269735008,-0.000184244232055,-3.65954738283e-05,1793248817170721792
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.65839091,680.65839091,663.34160909,634,880.65839091,785,812,652.65839091,629,653,0.422642172613,0.00446670593724,0.059884303315,0.999999974981,-0.000108426748102,-0.000191904671781,-3.81236714955e-05,1793248817187388416
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.765964306,745.234035694,715.765964306,681,663.234035694,634,881,785,812.234035694,652.765964306,629,653,0.423584150826,0.00446634786365,0.0599121250697,0.999999983389,-0.000101039123359,-0.000146594490483,-3.90156148123e-05,1793248817204054784
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.19112019,745.80887981,715.19112019,681,663.80887981,634,881,785,812.80887981,652.19112019,629,653,0.424573241828,0.0044657518847,0.0599855967416,0.999999994501,-9.43146057493e-05,-2.41472124523e-05,-3.89810290162e-05,1793248817220721664
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.392410775,745.607589225,715.392410775,681,664,634,881,784.607589225,813,652.392410775,629.392410775,653,0.425501669233,0.00446347099784,0.0600232297633,0.99999999438,-9.09324337134e-05,3.7681037295e-05,-3.93987539598e-05,1793248817237388288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980268337,745.019731663,715.980268337,681,664,634,881,784.019731663,813,652.980268337,629.980268337,653,0.426399882055,0.0044603509143,0.060043012738,0.999999992816,-8.92149738921e-05,6.93169531689e-05,-4.00417600386e-05,1793248817254055424
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.439573435,745,715.439573435,681,663.439573435,634,881,784,813.560426565,652.439573435,630,652.439573435,0.427319826747,0.00446153277589,0.0600228121936,0.999999994271,-8.25678582533e-05,5.28131867201e-05,-4.30154785165e-05,1793248817270722304
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.139454661,745,715,681,663.139454661,633.860545339,881,784,814,652,630,652.139454661,0.42822993977,0.00446198743156,0.0599991376318,0.999999995711,-7.59098289248e-05,2.74994275905e-05,-4.5388264792e-05,1793248817287389184
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.715780059,745,715,681,663.715780059,633.284219941,881,784,814,652,630,652.715780059,0.429106888514,0.0044596959008,0.0599689302971,0.999999996323,-6.97539695935e-05,-2.017574583e-05,-4.5624918315e-05,1793248817304055808
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.702939628,633,881,784.297060372,814,652,630,653,0.429957160681,0.00445888812698,0.0599392807165,0.999999994305,-6.29262538439e-05,-7.30273929245e-05,-4.5791587275e-05,1793248817320722176
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.116838193,633,881,784.883161807,814,652,630,653,0.430781476368,0.0044595240554,0.0599101738349,0.999999988841,-5.54448191207e-05,-0.000130915769031,-4.58901608896e-05,1793248817337388544
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.536115839,745,715.463884161,681,663.463884161,633.463884161,880.536115839,785,814,652,630,653,0.431721979219,0.00445675988086,0.0599431552909,0.999999995145,-5.50530915896e-05,-6.69041626264e-05,-4.69289567721e-05,1793248817354054912
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.043241027,745,715.956758973,681,664,634,880.043241027,785,814,652,630,653,0.432685732106,0.0044532195864,0.0599894924204,0.99999999702,-5.61742123769e-05,2.21486810951e-05,-4.81046362722e-05,1793248817370721536
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.622272799,745,715.377727201,681,664,634,880.622272799,785,814,652,630,653,0.433579122985,0.00445055216728,0.0600097689686,0.999999996346,-5.41683637104e-05,4.5410166464e-05,-4.80757476362e-05,1793248817387388672
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.800714099,634,881,784.800714099,814,652,630,653,0.43445511631,0.00444792161126,0.0600118725684,0.999999996606,-5.15987742881e-05,4.24238755668e-05,-4.8218361939e-05,1793248817404055552
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.227488726,634,881,784.227488726,814,652,630,653,0.43529846507,0.00444536022457,0.0599798765054,0.999999997616,-4.79713829915e-05,-9.8136606355e-06,-4.86827837926e-05,1793248817420722432
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.355175464,663,633.644824536,881.355175464,784,814,652,630,653,0.436103782084,0.00444488536152,0.0599510113892,0.999999995957,-4.45799719187e-05,-6.03429033945e-05,-4.95809185881e-05,1793248817437389056
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.944050197,663,633.055949803,881.944050197,784,814,652,630,653,0.43688407482,0.00444578339482,0.0599242063834,0.999999991835,-4.13438319116e-05,-0.00010974811561,-5.07644288825e-05,1793248817454055680
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.951159206,663,633.524420397,881.475579603,784,814,652,630,653,0.437646277118,0.00444384146671,0.0599077876989,0.999999987285,-3.83522217244e-05,-0.000146348695973,-5.0418177999e-05,1793248817470721792
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.206999335,663,633.896500332,881,784,814.103499668,652,630,653,0.438416191926,0.004441346415,0.0598982702768,0.999999983676,-3.64984726294e-05,-0.000169728073014,-5.00788033389e-05,1793248817487388160
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681.361513596,663,633.319243202,881,784,814.680756798,652,630,653,0.439230103388,0.0044376842839,0.059915351292,0.99999998831,-3.97356362729e-05,-0.000138742380637,-5.05060494259e-05,1793248817504054784
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.255746678,715,682,663.255746678,633,881,784,814.744253322,652,630,653,0.440050571311,0.00443461904705,0.0599504283458,0.999999994557,-4.12609871762e-05,-8.1348730537e-05,-5.06572545331e-05,1793248817520721408
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.827931225,715,682,663.827931225,633,881,784,814.172068775,652,630,653,0.440879151548,0.00443229235358,0.060007772073,0.999999997862,-4.06682949734e-05,8.71974236864e-06,-5.04669111514e-05,1793248817537388032
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.586594474,715,681.586594474,663.586594474,633,881,784,814,652,630,653,0.441605794754,0.00442857188851,0.0600190860625,0.999999997654,-4.05293917543e-05,2.42154421337e-05,-4.96188359798e-05,1793248817554054656
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,881,784,814.004509246,652,630.004509246,653,0.442288298341,0.00442427705867,0.0600103975003,0.999999997972,-4.05893004595e-05,7.40928828038e-06,-4.8508964915e-05,1793248817570721280
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,881,784,814.584652664,652,630.584652664,653,0.442932260616,0.00442317664441,0.0599752101899,0.999999997139,-4.1116563425e-05,-3.90156885814e-05,-5.0087537157e-05,1793248817587387904
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,881.163463627,784,815,652,631,653,0.443575674094,0.00442198332664,0.0599505707812,0.999999995291,-4.13805555736e-05,-7.10583922775e-05,-5.15336107067e-05,1793248817604054528
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,881.738916434,784,815,652,631,653,0.444217704538,0.0044205558572,0.0599525160033,0.99999999554,-4.09810075816e-05,-6.68524247591e-05,-5.26457388048e-05,1793248817620721152
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,882,784,815,652,630.679678669,653,0.444836591755,0.00441921194029,0.0599597990339,0.999999995945,-4.36207471804e-05,-5.74522715379e-05,-5.39052747758e-05,1793248817637387776
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,882,784,815,652,630.093330598,653,0.445436258492,0.0044179374138,0.0599715151121,0.999999996325,-4.87846139554e-05,-4.37383493594e-05,-5.52872328528e-05,1793248817654054400
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.48703577,663,633,882,784,815,652,630,652.51296423,0.445968095496,0.00441553094432,0.0599560872988,0.999999993885,-5.35775673714e-05,-7.87591247928e-05,-5.61869973137e-05,1793248817670721024
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.066141282,745,715,682,662.933858718,633,882,784,815.066141282,652,630,652.066141282,0.44648644253,0.00441296243634,0.0599375453551,0.999999989741,-5.8714659924e-05,-0.000117516311031,-5.71082995913e-05,1793248817687387904
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.644252218,745,715,682,662.355747782,633,882,784,815.644252218,652,630,652.644252218,0.446999762303,0.00441079832365,0.0599346729066,0.999999989543,-6.70590860818e-05,-0.000113783290066,-5.89028864554e-05,1793248817704054528
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.779698259,745,715.220301741,682,662.440603481,633.220301741,882,784,815.779698259,652,630,653,0.447507816054,0.00440874459394,0.0599411029361,0.999999986937,-0.00011386756571,-9.72416160144e-05,-6.08575170247e-05,1793248817720721152
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.206946745,745,715.793053255,682,663.58610651,633.793053255,882,784,815.206946745,652,630,653,0.448007444908,0.00440686746065,0.0599624155366,0.999999971509,-0.000222212765776,-6.02080156994e-05,-6.30681928296e-05,1793248817737387776
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.622456948,682,663.622456948,634,882,784,815.377543052,652,630,653,0.448472917237,0.0044049491597,0.0599792267449,0.99999996283,-0.000262795676069,-3.30285555504e-05,-6.47039143362e-05,1793248817754054400
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715.031326395,682,663.031326395,634,882,784,815.968673605,652,630,653,0.448919066235,0.00440300756879,0.0599934913819,0.999999962632,-0.000265043425277,-1.14238766461e-05,-6.60143673488e-05,1793248817770721024
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.451416672,663,633.451416672,882,784,815.451416672,652,630,653,0.449265092897,0.00440020161799,0.0599675315325,0.999999960385,-0.000267489338511,-5.6900042451e-05,-6.66428932236e-05,1793248817787387648
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715.126978412,681.126978412,663,633,881.873021588,784,815,652,630.126978412,653,0.449597102449,0.00439829766001,0.0599388837519,0.999999956269,-0.000268223829947,-0.000104859174163,-6.72485326194e-05,1793248817804054528
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715.702243142,681.702243142,663,633,881.297756858,784,815,652,630.702243142,653,0.449899406105,0.00439974887235,0.0599086932202,0.999999952141,-0.000262877147439,-0.000148331697647,-6.79080956499e-05,1793248817820721152
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715.716683438,682,663,633,881,784,815.283316562,652,630.716683438,653,0.45019329199,0.00440183018576,0.0598859620643,0.999999955939,-0.000228311077108,-0.000180427030413,-5.86736257645e-05,1793248817837387776
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,881.894531769,784.105468231,815,652,630.894531769,652.105468231,0.450527379675,0.00448103093772,0.0597380411306,0.999999919494,-5.00718588459e-05,-0.000395220432298,-4.80219499463e-05,1793248819239649792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,633,881.314644782,784.685355218,815,652,630.314644782,652.685355218,0.450244734352,0.00448320937006,0.0597470887352,0.99999992503,-4.40175845012e-05,-0.000381957524849,-4.59355028435e-05,1793248819256316416
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.263020291,745,715,681.736979709,662.526040582,633,881.263020291,784.736979709,814.736979709,652,630,653,0.449943337361,0.00448576092175,0.0597552511008,0.999999930581,-3.70754734157e-05,-0.000368163218419,-4.38080155516e-05,1793248819272983040
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.838049574,745,715,681.161950426,663.676099148,633,881.838049574,784.161950426,814.161950426,652,630,653,0.449619696138,0.00448875508778,0.0597623633471,0.999999936145,-2.90801624022e-05,-0.000353738538375,-4.16318442775e-05,1793248819289649664
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.896406512,633,881.103593488,784,814,652,630.896406512,653,0.446631549371,0.00450696736512,0.0598264501178,0.999999964638,4.64659557928e-05,-0.000261206258329,-1.8324992199e-05,1793248819406316800
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,661.212362696,634,879.787637304,785.212362696,811,652.212362696,630,653,0.418403777852,0.00457704033341,0.0597184490038,0.999999889918,0.000160139904239,-0.000439948267163,3.10692702721e-05,1793248819989650176
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,661.791257667,634,879.208742333,785.791257667,811,652.791257667,630,653,0.417584252379,0.00457928979606,0.0597586222708,0.999999915724,0.000160921813058,-0.000376387124698,3.14599794893e-05,1793248820006316544
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.632634291,681,662.367365709,634,879,786,811,652.632634291,629.632634291,652.632634291,0.416791335351,0.00457768936685,0.0597967529328,0.999999934956,0.000159183486245,-0.000321969092496,3.29349364114e-05,1793248820022983168
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.058097935,681,662.941902065,634,879,786,811,652.058097935,629.058097935,652.058097935,0.416013423825,0.00457391784593,0.0598337316945,0.99999995003,0.000156023908399,-0.000272707190545,3.50213393125e-05,1793248820039649792
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.942343898,634,879,785.471171949,811,652,629,652.528828051,0.415250183886,0.00457062077842,0.0598369381393,0.99999993691,0.000221425842989,-0.00027543162182,3.58762663975e-05,1793248820056316416
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.114944461,634,879,785,811,652,629,653,0.414488070409,0.00456857297838,0.0598366991133,0.999999920723,0.000279306161957,-0.000281442311824,3.65135689177e-05,1793248820072983296
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.692198812,634,879,785,811,652,629,653,0.413723849203,0.00457133509299,0.0598378831781,0.999999922852,0.0002759124822,-0.000277148312077,3.68327825174e-05,1793248820089649920
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,634,879,785,811,652.270479251,629,653,0.412935143003,0.00457202017906,0.0598164895197,0.999999913613,0.000268672664974,-0.000314998908105,3.69493674507e-05,1793248820106316544
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.426595127,680.573404873,661.573404873,634,879,785.426595127,810.573404873,653,629,652.573404873,0.41140790692,0.00456948710678,0.0597470553082,0.999999879117,0.000242273326148,-0.000426452237813,3.4761369374e-05,1793248820139649792
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.002327088,716,680.002327088,661.004654177,634,879.002327088,785.997672912,810,653,629,652.002327088,0.410734782476,0.00456892803966,0.059733754077,0.999999881196,0.000226433440982,-0.000430476092666,3.20217921242e-05,1793248820156316160
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.588944641,716,680.588944641,662.177889282,634,879.588944641,785.411055359,810,653,629,652.588944641,0.410149266124,0.0045664068023,0.0597791320181,0.999999909842,0.000215862425394,-0.000364113908342,3.37854389275e-05,1793248820172983296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.826104568,716,680.826104568,662.826104568,634,880,785.173895432,810,652.826104568,629,652.826104568,0.409561957194,0.00456393837565,0.059819609791,0.9999999321,0.000205970885026,-0.000303536780067,3.52286311087e-05,1793248820189650432
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.245056161,716,680.245056161,662.245056161,634,880,785.754943839,810,652.245056161,629,652.245056161,0.408970451064,0.00456159359774,0.0598486144821,0.999999946921,0.000197670244838,-0.000256504578958,3.59215221105e-05,1793248820206316800
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,879.667412661,786,809.667412661,652.332587339,629,652.332587339,0.408378759639,0.0045605652696,0.0598549613226,0.999999951424,0.000190166389415,-0.000244341608648,3.58596054519e-05,1793248820222983424
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,879.092252566,786,809.092252566,652.907747434,629,652.907747434,0.407786933103,0.00456049709496,0.0598447826458,0.999999949408,0.000183243670087,-0.00025761053379,3.52471694122e-05,1793248820239650048
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.480314433,745,716,679.519685567,662,634,879,785.519685567,809.960628865,652.519685567,629,652.519685567,0.407242434271,0.00455822311341,0.0598297423098,0.999999944867,0.000174025463428,-0.000280712766028,3.43862133568e-05,1793248820256316672
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,715.94559807,679.05440193,662,634,879,785,810.94559807,652.05440193,629,652.05440193,0.406713535244,0.00455550522883,0.0598156638093,0.999999940199,0.000164358067997,-0.000302431212054,3.35293000729e-05,1793248820272983296
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,715.351512461,679.648487539,662,634,879,785,810.351512461,652.648487539,629,652.648487539,0.406249698753,0.00455256398614,0.0598203404935,0.999999944931,0.00015458483531,-0.000291786667101,3.31834706796e-05,1793248820289649664
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.764002299,745,715.235997701,680.235997701,662.235997701,634,879,785.235997701,810,653,629,653,0.405794621254,0.00455014564693,0.0598240581977,0.999999948743,0.000146277027293,-0.000282884567995,3.30510800333e-05,1793248820306316288
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.186020659,745,715.813979341,680.813979341,662.813979341,634,879,785.813979341,810,653,629,653,0.405352236438,0.00454848504666,0.0598263862451,0.999999951407,0.000140092764988,-0.0002765074457,3.3227983212e-05,1793248820322983424
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.39069444,715.60930556,680.60930556,662.60930556,634,879,785.60930556,810,653,629,653,0.404913696528,0.00454837537722,0.0598118406187,0.999999944984,0.000139659521175,-0.000299034125607,3.32624363248e-05,1793248820339650048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.966808502,715.033191498,680.033191498,662.033191498,634,879,785.033191498,810,653,629,653,0.404476981333,0.00454900176369,0.0597892869177,0.999999933166,0.000141955651768,-0.000335278256295,3.32292840591e-05,1793248820356316416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.446484601,715.553515399,680,662,634,879,785,810,653,629,653,0.404101256764,0.00454859683358,0.0597681867374,0.999999920813,0.000141248876131,-0.00037052522561,3.36769533467e-05,1793248820372983296
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.134315981,745,716,680.134315981,662,634,879.134315981,785.134315981,810,653,629,652.865684019,0.403751887929,0.00454801638488,0.0597553094074,0.999999913216,0.000140576721174,-0.00039068725339,3.41935151775e-05,1793248820389649920
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.694344213,745,716,680.694344213,662,634,879.694344213,785.694344213,810,653,629,652.305655787,0.403474235154,0.00454707946685,0.0597682126157,0.999999923541,0.000140596156958,-0.000363231037566,3.48352641461e-05,1793248820406316800
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.729436514,745,716,680.729436514,662.270563486,634,879.458873028,785.729436514,810.270563486,653,628.729436514,652.270563486,0.403208630471,0.0045456934556,0.0597862852394,0.999999934889,0.000141004575494,-0.000330213439312,3.60491784262e-05,1793248820422983424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.133762005,745,716,680.133762005,662.866237995,634,878.267524009,785.133762005,810.866237995,653,628.133762005,652.866237995,0.402957502879,0.00454376781078,0.0598105694692,0.999999947016,0.000141880398426,-0.000290513245595,3.79506105891e-05,1793248820439650048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.4472654,745,716,680,663,634,878,785.4472654,810.5527346,653,628.4472654,652.5527346,0.40272569114,0.0045417554645,0.0598278744311,0.999999954215,0.000141573326699,-0.000264514329423,3.94970645012e-05,1793248820456316672
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.387215895,745,716,679.387215895,663,634,878.612784105,785.387215895,810,653,629,652.612784105,0.402290569276,0.00453923586775,0.0598360594536,0.99999995569,0.000142851101552,-0.000257785973151,4.19410338631e-05,1793248820489650176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.198711134,716,679.198711134,662.801288866,634,879,785,810,653,628.801288866,653,0.40209217019,0.00453828506038,0.0598307248813,0.99999995242,0.000141119806066,-0.000271049161289,4.2156037112e-05,1793248820506316544
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.780154964,716,679.780154964,662.219845036,634,879,785,810,653,628.219845036,653,0.401915338701,0.00453655148479,0.0598270627564,0.999999950264,0.000132540287149,-0.000283262165658,4.08242957278e-05,1793248820522983168
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.645447871,716,680,662,634,879,785.354552129,810,653,628.354552129,652.645447871,0.401765110782,0.00453099095978,0.0598250664494,0.99999995359,9.34503438654e-05,-0.00028821224491,3.19639900043e-05,1793248820539649536
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.075334888,716,680,662,634,879,785.924665112,810,653,628.924665112,652.075334888,0.401631057303,0.00452310372317,0.0598240829272,0.9999999575,3.58106499994e-05,-0.000288746606177,1.85264621648e-05,1793248820556316416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.504421451,745,716,680,662,634,879,786,810,653,629,652.504421451,0.401518422882,0.00452440844948,0.0598273280567,0.999999953757,0.000109809955991,-0.000283069307335,1.7301795424e-05,1793248820572983296
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.912851002,745,715.912851002,680,661.912851002,634,879,785.912851002,810,653,629,653,0.401413102579,0.00452654312385,0.0598309336843,0.999999943379,0.0001901187766,-0.000277077648417,1.80499771018e-05,1793248820589649920
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.321426842,745,715.321426842,680,661.321426842,634,879,785.321426842,810,653,629,653,0.401331233483,0.00452538177649,0.0598328997137,0.999999943837,0.000190958788743,-0.000274739660351,1.94538627911e-05,1793248820606316800
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715.259651218,680,661.259651218,634,878.740348782,785,810,653,628.740348782,652.740348782,0.401257047568,0.00452452988407,0.0598328014707,0.999999943617,0.000191385972442,-0.000275163622575,2.05356812629e-05,1793248820622983680
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715.8284124,680,661.8284124,634,878.1715876,785,810,653,628.1715876,652.1715876,0.401192008343,0.00452404639208,0.0598302457496,0.999999942587,0.000191321691476,-0.000278875635589,2.1234084595e-05,1793248820639650816
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,878.407558,785.407558,810,653,628,652,0.401136307804,0.00452484527164,0.0598273073285,0.999999940729,0.000193013088904,-0.000284285589864,2.16605678442e-05,1793248820656317440
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,878.991189879,785.991189879,810,653,628,652,0.401084641782,0.00452619816348,0.0598242035728,0.999999938481,0.000195462977398,-0.000290429091415,2.19695757124e-05,1793248820672983552
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,662.580132948,634,879,786,810,653,628,652,0.401051583698,0.00452366104352,0.0598241424514,0.999999938949,0.000192915529675,-0.000290484413357,2.24691281663e-05,1793248820689649920
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.833751163,680,662.833751163,634,879,786,810,653,628,652.166248837,0.401023531118,0.00452232355223,0.0598248591192,0.999999939522,0.000191675131505,-0.000289301891784,2.2839828793e-05,1793248820706316544
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.254854784,680,662.254854784,634,879,786,810,653,628,652.745145216,0.40100719485,0.00452411165496,0.0598273905945,0.999999940254,0.000193869082979,-0.000285278518835,2.28834564149e-05,1793248820722982912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.321530066,680,662,634,878.678469934,785.678469934,810,653,628,653,0.400994716572,0.00452401151262,0.0598294929788,0.999999941295,0.000194176908952,-0.000281374441471,2.30962175142e-05,1793248820739649792
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715.89593969,680,662,634,878.10406031,785.10406031,810,653,628,653,0.400985272555,0.00452242628827,0.0598312578884,0.99999994258,0.000193001319968,-0.000277564188231,2.34420000791e-05,1793248820756316928
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715.519013729,680,662,634,878,785,810,652.519013729,628.480986271,652.519013729,0.400979061183,0.00452210174847,0.0598317974201,0.999999942656,0.00019335966972,-0.000277023291154,2.36046327184e-05,1793248820772984064
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.067345477,745,715,679.932654523,662,634,878.067345477,785,810,652.067345477,629,652,0.40097388763,0.00452207011267,0.0598321740652,0.999999942568,0.00019388850133,-0.000276964438087,2.37025684158e-05,1793248820789650688
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.775580878,745,715.224419122,679,662,634,879,785.224419122,810,653,628.775580878,652,0.400969564852,0.00452166378517,0.0598347241295,0.999999943993,0.000191814782634,-0.000273238261404,2.36917784565e-05,1793248820822983168
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.19672945,745,715.80327055,679,662,634,879,785.80327055,810,653,628.19672945,652,0.400969747226,0.00452030575653,0.0598363197153,0.999999944885,0.000189597167332,-0.000271486927612,2.40197328442e-05,1793248820839649792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.622178483,679.377821517,662,634,879,786,810,652.622178483,628.377821517,652,0.400969523425,0.00452053276118,0.0598366620186,0.999999945258,0.000189254428445,-0.000270365792166,2.38694331422e-05,1793248820856316672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.049841559,679.950158441,662,634,879,786,810,652.049841559,628.950158441,652,0.400969090513,0.00452157579508,0.0598363590895,0.999999945364,0.000189876939976,-0.000269569104384,2.34729119073e-05,1793248820872983296
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.460524203,662,634,879,785.460524203,810,652.539475797,629,652,0.400968632785,0.00452164851837,0.0598372629144,0.999999945198,0.00019123001394,-0.00026919409529,2.38484672847e-05,1793248820889649920
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744.010826931,715.010826931,679.010826931,662.010826931,634,878.010826931,785,810,653,629,652.010826931,0.400967678861,0.00452170958046,0.059837978874,0.999999945859,0.000189402141922,-0.000268045971951,2.3661384685e-05,1793248820989649664
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,879,786,810,653,629,652,0.400967975619,0.00452237486092,0.0598393518723,0.999999945933,0.000191925538314,-0.000265982489184,2.34792743758e-05,1793248821056316160
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.750784985,679.249215015,662,634,879,785,810,653,629,652.249215015,0.400964860029,0.00452252073191,0.0598376494297,0.999999945284,0.000190929973685,-0.000269150970074,2.31464208322e-05,1793248821139649792
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.17349033,679.82650967,662,634,879,785,810,653,629,652.82650967,0.400964145793,0.00452316875352,0.0598373242855,0.999999944856,0.000192551602504,-0.000269601302973,2.2973937648e-05,1793248821156316416
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12bf74347f3f5c6bd7b02be3816a61b94b13f74f
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9de2f7aad53ca9e5c9d2d52c79096132a6cfd0f5
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3b52e8096ca07e64977248276ddb6f3caf1105c165f1caab7b129493093f0c
+size 25541906
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8e0ce760e0b112a77de0b0176d6814dd6d85d56
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,403 @@
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+12,0.200000000,BASELINE,766,745,715,679.999446666,662,634,878.999446666,785.000553334,809.000553334,652.999446666,628,653,0.400967605709,0.00452087376513,0.0598405012683,0.999999947579,0.000186565578408,-0.00026364711435,2.29285439791e-05,1793248821477496320
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+14,0.233333333,BASELINE,766,745,715,679,662,634,878.159582795,785.840417205,810,652.159582795,628.159582795,652.840417205,0.400969034142,0.00452328235753,0.059841672628,0.999999947341,0.000190765111835,-0.000261537568091,2.28989634761e-05,1793248821510829568
+15,0.250000000,BASELINE,766,745,715,679,662,634,878.749851305,785.250148695,810,652.749851305,628.749851305,652.250148695,0.400967906605,0.00452183921915,0.0598408082259,0.99999994723,0.000189866742134,-0.00026254000346,2.3732106453e-05,1793248821527496192
+16,0.266666667,BASELINE,766,745,715,679.333278964,662,634,879,785.333278964,810,653,629,652,0.400967704976,0.00452242430041,0.0598411399085,0.999999947099,0.000190909885403,-0.000262280888422,2.37638336463e-05,1793248821544162304
+17,0.283333333,BASELINE,766,745,715,679.911675331,662,634,879,785.911675331,810,653,629,652,0.400968184325,0.00452450108085,0.0598423512781,0.999999946948,0.000193380957482,-0.000261093938104,2.32061417836e-05,1793248821560828928
+18,0.300000000,BASELINE,766.484013208,745,715.484013208,680,662,634,878.515986792,786,810,653,629,652,0.400968718589,0.00452273127167,0.0598424099089,0.999999947624,0.000189721258889,-0.000261186460848,2.32228282895e-05,1793248821577496064
+19,0.316666667,BASELINE,766.942884485,745,715.942884485,679.942884485,662,634,878,786,810,653,629,652.057115515,0.400969072593,0.00452060642474,0.0598421935876,0.999999948273,0.000185654195695,-0.000261618061344,2.33091685889e-05,1793248821594162944
+20,0.333333333,BASELINE,766.35244843,745,715.35244843,679.35244843,662,634,878,786,810,653,629,652.64755157,0.400967650985,0.00452163978548,0.0598413498165,0.999999947442,0.000188100767311,-0.000263062609878,2.30792890192e-05,1793248821610829312
+21,0.350000000,BASELINE,766,745,715.233770354,679.233770354,662,634,878.233770354,785.766229646,810.233770354,652.766229646,628.766229646,653,0.400966865053,0.00452146460246,0.0598408451935,0.999999947091,0.000188954454332,-0.000263773314625,2.31706380029e-05,1793248821627495680
+22,0.366666667,BASELINE,766,745,715.813743505,679.813743505,662,634,878.813743505,785.186256495,810.813743505,652.186256495,628.186256495,653,0.40096702053,0.00451949962341,0.0598408428326,0.999999947461,0.000187449154654,-0.000263397231425,2.3737711248e-05,1793248821644162304
+23,0.383333333,BASELINE,766,745,716,679.607098714,662,634,879,785,810.214197428,652.392901286,628.392901286,652.607098714,0.400966881217,0.00452042685811,0.0598405457509,0.999999947592,0.000187034401904,-0.000263220263149,2.34342642531e-05,1793248821660829184
+24,0.400000000,BASELINE,766,745,716,679.028326611,662,634,879,785,809.056653222,652.971673389,628.971673389,652.028326611,0.400966602446,0.0045227223196,0.0598401092448,0.999999947611,0.000187135556849,-0.000263137490646,2.27189980713e-05,1793248821677496064
+25,0.416666667,BASELINE,766,745,715.455993099,679.544006901,662,634.544006901,878.455993099,785.544006901,809.544006901,653,629,652,0.400966461758,0.00452182497265,0.0598404422554,0.999999947605,0.000186392535599,-0.00026367520193,2.28669525139e-05,1793248821694162944
+26,0.433333333,BASELINE,766,745,715,679.880133802,662,634.880133802,878.119866198,785.880133802,810,653,628.880133802,652.119866198,0.40096645081,0.00452114789722,0.0598409223327,0.999999947568,0.000186170692827,-0.000263959979472,2.30332730984e-05,1793248821710829568
+27,0.450000000,BASELINE,766,745,715,679.28911326,662,634.28911326,878.71088674,785.28911326,810,653,628.28911326,652.71088674,0.400966921898,0.00452198246801,0.0598418248254,0.999999947412,0.00018816818743,-0.000263125048694,2.30971751793e-05,1793248821727496192
+28,0.466666667,BASELINE,766,745,715.296265241,679,662,634,879,785.296265241,810,653,628.296265241,653,0.400967112677,0.00452130832739,0.0598420097269,0.999999947727,0.00018741963852,-0.000262450602896,2.32247692362e-05,1793248821744162560
+29,0.483333333,BASELINE,766,745,715.876240759,679,662,634,879,785.876240759,810,653,628.876240759,653,0.400967035027,0.00451918941063,0.0598415074466,0.999999948487,0.000184041416269,-0.000261929841184,2.34133561621e-05,1793248821760829184
+30,0.500000000,BASELINE,766,745,715.546285831,679.453714169,662,634,879,786,810.453714169,653,629,652.546285831,0.400967299707,0.00452072317367,0.059841865231,0.999999947773,0.000188218428432,-0.000261702607343,2.32365405231e-05,1793248821777495808
+31,0.516666667,BASELINE,766,745,715.030243727,680,662.030243727,634,879,785.969756273,810.969756273,653,629,652.030243727,0.400967648043,0.00452306705143,0.0598423938147,0.999999946723,0.000193904952258,-0.00026158597749,2.29624086507e-05,1793248821794162688
+32,0.533333333,BASELINE,766,745,715.60202665,680,662.60202665,634,879,785.39797335,810.39797335,653,629,652.60202665,0.4009678315,0.00452217428261,0.0598418030503,0.999999947378,0.000189921953929,-0.000262024030194,2.27206448015e-05,1793248821810829056
+33,0.550000000,BASELINE,766,745,716,679.819707297,662.819707297,634,879,785,810,653,628.819707297,652.819707297,0.400967911485,0.00452164212457,0.0598415846666,0.999999947775,0.000187638249204,-0.00026216400545,2.26260023919e-05,1793248821827495680
+34,0.566666667,BASELINE,766,745,716,679.226596847,662.226596847,634,879,785,810,653,628.226596847,652.226596847,0.400967754548,0.00452193566023,0.0598422189264,0.999999947609,0.000189245432171,-0.000261621470171,2.28682252379e-05,1793248821844162560
+35,0.583333333,BASELINE,766.357685284,745,716,679.357685284,662,634.357685284,879,785,810.357685284,653,628,652,0.400966789289,0.00452248000206,0.0598416516452,0.999999947349,0.000189103850489,-0.000262710841258,2.28993716719e-05,1793248821860829184
+36,0.600000000,BASELINE,766.936509366,745,716,679.936509366,662,634.936509366,879,785,810.936509366,653,628,652,0.400965324286,0.00452317940474,0.0598403415118,0.999999947028,0.000187881095846,-0.000264809137819,2.28000202136e-05,1793248821877495808
+37,0.616666667,BASELINE,766.488154402,745,715.488154402,680,662,634.488154402,878.488154402,785,810.488154402,653,628.511845598,652,0.400966072994,0.00452261871501,0.0598409992938,0.9999999473,0.000187565245825,-0.00026400235791,2.28388761002e-05,1793248821894162688
+38,0.633333333,BASELINE,766,745,715,679.91136545,662,634,878.08863455,785.08863455,810,653,629,652.08863455,0.40096696072,0.0045220914668,0.0598416718425,0.999999947585,0.000187572608244,-0.000262910400738,2.28912628079e-05,1793248821910829056
+39,0.650000000,BASELINE,766,745,715,679.323983804,662,634,878.676016196,785.676016196,810,653,629,652.676016196,0.400967096009,0.0045226259706,0.0598410631999,0.999999947539,0.000188769964417,-0.000262227734106,2.29239733616e-05,1793248821927495680
+40,0.666666667,BASELINE,766,745,715.259810899,679.259810899,662.259810899,634,879,785.740189101,810,653,628.740189101,652.740189101,0.400967177013,0.00452245047115,0.0598411220717,0.999999947757,0.000188376015862,-0.000261683884436,2.28507887368e-05,1793248821944162560
+41,0.683333333,BASELINE,766,745,715.839193563,679.839193563,662.839193563,634,879,785.160806437,810,653,628.160806437,652.160806437,0.400967191245,0.00452140165576,0.0598420019974,0.999999948299,0.000186024735709,-0.000261310781996,2.2647351263e-05,1793248821960829184
+42,0.700000000,BASELINE,766,745,715.582523699,680,662.582523699,634,879,785,810,653,628.417476301,652,0.400966798218,0.0045211719904,0.0598419826288,0.999999947941,0.000186995430472,-0.000261962181215,2.29623087112e-05,1793248821977495808
+43,0.716666667,BASELINE,766,745,715.004663539,680,662.004663539,634,879,785,810,653,628.995336461,652,0.400966248733,0.00452125702184,0.059841617774,0.999999947232,0.000189242344217,-0.000263007168123,2.34764204103e-05,1793248821994162432
+44,0.733333333,BASELINE,766,745,715,680,662,634,878.429847701,785,810,652.429847701,629,652,0.400967702878,0.00452101483807,0.0598421134439,0.999999947825,0.000188434724111,-0.00026133483616,2.33658747743e-05,1793248822010829056
+45,0.750000000,BASELINE,766,745.148168872,715,680,662,634,878.148168872,785.148168872,810,652,629,652,0.400968384418,0.00452072772467,0.0598423090998,0.999999948165,0.000187684238714,-0.000260587247327,2.32100721917e-05,1793248822027495680
+46,0.766666667,BASELINE,766,745.735750973,715,680,662,634,878.735750973,785.735750973,810,652,629,652,0.400966726355,0.00452031526207,0.0598415942637,0.999999947727,0.000187176894522,-0.000262647664155,2.29351264926e-05,1793248822044162304
+47,0.783333333,BASELINE,766,745.680112686,715,679.680112686,662,634,879,785.680112686,810,652.319887314,629,652,0.400967143876,0.0045195382866,0.059841928967,0.999999947999,0.000185896832804,-0.000262515287823,2.30278474124e-05,1793248822060828928
+48,0.800000000,BASELINE,766,745.098792384,715,679.098792384,662,634,879,785.098792384,810,652.901207616,629,652,0.400969257701,0.00451846340717,0.0598431214228,0.999999948847,0.000183985255354,-0.000260590816667,2.34210496874e-05,1793248822077495552
+49,0.816666667,BASELINE,766,745,715,679,662,634,879,785,810,653,629,652,0.400968661441,0.0045199519043,0.0598432946709,0.999999948548,0.000186042573879,-0.00026028593752,2.33233049898e-05,1793248822094162432
+50,0.833333333,BASELINE,766,745,715.052603034,679.052603034,662,634.052603034,879,785,809.947396966,653,628.947396966,652,0.400967610647,0.00452173789034,0.0598432178838,0.999999948042,0.000188624183056,-0.000260384503185,2.31536092904e-05,1793248822110829056
+51,0.850000000,BASELINE,766,745,715.629491274,679.629491274,662,634.629491274,879,785,809.370508726,653,628.370508726,652,0.400967559788,0.00452125807195,0.0598427288337,0.999999947882,0.000188332378911,-0.000261199193454,2.32686167258e-05,1793248822127495936
+52,0.866666667,BASELINE,766,745,715.788438057,679.788438057,662,634.788438057,879,785.211561943,809,653,628,652.211561943,0.400967105303,0.0045209479971,0.0598421181281,0.999999947744,0.000188065338017,-0.000261917457446,2.32863486753e-05,1793248822144162816
+53,0.883333333,BASELINE,766,745,715.19706352,679.19706352,662,634.19706352,879,785.80293648,809,653,628,652.80293648,0.400965926197,0.0045209426592,0.0598412890169,0.999999947647,0.000187842754068,-0.000262462609376,2.31294440358e-05,1793248822160829440
+54,0.900000000,BASELINE,766,745,715.383788099,679.383788099,662,634,879,785.616211901,809.383788099,653,628,653,0.400966380907,0.00452138762745,0.0598414415999,0.999999947836,0.000187409994822,-0.000262055128679,2.30692924341e-05,1793248822177496576
+55,0.916666667,BASELINE,766,745,715.959380696,679.959380696,662,634,879,785.040619304,809.959380696,653,628,653,0.400967652144,0.00452205764371,0.0598420848011,0.999999948168,0.000186872196973,-0.000261171553933,2.30574947802e-05,1793248822194164224
+56,0.933333333,BASELINE,766.534066298,745,715.465933702,680,662,634.534066298,878.465933702,785,810,653,628.534066298,652.465933702,0.400967712284,0.00452143170176,0.0598420566792,0.999999948047,0.000187512533919,-0.000261165985573,2.31811947225e-05,1793248822210830848
+57,0.950000000,BASELINE,766.888180669,745,715,680,662,634.888180669,878.111819331,785,810,653,628.888180669,652,0.400967595399,0.00452111421892,0.059841949041,0.999999947894,0.000188233758952,-0.000261225228277,2.32615657275e-05,1793248822227497216
+58,0.966666667,BASELINE,766.29698222,745,715,680,662,634.29698222,878.70301778,785,810,653,628.29698222,652,0.400967113809,0.00452254097282,0.0598417190311,0.999999947755,0.000188918264871,-0.000261276522879,2.3112076159e-05,1793248822244163584
+59,0.983333333,BASELINE,766,745,715.287850532,680,662.287850532,634,879,785,810,653,628.287850532,652,0.400966759026,0.00452312918227,0.0598418794125,0.999999947791,0.000188712963748,-0.000261299124384,2.29942930096e-05,1793248822260830208
+60,1.000000000,BASELINE,766,745,715.866257814,680,662.866257814,634,879,785,810,653,628.866257814,652,0.40096653224,0.0045228709639,0.0598424338555,0.999999948002,0.000187609490175,-0.000261292763043,2.29085143481e-05,1793248822277496576
+61,1.016666667,BASELINE,766,745,716,680,662.556930307,634,878.556930307,785.443069693,810,653,628.556930307,652,0.400968217434,0.00452193612879,0.0598434445688,0.999999948614,0.000185890505969,-0.000260169321059,2.29836073759e-05,1793248822294162944
+62,1.033333333,BASELINE,766,745,716,680,662.019720492,634,878.019720492,785.980279508,810.019720492,653,628,652.019720492,0.400970398232,0.00452083144813,0.0598445505819,0.999999949307,0.000184145077787,-0.000258732035057,2.31082972933e-05,1793248822310829568
+63,1.050000000,BASELINE,766,745,716,680,662.605522685,634,878.605522685,785.394477315,810.605522685,653,628,652.605522685,0.40097029805,0.00452069300956,0.0598444529059,0.999999948989,0.000186954697001,-0.000257930309313,2.32677614259e-05,1793248822327495936
+64,1.066666667,BASELINE,766,745,715.811028296,680,663,634,879,785.188971704,810.811028296,653,628.188971704,653,0.400969527341,0.0045210702485,0.059843770951,0.99999994855,0.000188823870854,-0.00025826610074,2.33225620787e-05,1793248822344162816
+65,1.083333333,BASELINE,766,745,715.232431134,680,663,634,879,785.767568866,810.232431134,653,628.767568866,653,0.400967374127,0.00452251072117,0.0598418843188,0.999999947871,0.000188754016382,-0.000260947246786,2.31615655661e-05,1793248822360829952
+66,1.100000000,BASELINE,766,745,715,679.653897257,662.653897257,634,878.653897257,785.653897257,810,653,628.653897257,653,0.400966275769,0.004522526527,0.0598412169271,0.999999947535,0.000188734705972,-0.000262258384553,2.30040447906e-05,1793248822377496832
+67,1.116666667,BASELINE,766,745,715,679.075405896,662.075405896,634,878.075405896,785.075405896,810,653,628.075405896,653,0.40096588569,0.00452158574874,0.0598413681872,0.999999947433,0.000188749333077,-0.000262649638345,2.28488577847e-05,1793248822394163456
+68,1.133333333,BASELINE,766,745,715,679.500978458,662,634,878.500978458,785,810,653,628.500978458,653,0.400965990994,0.00452123631172,0.0598415775467,0.999999947659,0.000188226864854,-0.000262150237336,2.30141110213e-05,1793248822410829824
+69,1.150000000,BASELINE,766,745,715.078485713,680,662,634,879,785,810,653,629,652.921514287,0.400966357501,0.00452097679561,0.0598418873257,0.999999947948,0.000187720449737,-0.000261390951462,2.32304453487e-05,1793248822427495936
+70,1.166666667,BASELINE,766,745,715.66531103,680,662,634,879,785,810,653,629,652.33468897,0.400967934854,0.00452072561291,0.059842791104,0.999999948331,0.00018783941699,-0.000259813074445,2.34665424469e-05,1793248822444162560
+71,1.183333333,BASELINE,766,745,715.750870168,680,662,634,879,785.249129832,810,652.750870168,628.750870168,652.249129832,0.400968868026,0.0045201061703,0.0598433293956,0.999999948712,0.000187115028316,-0.000258849769913,2.36739540157e-05,1793248822460829440
+72,1.200000000,BASELINE,766,745,715.17104217,680,662,634,879,785.82895783,810,652.17104217,628.17104217,652.82895783,0.400968946103,0.00451899789467,0.0598433825355,0.99999994909,0.000185271158076,-0.000258702256639,2.38432880741e-05,1793248822477496064
+73,1.216666667,BASELINE,766,745,715,679.593203775,662,634.406796225,879,786,810,652.406796225,628,652.593203775,0.400968995031,0.00451939727404,0.0598436220859,0.999999949094,0.000185268850664,-0.000258699267694,2.37257878169e-05,1793248822494162944
+74,1.233333333,BASELINE,766,745,715,679.016197894,662,634.983802106,879,786,810,652.983802106,628,652.016197894,0.400969031764,0.004520427479,0.0598439396332,0.999999948942,0.000186037080934,-0.00025875674991,2.34882717597e-05,1793248822510830080
+75,1.250000000,BASELINE,766,745,715.558517971,679.558517971,662,635,879,786,810,652.441482029,628.558517971,652.558517971,0.400968670298,0.00452126986083,0.0598431911649,0.999999948521,0.000187590982737,-0.000259289295952,2.31560220982e-05,1793248822527496448
+76,1.266666667,BASELINE,766.136670421,745,715.863329579,680,662,634.863329579,878.863329579,785.863329579,810,652.136670421,629,652.863329579,0.400968590656,0.00452213415068,0.0598427238091,0.999999948222,0.000189012319889,-0.000259435558203,2.28653772937e-05,1793248822544163328
+77,1.283333333,BASELINE,766.726435201,745,715.273564799,680,662,634.273564799,878.273564799,785.273564799,810,652.726435201,629,652.273564799,0.400969483452,0.00452308905553,0.0598432904829,0.999999948359,0.000189918942718,-0.000258255710032,2.27217334786e-05,1793248822560829696
+78,1.300000000,BASELINE,766.689759734,745.310240266,715.310240266,680,662,634,878.310240266,785,810,653,628.689759734,652,0.400970205614,0.00452320796899,0.0598440451595,0.999999948842,0.000189110529382,-0.000256984685358,2.26344627053e-05,1793248822577496320
+79,1.316666667,BASELINE,766.11111083,745.88888917,715.88888917,680,662,634,878.88888917,785,810,653,628.11111083,652,0.40097078015,0.00452260361294,0.0598449624892,0.99999994962,0.000186818328844,-0.000255634778136,2.25959638524e-05,1793248822594163456
+80,1.333333333,BASELINE,766,745.536099609,715.536099609,680,662,634,878.536099609,785,810,653,628.463900391,652,0.400969263777,0.00452176359758,0.0598439275169,0.999999948986,0.000187225705406,-0.00025779243736,2.27516530379e-05,1793248822610830080
+81,1.350000000,BASELINE,766,745,715.037983363,680,662.037983363,634.037983363,878.037983363,785,810,653,629,652,0.400967417603,0.00452093033397,0.0598425282253,0.999999948077,0.000188219308038,-0.000260564075485,2.29319679751e-05,1793248822627496192
+82,1.366666667,BASELINE,766,745,715.611167474,680,662.611167474,634.611167474,878.611167474,785,810,653,629,652,0.400967926013,0.00452098133387,0.0598425329996,0.999999948124,0.000188433276916,-0.000260241496724,2.28090121611e-05,1793248822644163584
+83,1.383333333,BASELINE,766,745,716,680,662.809085619,634.809085619,878.809085619,785.190914381,810,653,628.809085619,652,0.400968467316,0.00452112155808,0.059842586293,0.999999948333,0.00018791110826,-0.0002598218406,2.2699056145e-05,1793248822660830720
+84,1.400000000,BASELINE,766,745,716,680,662.215496417,634.215496417,878.215496417,785.784503583,810,653,628.215496417,652,0.400969077996,0.00452144997336,0.0598427419226,0.999999948885,0.000185836285272,-0.000259197429752,2.26165191576e-05,1793248822677497088
+85,1.416666667,BASELINE,766,745,716,680,662,634,878.369302081,786,810,653,628,652,0.400968853502,0.00452017647144,0.059843054027,0.999999949216,0.000184259344571,-0.000259026029837,2.28405147029e-05,1793248822694163200
+86,1.433333333,BASELINE,766,745,716,680,662,634,878.949090227,786,810,653,628,652,0.400968152995,0.00451798994663,0.0598434553153,0.999999949422,0.000182966175165,-0.000259112826419,2.32392204159e-05,1793248822710829568
+87,1.450000000,BASELINE,766,745.521530407,715.478469593,680,662,634,879,785.478469593,810,653,628,652,0.400969090804,0.00451942882965,0.059844019759,0.999999949217,0.000185235132338,-0.000258285209702,2.32752182456e-05,1793248822727496192
+88,1.466666667,BASELINE,766,745.903630751,715,680,662,634,879,785,810,653,628.096369249,652,0.400969786246,0.00452123228075,0.0598443841567,0.999999948886,0.000187744229012,-0.000257759467448,2.32364629805e-05,1793248822744162816
+89,1.483333333,BASELINE,766,745.312857302,715,680,662,634,879,785,810,653,628.687142698,652,0.400968429199,0.00452311569658,0.0598436416829,0.999999948137,0.00018972618411,-0.000259234011779,2.29933219075e-05,1793248822760829440
+90,1.500000000,BASELINE,766,745,715.272452596,680,662,634,878.727547404,785,809.727547404,653,629,652.272452596,0.400968244454,0.00452300834489,0.059843230439,0.999999948153,0.0001891606433,-0.000259581004071,2.30081542277e-05,1793248822777496320
+91,1.516666667,BASELINE,766,745,715.851611997,680,662,634,878.148388003,785,809.148388003,653,629,652.851611997,0.400969379399,0.00452065993554,0.059843192069,0.999999949029,0.000185727321538,-0.000258658682307,2.33133937623e-05,1793248822794163712
+92,1.533333333,BASELINE,766,745,715.571309171,680,662,634,878.428690829,785,809.428690829,653,629,652.571309171,0.400969385746,0.00452082933383,0.0598434260477,0.999999948923,0.000186484945546,-0.000258521956043,2.33032189163e-05,1793248822810830592
+93,1.550000000,BASELINE,766,745,715,679.994968139,662.005031861,634,879,785.005031861,810,653,629,652,0.400969007821,0.00452185176945,0.059843750066,0.999999948486,0.000188652878243,-0.000258652276489,2.31844102709e-05,1793248822827497472
+94,1.566666667,BASELINE,766,745,715,679.421018679,662.578981321,634,879,785.578981321,810,653,629,652,0.400969138265,0.00452126045789,0.0598436471091,0.99999994886,0.000187050347864,-0.000258379220914,2.30675387161e-05,1793248822844163328
+95,1.583333333,BASELINE,766,745,715.157457629,679.157457629,662.842542371,634,879,786,810,653,628.842542371,652,0.400968542194,0.00452118316559,0.0598431748838,0.999999948901,0.00018604952887,-0.000258961489864,2.28498794933e-05,1793248822860829696
+96,1.600000000,BASELINE,766,745,715.748396487,679.748396487,662.251603513,634,879,786,810,653,628.251603513,652,0.400965946025,0.00452252096942,0.0598416860619,0.999999948025,0.000186705222386,-0.000261898469213,2.2354751554e-05,1793248822877496320
+97,1.616666667,BASELINE,766,745,715.667230779,680,662,634,879,786,810,653,628.332769221,652.332769221,0.400966523835,0.00452242667533,0.0598426400432,0.999999948104,0.000187957516996,-0.00026067900139,2.26023450191e-05,1793248822894162944
+98,1.633333333,BASELINE,766,745,715.087726598,680,662,634,879,786,810,653,628.912273402,652.912273402,0.400969455023,0.0045212705383,0.0598454052646,0.999999948877,0.000189652167218,-0.000256377695395,2.34006364892e-05,1793248822910829312
+99,1.650000000,BASELINE,766,745,715,680,662,634,879,785.512287073,810,653,629,652.512287073,0.400968816013,0.00452129681092,0.0598444117172,0.999999948853,0.000187981294937,-0.000257736418308,2.29830698497e-05,1793248822927496448
+100,1.666666667,BASELINE,766,745,715.062561805,679.937438195,662,634,879,785.062561805,810,653,629,652,0.4009677907,0.0045215493862,0.0598429757953,0.99999994869,0.000186135264053,-0.000259749226836,2.24504160201e-05,1793248822944163584
+101,1.683333333,BASELINE,766,745,715.638513875,679.361486125,662,634,879,785.638513875,810,653,629,652,0.400968821623,0.00452192814255,0.0598434120207,0.999999948611,0.000187778528318,-0.000258844030471,2.27531934867e-05,1793248822960829440
+102,1.700000000,BASELINE,766,745,715.780282106,679.219717894,662,634,879,785.780282106,810,653,629,652.219717894,0.400969605245,0.00452185301983,0.0598439701174,0.999999948762,0.000188255629541,-0.000257899508241,2.29007406015e-05,1793248822977495808
+103,1.716666667,BASELINE,766,745,715.190225894,679.809774106,662,634,879,785.190225894,810,653,629,652.809774106,0.400969972034,0.00452101287602,0.0598447336304,0.999999949303,0.000186767142576,-0.000256888701675,2.27866442374e-05,1793248822994162432
+104,1.733333333,BASELINE,766,745,715.3922071,679.6077929,662,634.3922071,878.6077929,785,810,653,629,653,0.400969892879,0.00452035459401,0.059844880406,0.999999949602,0.000185084623239,-0.000256942252837,2.28220779031e-05,1793248823010829312
+105,1.750000000,BASELINE,766,745,715.971013272,679.028986728,662,634.971013272,878.028986728,785,810,653,629,653,0.400969601559,0.00451978283569,0.0598447337586,0.999999949782,0.00018330978963,-0.000257502189856,2.29286529654e-05,1793248823027496704
+106,1.766666667,BASELINE,766,745,715.453600918,679.546399082,662,635,878.546399082,785.546399082,810,653,629,652.453600918,0.40096800894,0.00452059467623,0.0598434509845,0.999999948821,0.000185992518581,-0.000259310707676,2.28776790149e-05,1793248823044163072
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,681,662,634,880,785,809,653,629,652,0.400967517105,0.00452335945332,0.0598431754745,0.999999948082,0.000189464300022,-0.000259654833186,2.27697928343e-05,1793248823085677056
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.420203711,680.420203711,662,634,879.420203711,785,809.579796289,653,629,652,0.400969404357,0.00452204144703,0.0598444272114,0.999999948788,0.000188303440568,-0.000257768416929,2.28201162481e-05,1793248823102344448
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.158327804,745,715.158327804,680,662,634,879,785.158327804,809.841672196,653,628.841672196,652,0.400970268571,0.00452116153882,0.0598451401178,0.999999949217,0.000187263412772,-0.000256860614371,2.28273834395e-05,1793248823119011584
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.733529321,745,715.733529321,680,662,634,879,785.733529321,809.266470679,653,628.266470679,652,0.400968439146,0.00452143513315,0.0598444342952,0.999999948924,0.000186541531895,-0.000258529480298,2.27212845315e-05,1793248823135677952
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.693244359,745,716,679.693244359,662,634,879,786,809.306755641,653,628.306755641,652,0.400966886783,0.00452194849713,0.0598435427782,0.999999948592,0.000186411545472,-0.000259916957063,2.25832015708e-05,1793248823152344064
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.121722897,745,716,679.121722897,662,634,879,786,809.878277103,653,628.878277103,652,0.400965573555,0.00452266881021,0.0598424909853,0.999999948226,0.000186792432894,-0.000261061562129,2.24175126565e-05,1793248823169010176
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,716,679.46831267,662,634.46831267,879,786,810,653,629,652,0.400967472594,0.00452249789985,0.059843412225,0.999999948518,0.000187740102261,-0.00025925955251,2.24048220194e-05,1793248823185676544
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.938303219,680,662.061696781,634.938303219,879,786,810,653,629,652,0.400969769191,0.00452182378049,0.0598446576582,0.999999948934,0.000188355816994,-0.000257190816098,2.25149684056e-05,1793248823202343168
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.358863428,680,662.641136572,634.358863428,879,786,810,653,629,652,0.400968107131,0.00451895078108,0.0598441429941,0.999999948945,0.000184898728002,-0.000259575368722,2.33084803418e-05,1793248823219010304
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.218730956,680,662.781269044,634,879,786,810,653,628.781269044,652.218730956,0.400969636209,0.00451779562139,0.0598446889164,0.999999949204,0.000183470559782,-0.000259548737018,2.37752004276e-05,1793248823235676928
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.793322927,680,662.206677073,634,879,786,810,653,628.206677073,652.793322927,0.400976357059,0.0045194352753,0.0598469603434,0.999999949877,0.000185343313826,-0.000255599265257,2.37102513846e-05,1793248823252343808
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662.376308146,634,879,785.623691854,810,652.623691854,628.376308146,653,0.401000312983,0.0045204762786,0.0598569408003,0.999999954056,0.0001859325249,-0.000238263726503,2.34067898617e-05,1793248823269010688
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662.964008347,634,879,785.035991653,810,652.035991653,628.964008347,653,0.401033950754,0.00452118098855,0.0598712518243,0.999999959704,0.000185800702535,-0.000213408530158,2.29693433303e-05,1793248823285677312
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.543849094,745,715.456150906,679.456150906,662.456150906,634.543849094,879,785.543849094,810,652.543849094,628.456150906,652.456150906,0.401095827319,0.00452053428757,0.059891425586,0.999999966964,0.000185123778971,-0.00017680226885,2.32908210412e-05,1793248823302343936
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.877405815,745,715,679.122594185,662.122594185,634.877405815,879,786,810,653,628.122594185,652.122594185,0.401161580543,0.00451995492233,0.0599101840389,0.999999972343,0.000184341256186,-0.000144126351226,2.36507896046e-05,1793248823319010304
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.300819273,745,715,679.699180727,662.699180727,634.300819273,879,786,810,653,628.699180727,652.699180727,0.401234867796,0.00451995139666,0.0599222849557,0.999999974613,0.000183299366115,-0.000128844208954,2.39699531459e-05,1793248823335676928
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.275262648,680,662.724737352,634,879,785.724737352,810,653,629,653,0.401315476528,0.00451979532836,0.0599305448148,0.999999976437,0.00018210462647,-0.000115795255202,2.35572084316e-05,1793248823352343552
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.850794071,680,662.149205929,634,879,785.149205929,810,653,629,653,0.401404071853,0.00451947285975,0.0599346146761,0.999999977885,0.000180743151776,-0.000105182364042,2.23460655257e-05,1793248823369009920
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.56414692,679.56414692,662,634,879,785.43585308,810,653,629,653,0.401510507419,0.00451914586325,0.059938964285,0.999999979221,0.000177879698403,-9.72267606119e-05,2.15231384286e-05,1793248823385677056
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715.023892621,679.023892621,662.023892621,634.023892621,879,785.976107379,810,653,629,652.976107379,0.401624067439,0.00451879001551,0.0599432757351,0.99999998047,0.000174536953623,-9.03478301183e-05,2.08132303673e-05,1793248823402343680
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.603697145,679.603697145,662.603697145,634.603697145,879,785.396302855,810,653,629,652.396302855,0.401758118954,0.00451779975375,0.0599444213472,0.999999981195,0.000172273171777,-8.68815295937e-05,1.95716870781e-05,1793248823419010048
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.817231892,680,662.817231892,634.817231892,879,785.182768108,810.182768108,652.817231892,629,652,0.401900538252,0.00451730478573,0.0599447154822,0.999999981794,0.000170252945672,-8.42276187071e-05,1.81876238862e-05,1793248823435676928
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.239745249,680,662.239745249,634.239745249,879,785.760254751,810.760254751,652.239745249,629,652,0.40206102917,0.00451787948813,0.0599431707087,0.999999982152,0.000168758719534,-8.33282006148e-05,1.64957651061e-05,1793248823452344320
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.334789459,745,715,679.665210541,662,634,879,785.665210541,811,652.334789459,629,652.334789459,0.402245181374,0.00451830602988,0.059944269294,0.999999983466,0.000163962018732,-7.7292060118e-05,1.44861908313e-05,1793248823469011200
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.907228799,745,715,679.092771201,662,634,879,785.092771201,811,652.907228799,629,652.907228799,0.402446129528,0.00451862740004,0.0599472442641,0.999999985343,0.000156821060214,-6.76096234938e-05,1.22510864315e-05,1793248823485677056
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.504627159,745,715,679.495372841,662,634,879,785.495372841,811,653,628.504627159,653,0.402680050682,0.00451892993265,0.0599474405287,0.999999986283,0.000153524420555,-6.13846373216e-05,9.83256528939e-06,1793248823502343424
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,786,810.915096991,653,628,653,0.402925383485,0.00451909606953,0.0599473241337,0.999999987061,0.000150546248572,-5.62064828605e-05,7.36463667367e-06,1793248823519010048
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,879,786,810.335193802,653,628,653,0.403200068085,0.00451848823546,0.0599485181401,0.999999988046,0.000145089951707,-5.32329310475e-05,4.81547286843e-06,1793248823535676672
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.242141379,680,662,634,878.757858621,785.757858621,810,653,628.242141379,653,0.403485240277,0.00451871135663,0.0599468332112,0.999999988829,0.000139061110214,-5.47755287848e-05,1.83823911061e-06,1793248823552343552
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.815958962,680,662,634,878.184041038,785.184041038,810,653,628.815958962,653,0.403784777965,0.00452007268924,0.0599412048244,0.9999999893,0.00013224801882,-6.25041794722e-05,-1.72534870776e-06,1793248823569010688
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,878.399262441,785.399262441,810,652.600737559,628.600737559,652.600737559,0.404106892862,0.0045199397798,0.0599295741818,0.999999988745,0.000124969324684,-8.2873104523e-05,-4.91466193718e-06,1793248823585677568
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662,634,878.987044864,785.987044864,810,652.012955136,628.012955136,652.012955136,0.404439668045,0.00451910133316,0.0599151094508,0.999999987105,0.000117470786744,-0.000109210395087,-7.92725360985e-06,1793248823602343936
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.430603997,680,662,634,879,785.430603997,810,652.569396003,628,652,0.404813746469,0.00451851645809,0.0599021524253,0.999999985672,0.000106943068367,-0.000130670549702,-1.20230602937e-05,1793248823619010304
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.14858511,715,680,662,634,878.85141489,785,810,653,628,652,0.405206293064,0.00451811541221,0.059893938947,0.999999984719,9.64980057758e-05,-0.000144885320141,-1.60818205527e-05,1793248823635676928
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.719141791,715,680,662,634,878.280858209,785,810,653,628,652,0.405648644337,0.004518220199,0.0598991003213,0.999999986423,8.6481564028e-05,-0.000138835850502,-1.99660398381e-05,1793248823652344576
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.706320856,715.293679144,680,662,634,878.293679144,785,810,653,628.293679144,652.293679144,0.406131327101,0.00451791727532,0.0599186894287,0.999999990929,7.76804996411e-05,-0.000107537083303,-2.33157581583e-05,1793248823669011456
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.127924233,715.872075767,680,662,634,878.872075767,785,810,653,628.872075767,652.872075767,0.406653110686,0.00451721908254,0.0599522660052,0.999999995865,7.00577238182e-05,-5.17595038677e-05,-2.61472863018e-05,1793248823685677568
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662.461613511,634,879,785,810.461613511,653,629,653,0.407211474772,0.00451554889123,0.0599816886064,0.999999997831,5.86876184389e-05,-4.84447606311e-06,-2.94928949976e-05,1793248823702344192
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.947126908,680,662.947126908,634.052873092,879,785,811,653,629,652.947126908,0.407777075684,0.00451370068841,0.0600064163167,0.999999997826,4.68495490172e-05,3.27015906901e-05,-3.29159032656e-05,1793248823719010816
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.370160423,680,662.370160423,634.629839577,879,785,811,653,629,652.370160423,0.408311441062,0.00451282403387,0.0599962998364,0.999999998524,4.09211293372e-05,2.32677957736e-06,-3.56590502975e-05,1793248823735677184
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634.794114171,879,785.205885829,811,652.794114171,629,652,0.408864177634,0.00451251952747,0.0599857122646,0.999999998303,3.3794231594e-05,-2.68084385783e-05,-3.916413469e-05,1793248823752343808
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634.219715073,879,785.780284927,811,652.219715073,629,652,0.409449796618,0.00451323910414,0.0599742814905,0.999999997287,2.45221886938e-05,-5.372491816e-05,-4.40330040576e-05,1793248823769010432
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.363813209,634,879,785.636186791,811,652.363813209,629,652.363813209,0.410077631502,0.004511691868,0.0599728717018,0.999999997258,1.32287016135e-05,-5.38381983678e-05,-4.90968289387e-05,1793248823785677056
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.952996698,634,879,785.047003302,811,652.952996698,629,652.952996698,0.41073161772,0.00450874041609,0.0599776695832,0.999999997829,6.82996897781e-07,-3.73477798002e-05,-5.42814221464e-05,1793248823802343680
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.533268613,680.533268613,663,634,879.533268613,785.533268613,811,653,629,653,0.411446750308,0.00451016025658,0.0599806932398,0.999999997828,-8.68759269657e-06,-2.59211793585e-05,-5.99653062565e-05,1793248823819010048
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,681,663,634,879.88820608,785.88820608,811,652.88820608,629,653,0.412157204108,0.00451268641,0.05997803659,0.999999997884,6.49232408702e-06,-2.64476324986e-05,-5.90838395062e-05,1793248823835676928
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,681,663,634,879.313712327,785.313712327,811,652.313712327,629,653,0.412826352854,0.00451822297337,0.0599525065351,0.99999998928,0.000122144184941,-7.46291978716e-05,-3.08501249081e-05,1793248823852344064
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.738504194,681,663,634,879.261495806,785,811,652,629,653,0.413517478706,0.00452250161404,0.0599259542864,0.999999976042,0.000179066372912,-0.000124531509043,-1.85164838399e-05,1793248823869010944
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.162436608,681,663,634,879.837563392,785,811,652,629,653,0.414235042459,0.00452526701133,0.0598981723653,0.999999970434,0.000165338505063,-0.000176503834333,-2.53101612303e-05,1793248823885677056
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.424116383,680.575883617,663,634,880.424116383,785,811,652.424116383,629,653,0.41504896515,0.00451734122305,0.0599258369728,0.999999982128,0.000138776744122,-0.000124764064828,-3.03124660108e-05,1793248823902343680
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,716,680,663.014500459,634,881,785.014500459,811,652.985499541,629,653,0.415901039711,0.00450509871036,0.0599748058288,0.999999993349,0.000104852633964,-3.34817693573e-05,-3.44422250539e-05,1793248823919009792
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,716,680,663.593723202,634,881,785.593723202,811,652.406276798,629,653,0.416765222321,0.00448825286932,0.0600054666039,0.999999999231,-1.95162826316e-05,1.16060546305e-05,-3.19880326835e-05,1793248823935676416
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,716,680.171574059,663.828425941,634,881,785.828425941,811,652,629,653,0.417616920823,0.00447463273102,0.0600210970424,0.999999993172,-0.000107130641967,3.51995175262e-05,-3.06616914955e-05,1793248823952343296
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,716,680.746202111,663.253797889,634,881,785.253797889,811,652,629,653,0.418439292172,0.00446859026819,0.0600014188946,0.999999993578,-0.000108402857089,8.29940076952e-06,-3.19848483578e-05,1793248823969009920
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.67897085,680.67897085,663,634,880.67897085,785,811.32102915,652,629,653,0.419267592941,0.00447059787941,0.0599788922182,0.99999999417,-9.81313059302e-05,-2.98972779503e-05,-3.37114449546e-05,1793248823985677056
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.103986426,680.103986426,663,634,880.103986426,785,811.896013574,652,629,653,0.420100584235,0.00447897363154,0.0599541121683,0.999999993295,-7.87278724834e-05,-7.70302824623e-05,-3.5757188928e-05,1793248824002344448
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.484237498,680.484237498,663,634,880.484237498,785,812,652,629,653,0.420911143756,0.0044743614915,0.0599183998849,0.999999987732,-7.3663094226e-05,-0.000133456213014,-3.60470663666e-05,1793248824019010560
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,716,681,663,634,881,785,812,652,629,653,0.421730188685,0.00446835644069,0.0598844196639,0.999999979599,-7.0518879889e-05,-0.000185796337447,-3.61766250327e-05,1793248824035676928
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,716,681,663,634,881,785,812,652,629,653,0.422641171914,0.00447243985699,0.0598788031382,0.999999978315,-5.88559312565e-05,-0.000196145207725,-3.78615870901e-05,1793248824052343296
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.773647736,681,663.226352264,634,881,785,812.226352264,652,629.226352264,653,0.423584015574,0.00447375763555,0.0599049334316,0.999999986035,-5.15316994785e-05,-0.00015414264494,-3.89275719857e-05,1793248824069010176
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.199133347,681,663.800866653,634,881,785,812.800866653,652,629.800866653,653,0.424575865272,0.00447082146872,0.0599798948679,0.999999997444,-5.08810318409e-05,-3.16160976871e-05,-3.90414814282e-05,1793248824085676800
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.385738796,681,664,634,881,785,813,652,629.614261204,653,0.42551191804,0.00446970221941,0.0600159750723,0.999999997622,-4.78690857183e-05,2.96111210505e-05,-3.98502892208e-05,1793248824102343424
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.97610552,681,664,634,881,785,813,652,629.02389448,653,0.42641837142,0.00446954681438,0.0600314294342,0.999999996507,-4.360452145e-05,5.83200722989e-05,-4.10277290462e-05,1793248824119010304
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.44411618,681,663.44411618,634,881,785,813,652,629.55588382,653,0.427338190909,0.00446944066107,0.060012675135,0.999999997416,-4.03331417713e-05,4.05384567029e-05,-4.35750675437e-05,1793248824135677440
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.134307336,634,881,784.865692664,813,652.134307336,630,653,0.428249613699,0.00446833785664,0.0599907229952,0.999999998148,-3.757598674e-05,1.49119685885e-05,-4.55026883505e-05,1793248824152344576
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.709747988,634,881,784.290252012,813,652.709747988,630,653,0.429131605628,0.00446395472158,0.0599630069481,0.999999997866,-3.63702058718e-05,-3.00400440837e-05,-4.52050504002e-05,1793248824169011200
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.284864384,715.284864384,680.715135616,663.430271233,633.715135616,881,784.284864384,813,652.715135616,630,653,0.429999027655,0.00446276350011,0.0599351669312,0.999999995266,-3.30295151904e-05,-7.93819733825e-05,-4.55681014373e-05,1793248824185677568
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.85965073,715.85965073,680.14034927,662.280698539,633.14034927,881,784.85965073,813,652.14034927,630,653,0.430851621045,0.00446482086282,0.0599072007452,0.999999989665,-2.7516010833e-05,-0.000133191756558,-4.66035715486e-05,1793248824202343936
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.552436649,715.552436649,680.447563351,662.447563351,633.447563351,881,785,813.447563351,652,630,653,0.431785265225,0.00446295222461,0.0599373858935,0.999999995658,-2.92435102211e-05,-7.43678381249e-05,-4.79426165508e-05,1793248824219010304
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.03886926,663.03886926,634,881,785,814,652,630,653,0.432740898118,0.00446004386011,0.0599842215713,0.99999999813,-3.26042074821e-05,1.5779285269e-05,-4.92715145601e-05,1793248824235676672
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.618389213,663.618389213,634,881,785,814,652,630,653,0.433638171924,0.00446031531195,0.0600013487384,0.999999997823,-2.61436892231e-05,3.54853368669e-05,-4.9095134344e-05,1793248824252343040
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.608617995,663.804308997,634,881.195691003,785,814.195691003,652,630,653,0.434520485746,0.00445818058479,0.0600020701932,0.999999998027,-2.39177259805e-05,3.12238441609e-05,-4.89769293264e-05,1793248824269009920
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.462568393,663.231284197,634,881.768715803,785,814.768715803,652,630,653,0.435373953701,0.00445140623375,0.0599711579548,0.99999999817,-2.98568826504e-05,-1.92521588762e-05,-4.89708983603e-05,1793248824285677312
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.660034717,745,715,680.339965283,663,634,881.660034717,784.660034717,814.660034717,652,630,652.660034717,0.436191854784,0.00444892393084,0.0599438515458,0.99999999597,-3.20944794536e-05,-6.74642961401e-05,-4.97810703982e-05,1793248824302343936
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.089986779,745,715,680.910013221,663,634,881.089986779,784.089986779,814.089986779,652,630,652.089986779,0.436985684768,0.00444934641269,0.059918985502,0.999999991671,-3.18269238388e-05,-0.000114144284903,-5.11436345634e-05,1793248824319010304
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.5048481,745,715,681.5048481,663,633.4951519,881.5048481,784.5048481,814,652,630.5048481,652,0.437752243122,0.00444972916518,0.0598995861128,0.999999986501,-2.72083331767e-05,-0.000153775468485,-5.10956649162e-05,1793248824335676928
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.100404419,681.899595581,663.100404419,633,881.899595581,784.899595581,814.100404419,652,630.899595581,652.100404419,0.438525688341,0.00444902148523,0.0598885222477,0.999999982489,-2.40580082959e-05,-0.000178497954845,-5.08129946216e-05,1793248824352343552
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715.677333262,681.322666738,663.677333262,633,881.322666738,784.322666738,814.677333262,652,630.322666738,652.677333262,0.439356080907,0.00444317390294,0.0599121558434,0.999999988589,-3.17470031996e-05,-0.000138733916023,-5.06712912512e-05,1793248824369010176
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715.74619874,681.25380126,664,633,881,784,815,652,630,653,0.440190949822,0.00443880957519,0.0599515273559,0.999999994959,-3.90446346321e-05,-7.75379224057e-05,-5.04571387176e-05,1793248824385676800
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715.170315612,681.829684388,664,633,881,784,815,652,630,653,0.441031499301,0.00443632754505,0.0600108707832,0.999999997633,-4.58456126376e-05,1.08559004602e-05,-5.01510456998e-05,1793248824402343424
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663.585417366,633.414582634,881.414582634,784,815,652,630,652.585417366,0.441761999738,0.00443414092552,0.0600186763813,0.999999993945,-9.60674418637e-05,2.13489250764e-05,-4.92565767666e-05,1793248824419010560
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681.996783752,663,633.996783752,882,784,815,652,630,652.003216248,0.442446125728,0.00443208717588,0.0600047143796,0.999999985369,-0.000164145005218,-1.00914955256e-06,-4.81355754548e-05,1793248824435677696
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681.417204409,663,633.417204409,882,784,815,652,630,652.582795591,0.443101564945,0.00443161296037,0.0599684235026,0.999999984056,-0.000164377212865,-4.79415691972e-05,-5.06976939747e-05,1793248824452344320
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633.160151913,882,784,815,652,630,653,0.44375515755,0.00442989576589,0.0599435125073,0.999999981662,-0.000165862267135,-7.98623514843e-05,-5.27922010055e-05,1793248824469010688
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633.731796551,882,784,815,652,630,653,0.444404005632,0.00442498487361,0.0599478408585,0.999999981332,-0.00017056637385,-7.32123929753e-05,-5.36852325409e-05,1793248824485677056
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681.305929473,663,633.694070527,881.694070527,784,815,652,630,653,0.445035537516,0.00442231718462,0.0599542306033,0.999999981105,-0.000173519916268,-6.84651795534e-05,-5.4709933868e-05,1793248824502343424
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.882261687,663,633.117738313,881.117738313,784,815,652,630,653,0.445651764046,0.00442163220232,0.0599624423574,0.999999981002,-0.000174926182239,-6.53997511627e-05,-5.5851014491e-05,1793248824519009792
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+254,4.233333333,HOLD_POSE2,766,745,715,681.796016506,660,632,882,784,815.203983494,652,630,652.796016506,0.453156038076,0.00442229255984,0.0598097853447,0.999999951904,-9.90227635093e-05,-0.00029002813817,-4.76451781443e-05,1793248825550361088
+255,4.250000000,HOLD_POSE2,766,745,715,681.619806079,660,632,882,784,815,652,630,653,0.453156534959,0.0044225266032,0.0598101743969,0.999999952072,-9.86022610914e-05,-0.000289602238508,-4.75860317856e-05,1793248825567027712
+256,4.266666667,HOLD_POSE2,766,745,715,681.032422114,660,632,882,784,815,652,630,653,0.453157107113,0.00442247486684,0.0598104730871,0.999999952168,-9.88721588078e-05,-0.000289216346748,-4.7349818737e-05,1793248825583694336
+257,4.283333333,HOLD_POSE2,766,745,715,681.546883398,660,632,882,784,815,652,630.546883398,653,0.4531562822,0.00442272536895,0.0598100349571,0.999999951728,-9.97068299736e-05,-0.000290427031783,-4.74918694638e-05,1793248825600361216
+258,4.300000000,HOLD_POSE2,766,745.125107733,715,681.874892267,660,632.125107733,881.874892267,784,815.125107733,652,630.874892267,653,0.453155654119,0.00442308496827,0.0598096114929,0.999999951468,-9.99403251297e-05,-0.000291215401717,-4.76441841663e-05,1793248825617028096
+259,4.316666667,HOLD_POSE2,766,745.701136455,715,681.298863545,660,632.701136455,881.298863545,784,815.701136455,652,630.298863545,653,0.453156029651,0.00442377414042,0.0598093960395,0.999999951977,-9.7888101171e-05,-0.000290145448321,-4.77538423307e-05,1793248825633694720
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,883,784,815,652,630,653,0.453155757876,0.00442226309649,0.059809195314,0.9999999513,-0.000100999801538,-0.000291460027873,-4.74252148245e-05,1793248825671343104
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,882.409605134,784,815,652,630,653,0.453156388265,0.00442255010987,0.0598091753717,0.999999951675,-9.93407657968e-05,-0.00029071390312,-4.76011223383e-05,1793248825688009216
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.822397537,660,632,882.177602463,784,815,652,630,653,0.45315689644,0.00442256878851,0.0598092905388,0.999999951901,-9.82979055445e-05,-0.000290278307361,-4.76874893494e-05,1793248825704675584
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.242411045,660,632,882.757588955,784,815,652,630,653,0.453157127721,0.00442197951606,0.059809711816,0.999999951794,-9.86510795305e-05,-0.000290546259741,-4.75709894541e-05,1793248825721342464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.666069454,632,882.666069454,784,815,652,630,653,0.453156344995,0.0044219419741,0.0598094462105,0.999999951735,-9.79061246638e-05,-0.000291028931087,-4.7387992049e-05,1793248825738009344
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.092345281,632,882.092345281,784,815,652,630,653,0.453154834116,0.0044223006267,0.0598086873585,0.99999995171,-9.63726096871e-05,-0.000291665790885,-4.71572431671e-05,1793248825754676224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,632,882,784,815,652,630,653,0.453155303671,0.00442374948977,0.0598090251605,0.999999951964,-9.48798954451e-05,-0.000291264355761,-4.72794387947e-05,1793248825771343104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,744.919497665,715.080502335,681,659,632,882,784,815,652,630,653,0.453155875268,0.0044249509484,0.059809378727,0.999999952169,-9.41157457241e-05,-0.000290781067146,-4.74498375401e-05,1793248825788009728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,744.340100438,715.659899562,681,659,632,882,784,815,652,630,653,0.453154724794,0.00442332307414,0.0598085262293,0.99999995174,-9.78182026612e-05,-0.000291024890441,-4.74993649119e-05,1793248825804676096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,744.238829493,716,681,659.238829493,632,882,784,815,652,630,653,0.453148660285,0.00442272112898,0.0598054243896,0.999999950377,-9.90577364079e-05,-0.000295238985317,-4.76196088133e-05,1793248825821342208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,744.817095233,716,681,659.817095233,632,882,784,815,652,630,653,0.453135611707,0.00442357728495,0.0597991256742,0.999999947629,-9.67968420214e-05,-0.000305095825781,-4.78403585246e-05,1793248825838008832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.606611777,681,660,632,882,783.606611777,815,652,630,653,0.453107367916,0.00442313134096,0.0597878298917,0.999999941833,-9.62425182492e-05,-0.000323738530626,-4.75823392875e-05,1793248825854675456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.031231382,681,660,632,882,783.031231382,815,652,630,653,0.453072094402,0.00442208300994,0.0597742223284,0.999999934224,-9.6477700564e-05,-0.000346445817793,-4.71028284174e-05,1793248825871342080
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.4441722,681.5558278,660,632,881.4441722,783.5558278,815,652,630,653,0.453019014838,0.00442326594107,0.0597579573977,0.999999927069,-9.68364109143e-05,-0.000366304001437,-4.80226228115e-05,1793248825888008704
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.141530422,682,660,632,881.141530422,784,815,652,630,652.858469578,0.452961186407,0.00442434532234,0.0597434645602,0.999999920256,-9.68273928247e-05,-0.000384375166649,-4.86629769296e-05,1793248825904675072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.720961988,682,660,632,881.720961988,784,815,652,630,652.279038012,0.452891826803,0.00442470808368,0.0597349265522,0.999999915291,-9.56586710857e-05,-0.000397423176299,-4.81902394087e-05,1793248825921341696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.701023051,660,632,882,784,815,652,630.298976949,652,0.45281342309,0.00442545456784,0.0597283452944,0.999999911744,-9.26509226643e-05,-0.00040699983302,-4.77458406778e-05,1793248825938008320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.124324021,660,632,882,784,815,652,630.875675979,652,0.452726618237,0.00442655749518,0.0597235816782,0.999999909584,-8.79348877051e-05,-0.000413351921445,-4.73277661078e-05,1793248825954674944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,882,784,815,652,630.540663459,652.459336541,0.452623204585,0.00442815467144,0.0597197412584,0.999999907343,-8.51847018884e-05,-0.000419365564255,-4.68068435114e-05,1793248825971342080
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632.58929576,882,784,815,652,630,653,0.45237870825,0.0044302548184,0.0597157925939,0.999999904999,-7.92494187224e-05,-0.000426215590424,-4.54177197706e-05,1793248826004675328
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.153555172,660,632.846444828,882.153555172,784,815,652,630,653,0.452235769852,0.00443053421852,0.0597161477212,0.999999905269,-7.55577038019e-05,-0.000426374975723,-4.42532742563e-05,1793248826021341696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.768741123,660,632.231258877,882.768741123,784,815,652,630,653,0.452067418821,0.00443025736112,0.0597193491776,0.999999907021,-7.1642622831e-05,-0.000423150652661,-4.2050998803e-05,1793248826038008320
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.641831547,660,632,882.641831547,784,815,652,630,653,0.451884598252,0.00443012859563,0.0597253860096,0.999999910251,-6.90094073495e-05,-0.000416081316577,-4.01431716335e-05,1793248826054674944
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.067919895,660,632,882.067919895,784,815,652,630,653,0.451693061922,0.00443008903347,0.0597331307337,0.999999914307,-6.71483247116e-05,-0.000406695931922,-3.84127055286e-05,1793248826071341824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.516851713,660.516851713,632,881.483148287,784,814.483148287,652,630,653,0.451467761429,0.00443178984839,0.0597386217843,0.999999917639,-6.15301178699e-05,-0.00039948653862,-3.6706054761e-05,1793248826088009472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.102166466,715.102166466,681.897833534,661.102166466,632.102166466,881,784.102166466,814.102166466,652,630.102166466,653,0.451230024424,0.00443333251529,0.059742588639,0.99999992015,-5.56836543669e-05,-0.000394180442292,-3.49555649189e-05,1793248826104676608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.683194616,715.683194616,681.316805384,661.683194616,632.683194616,881,784.683194616,814.683194616,652,630.683194616,653,0.450955239278,0.0044330389706,0.0597408293802,0.999999919572,-5.11311337183e-05,-0.00039642620726,-3.29846141059e-05,1793248826121342208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.736817621,715.736817621,681,662,633,881,784.736817621,815,652,631,653,0.450665641818,0.00443443362587,0.0597417765208,0.9999999211,-4.46350280166e-05,-0.000393517938377,-3.08598598596e-05,1793248826138008320
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.158077327,715.158077327,681,662,633,881,784.158077327,815,652,631,653,0.450358284284,0.0044378524473,0.0597459686574,0.999999925058,-3.58085475459e-05,-0.000384429938825,-2.85506941017e-05,1793248826154675200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,633,881,784,814.58414402,652,631,653,0.450023211176,0.00443968398707,0.0597523426468,0.999999930563,-2.68255492197e-05,-0.000370779453297,-2.60020869392e-05,1793248826171342080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,633,881,784,814.012017102,652,631,653,0.44967772308,0.00444091905584,0.0597595365358,0.999999936409,-1.77837345891e-05,-0.00035541447057,-2.3363502199e-05,1793248826188008960
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.577320721,662.577320721,633,881,784,814.577320721,652,630.422679279,652.422679279,0.449282521367,0.00444224011566,0.0597671161596,0.999999940342,-1.07506354239e-05,-0.000344663227183,-2.02097810682e-05,1793248826204676352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.835595124,662.835595124,633,881.164404876,784,814.835595124,652,630.164404876,652.164404876,0.448873316768,0.00444434264324,0.0597728951546,0.999999943137,-1.94022030293e-06,-0.000336796947664,-1.70275555829e-05,1793248826221343744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.255148618,662.255148618,633,881.744851382,784,814.255148618,652,630.744851382,652.744851382,0.448431375771,0.00444841807777,0.0597740965494,0.999999943397,1.14769153179e-05,-0.00033598083925,-1.3801166319e-05,1793248826238010112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.678551432,745,715,681,662.321448568,633,881.678551432,784,814,652,630.678551432,653,0.447981312654,0.0044499770326,0.0597850845038,0.999999949546,2.13672182637e-05,-0.000316776757684,-1.01749612574e-05,1793248826254676224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.104973413,745,715,681,662.895026587,633,881.104973413,784,814,652,630.104973413,653,0.447524878874,0.00444956217709,0.059803748585,0.999999959488,2.84912375149e-05,-0.000283149996526,-6.23515874424e-06,1793248826271342336
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.469954399,745,715,681.469954399,663,633,881,784,814,652,630.469954399,653,0.447012812782,0.00445400197782,0.0598202125489,0.999999963979,4.22553018976e-05,-0.000265053116273,-1.88455641173e-06,1793248826288008960
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,633,881,784,813.360982373,652,630.360982373,653,0.445869173526,0.00446344502528,0.0598090457824,0.999999953636,7.21985327794e-05,-0.000295763328785,6.24367294264e-06,1793248826321342720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.77529132,662.77529132,633,881,784,813.22470868,652,630,653,0.445245635264,0.00446830034723,0.0597826477234,0.999999939479,8.77705559341e-05,-0.00033652445051,9.51617481051e-06,1793248826338009600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.200183878,662.200183878,633,881,784,813.799816122,652,630,653,0.444604451763,0.00447443778001,0.0597525075553,0.999999923397,0.000104651712462,-0.000376971794457,1.20585360963e-05,1793248826354676992
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.377841128,662.377841128,633.377841128,881,784,813.622158872,652,630,653,0.443978519204,0.0044781160444,0.0597560098127,0.999999925258,0.000119174639122,-0.00036745629402,1.60147604267e-05,1793248826371343360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.957423897,662.957423897,633.957423897,881,784,813.042576103,652,630,653,0.443360729638,0.00448048127877,0.059777474854,0.999999936147,0.000132438429705,-0.000331264007857,2.07258920338e-05,1793248826388009216
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,744.654192182,715.345807818,681.345807818,661.38323127,633,881,785,812,652,630.654192182,652,0.434743207904,0.00457577829121,0.0597435433445,0.999999889711,0.000261755428926,-0.000388844768291,2.93407008036e-05,1793248826571342080
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.065339401,745,715,681.934660599,662.869321197,633.065339401,880,784.065339401,811.934660599,652,629.934660599,653,0.432191566189,0.00456443850262,0.0598027621237,0.999999939878,0.000172628460714,-0.00030038641475,1.45626529931e-05,1793248826621341952
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.661977947,745,715,681.338022053,661.676044106,633.661977947,880,784.661977947,811.338022053,652,629.338022053,653,0.431294358638,0.00457706269843,0.0598153788421,0.99999994301,0.000199311606015,-0.000271920565656,1.7719989972e-05,1793248826638009088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,744.749810278,715,681.250189722,661.500379444,633.749810278,880.250189722,785,811,652,629.250189722,652.749810278,0.430390419799,0.00458255843877,0.0598253839831,0.999999943873,0.000214605534026,-0.000256357409395,2.19166543483e-05,1793248826654676224
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,744.172612548,715,681.827387452,662.654774904,633.172612548,880.827387452,785,811,652,629.827387452,652.172612548,0.429477682776,0.00457873700345,0.0598319756894,0.999999943313,0.000215013301932,-0.000257658587001,2.74717618122e-05,1793248826671343360
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744.975623926,715,681.024376074,661.048752149,633.975623926,880.024376074,785,811,652,630,652,0.427567060557,0.0045865451774,0.0597493522205,0.999999894952,0.000207819249559,-0.000407808203538,2.45052385829e-05,1793248826704675840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.565335134,633.434664866,880,785,811,652,630,652.565335134,0.426694761126,0.00458266000269,0.0597526008038,0.999999906684,0.000198603143208,-0.000382860665612,2.46090215451e-05,1793248826721341952
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.268053826,745,715,681.731946174,662.731946174,633.731946174,880.731946174,785,811,652,629.268053826,652.268053826,0.424894963311,0.00458470439182,0.0598028471427,0.999999931603,0.000194343111909,-0.000313405332096,2.83296720924e-05,1793248826754675456
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.306406673,745,715,681.693593327,662.693593327,634,881,785,811,652.306406673,629,652,0.424003820067,0.00458704461615,0.0598285724397,0.999999941546,0.000194331972076,-0.000279717981219,3.0005943948e-05,1793248826771342336
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.546269419,745,715,681,662.453730581,634,880.546269419,785,811,652.546269419,629.453730581,652.453730581,0.422252947339,0.00458771181378,0.0598492487002,0.999999954181,0.000185669210817,-0.00023710384443,3.07686615282e-05,1793248826804676608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.033149019,745,715,681,662.966850981,634,880,785,811,652,629.966850981,652.966850981,0.421361691803,0.0045874803004,0.0598464276997,0.999999955583,0.000177867281833,-0.000237180249057,3.06942846087e-05,1793248826821342464
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.624681513,745,715,681,662.375318487,634,880,785,811,652,629.375318487,652.375318487,0.420405266246,0.00459015013678,0.0597814889709,0.999999919181,0.000176388081541,-0.000359929693924,3.12407962746e-05,1793248826838008832
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.20797085,744.20797085,715,681,661.20797085,633.20797085,880,785,811,652,629.79202915,652,0.418607624553,0.00458743026453,0.059722324279,0.999999895236,0.000157340492507,-0.000428898707767,2.85849170777e-05,1793248826871342336
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.946072098,744.946072098,715,681,662.892144196,633.946072098,879.053927902,785,811,652,629.053927902,652,0.416997446234,0.00459074667519,0.0597925762883,0.999999935534,0.000145082456885,-0.000327091983495,2.98907191198e-05,1793248826904675328
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.72832553,745,715,680.72832553,662.27167447,633.27167447,879,785,810,652,629,652.72832553,0.413913102853,0.00458052624669,0.059841919532,0.999999957112,0.000108874499195,-0.000269706386239,3.43496023782e-05,1793248826971342336
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.41539671,681,661.58460329,634,879.41539671,786,810,653,629.41539671,652.41539671,0.410937837931,0.00457650723167,0.0597449502097,0.99999986389,0.000308728528477,-0.000419397847467,3.18024302263e-05,1793248827038008576
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.24757862,662,634,879,785.24757862,810,653,629,652,0.409713822366,0.00457056731611,0.0598121231927,0.999999911648,0.000277607717908,-0.000313913643313,3.30958065596e-05,1793248827071342592
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.90941771,879,785,810,653,629,652,0.408503740871,0.00456988346856,0.0598552984813,0.999999934726,0.00026045315028,-0.000248061913791,3.43176694088e-05,1793248827104676352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.520162076,879,785,810,652.520162076,629,652,0.40793557021,0.00456740290323,0.0598459922834,0.999999934892,0.00024796330223,-0.000259994634932,3.36519552908e-05,1793248827121342976
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,879,785,810,652,629,652,0.406871152267,0.00456171862922,0.0598256275053,0.999999934351,0.000220174956536,-0.000285974422263,3.22294447954e-05,1793248827154676224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.234383838,715,680,662,634,879,785,810,652.234383838,629,652,0.406380988924,0.0045600519044,0.0598242441297,0.999999936706,0.000209949427742,-0.000285448396634,3.20755892924e-05,1793248827171342592
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.609334827,715,680,662,634,878.609334827,785,810,653,629,652,0.405462858519,0.00455848235835,0.0598281671711,0.999999942052,0.000199435715313,-0.000273987430864,3.24527815331e-05,1793248827204676096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.033173643,715,680,662,634,878.033173643,785,810,653,629,652,0.405013481339,0.00455654869594,0.0598200915665,0.999999940824,0.000192385915614,-0.000283396629478,3.20244780028e-05,1793248827221343744
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715.125708856,679.874291144,662,634,878,785,810,653,629,652.874291144,0.403262305596,0.00455027560289,0.0597845979875,0.999999927016,0.000181430596483,-0.000334337897655,3.56154369398e-05,1793248827304675840
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715.449614232,680,662,634,878.449614232,785,810,653,629,652.550385768,0.403018192975,0.00454980690295,0.0598071267628,0.999999939107,0.000181536333938,-0.000295734308245,3.7036201294e-05,1793248827321342208
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.840436919,662,634,878.840436919,785.840436919,810,652.840436919,629,652,0.401276470921,0.00452684128386,0.0598311027159,0.999999960625,4.08723484593e-05,-0.000277235641113,1.48077484063e-05,1793248827504675328
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.853560895,680,662.146439105,634,878.146439105,785.146439105,810,653,628.853560895,652,0.401052987027,0.00452771139897,0.0598201993821,0.999999954311,4.70992133341e-05,-0.000298128565796,1.67207386876e-05,1793248827571341824
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.319965031,680,662.680034969,634,878.680034969,785.680034969,810,653,628.319965031,652.319965031,0.401007034975,0.0045303245325,0.0598225418089,0.99999995574,5.17911603358e-05,-0.000292505394989,1.67025590762e-05,1793248827604675072
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.532036351,661.532036351,634,878.467963649,785,810,653,629,652.532036351,0.400985700933,0.0045284202199,0.0598275331558,0.999999958331,5.18790460843e-05,-0.000283439311564,1.75424035408e-05,1793248827638008320
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.962021351,679.037978649,661.037978649,634,879,785.037978649,809.962021351,653,629,652,0.400977917568,0.00452921612722,0.0598288488635,0.999999958877,5.42538381615e-05,-0.000281046324633,1.77589818637e-05,1793248827654675200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.366333329,679.633666671,661.633666671,634,879,785.633666671,809.366333329,653,629,652,0.400969709095,0.0045281374097,0.0598275483345,0.999999958029,5.33312757953e-05,-0.000284186550916,1.82982387336e-05,1793248827671341824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.223034335,745,715,680,662,634,879,785.776965665,809.223034335,653,628.776965665,652,0.400964516196,0.00452820088285,0.0598274973385,0.999999957852,5.35336030839e-05,-0.000284757264203,1.85157397583e-05,1793248827688008448
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.80230687,745,715,680,662,634,879,785.19769313,809.80230687,653,628.19769313,652,0.40096413988,0.00453008870273,0.0598294421404,0.999999958749,5.55326433154e-05,-0.00028122386176,1.82193211224e-05,1793248827704674816
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.620737143,745,715,680,662,634,878.620737143,785,810,653,628.379262857,652,0.400964769322,0.00453036680183,0.0598311622548,0.999999959549,5.7208250871e-05,-0.00027803668176,1.80268772254e-05,1793248827721341696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.044981357,745,715,680,662,634,878.044981357,785,810,653,628.955018643,652,0.400965919838,0.00452981091794,0.0598327659606,0.999999960296,5.87162905876e-05,-0.000275028876833,1.7888301784e-05,1793248827738008320
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,878,785,809.469219922,653,629,652.530780078,0.400964380485,0.0045266892247,0.0598325952069,0.999999960308,5.34780221923e-05,-0.000276019460793,1.83764477601e-05,1793248827754675200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.109160596,634,878.109160596,785,809.109160596,653,629,652.890839404,0.400962875722,0.00452459002899,0.0598324643433,0.999999960254,4.96823742517e-05,-0.000276895086301,1.87907781549e-05,1793248827771341824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.699073496,634,878.699073496,785,809.699073496,653,629,652.300926504,0.400962527242,0.00452795163842,0.0598331714431,0.999999960302,5.47580812238e-05,-0.000275772101084,1.86461064197e-05,1793248827788008448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.283667201,679.716332799,662.716332799,634,879,785,810,653,629,652,0.400963222546,0.00452924011116,0.0598338189137,0.999999960554,5.76214707089e-05,-0.000274272001203,1.86306359509e-05,1793248827804674816
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.862722009,679.137277991,662.137277991,634,879,785,810,653,629,652,0.400965004763,0.00452836979089,0.0598344042915,0.999999961036,5.81811360161e-05,-0.000272379205106,1.87497049977e-05,1793248827821341440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.562108964,679.437891036,662,634,878.562108964,785.437891036,810,653,628.562108964,652,0.400964999107,0.004529199239,0.0598346617622,0.999999961112,5.76241865405e-05,-0.000272245083067,1.84044968331e-05,1793248827838008320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.987870472,662,634,878,785.987870472,810,653,628.012129528,652,0.400964430176,0.00453048515027,0.0598348047988,0.999999961064,5.66925221742e-05,-0.000272646682685,1.79299394901e-05,1793248827854674944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.40049665,662,634,878,785.40049665,810,653,628.59950335,652,0.400963495496,0.00452836955159,0.0598343531286,0.999999961215,5.44454081727e-05,-0.000272537525985,1.81629919135e-05,1793248827871341568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.18432878,679,662,634,878,785,810,653,628.81567122,652.18432878,0.400962553875,0.00452725425714,0.0598340439837,0.999999961195,5.3473233362e-05,-0.000272789353366,1.83672987609e-05,1793248827888008448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.763692714,679,662,634,878,785,810,653,628.236307286,652.763692714,0.400961597377,0.00452828271563,0.0598340402849,0.999999960816,5.52333818814e-05,-0.00027381480603,1.85100009273e-05,1793248827904675072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.657724477,679.342275523,662,634,878,785,810,652.657724477,628,652.657724477,0.400961584229,0.00452957047444,0.0598342684267,0.999999960794,5.67395140662e-05,-0.000273594917143,1.8408228195e-05,1793248827921341952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.079679753,679.920320247,662,634,878,785,810,652.079679753,628,652.079679753,0.400962220887,0.00453103684671,0.0598346562669,0.999999961017,5.80706724387e-05,-0.000272517201222,1.81380541317e-05,1793248827938008576
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.495951903,680,662,634,878,785,810,652.495951903,628.495951903,652,0.400961925127,0.00452849403525,0.0598345337605,0.999999960889,5.67357796784e-05,-0.000273230183927,1.86627020832e-05,1793248827954675200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.927198656,680,662,634,878.072801344,785.072801344,810,653,628.927198656,652.072801344,0.400961587927,0.00452581620899,0.0598343969941,0.999999960774,5.52032975856e-05,-0.000273929985502,1.91673671017e-05,1793248827971341568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.338996788,680,662,634,878.661003212,785.661003212,810,653,628.338996788,652.661003212,0.400962012752,0.0045267205135,0.0598347369319,0.999999961167,5.52896618847e-05,-0.000272509588338,1.86309070686e-05,1793248827988008192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.75322004,662.24677996,634,878.75322004,786,810,653,628.24677996,652.75322004,0.400962057921,0.00452683922795,0.0598349833185,0.999999961362,5.50103267063e-05,-0.000271866131081,1.842538999e-05,1793248828004675072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.170742131,662.829257869,634,878.170742131,786,810,653,628.829257869,652.170742131,0.40096158664,0.00452588929428,0.0598351024463,0.999999961287,5.42335258448e-05,-0.00027227955496,1.86700587863e-05,1793248828021341952
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b480df15cf5b54adf57bf0a9db85ce5804bcb38d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+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
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+8,0.133333333,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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+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
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+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
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+28,0.466666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9260fe663d1da3a569acd02f77cd12edfb9605fb
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e002804fe13e85d1a8605fe32715cd08db573a89bce6787ad30a912e9b4b87
+size 25666763
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..489d5d3220401d9145b8b9e7eb00d8073540b592
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+55,0.916666667,BASELINE,766.076970122,744.076970122,715.923029878,680,662,634,879,785.076970122,810,653,628,652.076970122,0.400963909154,0.0045281251475,0.0598391289789,0.999999962575,5.88789786199e-05,-0.000266511568271,1.88437394465e-05,1793248829087010816
+56,0.933333333,BASELINE,766,744.495884953,716,680,662,634.495884953,879,785.495884953,810,653,628.495884953,652,0.400963056846,0.00452812044917,0.0598386220448,0.999999962551,5.82349494709e-05,-0.000266745988317,1.87993071807e-05,1793248829103677696
+57,0.950000000,BASELINE,766,745,716,680,662,634.929591772,879,786,810,653,629,652,0.400961882246,0.00452802783269,0.0598379131403,0.999999962406,5.78470354878e-05,-0.000267373864321,1.87808955788e-05,1793248829120344320
+58,0.966666667,BASELINE,766,745,716,680,662,634.337514806,879,786,810,653,629,652,0.400961620446,0.00452697679087,0.0598371603778,0.999999961951,5.99595661432e-05,-0.000268589147536,1.90364213119e-05,1793248829137010944
+59,0.983333333,BASELINE,766,745,716,680,662,634,879,785.751316497,810,652.751316497,629,652.248683503,0.400961771013,0.00452683865582,0.0598374231186,0.999999961905,6.07626242985e-05,-0.000268582552165,1.90249101984e-05,1793248829153677312
+60,1.000000000,BASELINE,766,745,716,680,662,634,879,785.172912407,810,652.172912407,629,652.827087593,0.400962468321,0.00452791091113,0.0598390322789,0.999999962403,5.98294998673e-05,-0.000266955911733,1.86593444906e-05,1793248829170343936
+61,1.016666667,BASELINE,766,745,716,680,662,634,878.595829005,785,810,652.404170995,629,652.595829005,0.400963875529,0.00452775419322,0.059839818212,0.99999996292,5.84002612602e-05,-0.000265330572312,1.86755090848e-05,1793248829187011072
+62,1.033333333,BASELINE,766,745,716,680,662,634,878.019308815,785,810,652.980691185,629,652.019308815,0.400965585457,0.00452707340857,0.0598402530991,0.999999963441,5.67594665102e-05,-0.000263705787772,1.88544535926e-05,1793248829203677696
+63,1.050000000,BASELINE,766,744.434563326,715.434563326,679.434563326,662,634,878.565436674,785,810,652.434563326,628.434563326,652.565436674,0.400965414947,0.00452815168587,0.0598407139603,0.999999963553,5.85231170744e-05,-0.00026289880911,1.87958883844e-05,1793248829220344320
+64,1.066666667,BASELINE,766,744.149146757,715.149146757,679.149146757,662.149146757,634,879,785.149146757,810.149146757,652.149146757,628.149146757,652.850853243,0.400964501601,0.00452875366564,0.059840579325,0.999999963316,6.02199180435e-05,-0.00026341635815,1.88227336683e-05,1793248829237010688
+65,1.083333333,BASELINE,766,744.729043273,715.729043273,679.729043273,662.729043273,634,879,785.729043273,810.729043273,652.729043273,628.729043273,652.270956727,0.400961631069,0.00452780400685,0.0598387222406,0.999999962108,6.13829344828e-05,-0.000267677420956,1.91200223791e-05,1793248829253677312
+66,1.100000000,BASELINE,766,745,715.691753895,679.691753895,662.691753895,634,879,786,810.691753895,653,628.691753895,652,0.400961090199,0.00452759904104,0.0598382065935,0.999999961869,6.16298049764e-05,-0.000268510200467,1.91193063719e-05,1793248829270343936
+67,1.116666667,BASELINE,766,745,715.11315949,679.11315949,662.11315949,634,879,786,810.11315949,653,628.11315949,652,0.400962592568,0.00452804721079,0.0598388674585,0.99999996249,6.10731664776e-05,-0.00026633619218,1.8857224293e-05,1793248829287010560
+68,1.133333333,BASELINE,766,745,715,679,662,634,879,786,810,653,628.463191352,652,0.400962507832,0.00452813979856,0.0598388223901,0.999999962652,5.94791528363e-05,-0.000266091678446,1.87910290906e-05,1793248829303677184
+69,1.150000000,BASELINE,765.960258527,745,715,679.039741473,662,634,879,786,809.960258527,653,628.960258527,652,0.400962120855,0.00452820797724,0.0598386448009,0.999999962696,5.78917186723e-05,-0.00026627765394,1.87587125507e-05,1793248829320343808
+70,1.166666667,BASELINE,765.373457178,745,715,679.626542822,662,634,879,786,809.373457178,653,628.373457178,652,0.400962885019,0.00452913019653,0.0598390055823,0.999999962676,5.98666884722e-05,-0.00026593198315,1.85371677103e-05,1793248829337010432
+71,1.183333333,BASELINE,765.210654134,745,715,679.789345866,662,634,878.789345866,785.789345866,809.210654134,653,628.210654134,652.210654134,0.400963040358,0.00452956493923,0.0598391837538,0.999999962607,6.14365901109e-05,-0.000265840228173,1.84408031267e-05,1793248829353677312
+72,1.200000000,BASELINE,765.790056653,745,715,679.209943347,662,634,878.209943347,785.209943347,809.790056653,653,628.790056653,652.790056653,0.400962129953,0.00452914635822,0.059839042268,0.999999962458,6.22974234857e-05,-0.000266192950746,1.8563565549e-05,1793248829370343936
+73,1.216666667,BASELINE,766,745,715,679.367230291,662,634,878.734460582,785.367230291,810,653,629,652.632769709,0.400962928731,0.00452877303859,0.0598393552744,0.999999962677,6.14941000153e-05,-0.000265552391162,1.86217204513e-05,1793248829387011072
+74,1.233333333,BASELINE,766,745,715,679.943137343,662,634,879.886274685,785.943137343,810,653,629,652.056862657,0.400964698744,0.00452842543853,0.0598399265438,0.999999963102,5.97451277569e-05,-0.000264347403977,1.86431624487e-05,1793248829403678720
+75,1.250000000,BASELINE,766,745,715.518925133,680,662,634,878.962149734,785.481074867,810,653,629,652,0.400964329753,0.00452750403979,0.0598392625517,0.999999962934,5.89409359167e-05,-0.000265147245449,1.88339568847e-05,1793248829420345344
+76,1.266666667,BASELINE,766,745,715.903303423,680,662,634,878.096696577,785.096696577,810,653,628.903303423,652,0.400963649467,0.00452685841447,0.0598385963771,0.999999962697,5.86006362641e-05,-0.000266106646931,1.89595999766e-05,1793248829437011968
+77,1.283333333,BASELINE,766,745,715.315388669,680,662,634,878.684611331,785.684611331,810,653,628.315388669,652,0.400962578213,0.00452793305124,0.0598386065714,0.99999996244,6.00911113576e-05,-0.000266760871935,1.86600253833e-05,1793248829453678848
+78,1.300000000,BASELINE,766,745.268077199,715,679.731922801,662,634,878.731922801,786,810,652.731922801,628.268077199,652,0.400962700223,0.00452844214111,0.0598393603366,0.9999999626,6.07569813726e-05,-0.000266016185496,1.85433557178e-05,1793248829470345472
+79,1.316666667,BASELINE,766,745.846394425,715,679.153605575,662,634,878.153605575,786,810,652.153605575,628.846394425,652,0.400964203172,0.00452829673553,0.0598409746206,0.999999963242,6.04685534025e-05,-0.000263652568615,1.86383580478e-05,1793248829487011840
+80,1.333333333,BASELINE,766,745.575814537,715,679.424185463,662,634,878.424185463,786,810,652,629,652,0.400963788457,0.00452782930589,0.0598406222537,0.999999963119,6.03710822862e-05,-0.000264130539028,1.87799536864e-05,1793248829503677952
+81,1.350000000,BASELINE,766,744.998187687,715,680,662.001812313,634.001812313,879,785.998187687,810,652.001812313,629,652,0.400962685857,0.00452724867022,0.0598395617305,0.999999962721,6.03437571354e-05,-0.000265629359021,1.89372749343e-05,1793248829520344576
+82,1.366666667,BASELINE,766,744.412156382,715,680,662.587843618,634.587843618,879,785.412156382,810,652.587843618,629,652,0.400963413552,0.0045277191091,0.0598395079295,0.999999962895,6.06654045287e-05,-0.000264914150531,1.8731676596e-05,1793248829537011456
+83,1.383333333,BASELINE,766,744.17286067,715,679.82713933,662.82713933,634.82713933,878.82713933,785.17286067,810,652.82713933,629,652,0.400963949488,0.00452812099257,0.0598394843499,0.999999962997,6.11377301051e-05,-0.000264427329847,1.86002118362e-05,1793248829553678336
+84,1.400000000,BASELINE,766,744.755473637,715,679.244526363,662.244526363,634.244526363,878.244526363,785.755473637,810,652.244526363,629,652,0.400964030878,0.00452836037104,0.0598395324075,0.999999962931,6.19672262464e-05,-0.000264481883917,1.86444747127e-05,1793248829570345216
+85,1.416666667,BASELINE,766,745,715,679.332448574,662.332448574,634,878,786,809.667551426,652.332448574,629,652,0.40096397596,0.0045285109414,0.0598393365247,0.999999962834,6.15725610786e-05,-0.000264944291965,1.85691072038e-05,1793248829587012096
+86,1.433333333,BASELINE,766,745,715,679.905345684,662.905345684,634,878,786,809.094654316,652.905345684,629,652,0.400963822455,0.00452859727991,0.0598389642082,0.999999962714,6.02925023974e-05,-0.000265701686662,1.8407215179e-05,1793248829603678976
+87,1.450000000,BASELINE,766,745,715.481875691,679.518124309,662.518124309,634,878,786,809.481875691,653,629,652,0.400963410411,0.00452908257848,0.0598390628606,0.999999962735,6.11960377708e-05,-0.0002654098586,1.85232110481e-05,1793248829620345344
+88,1.466666667,BASELINE,766,745,715.939759849,679.120480303,662.060240151,634,878.060240151,786,810,653,629,652,0.400963035983,0.00452967999276,0.0598392439417,0.999999962759,6.25802033063e-05,-0.000264981960351,1.86910347162e-05,1793248829637011456
+89,1.483333333,BASELINE,766,745,715.351620618,680.296758765,662.648379382,634,878.648379382,786,810,653,629,652,0.400963439623,0.00453056793596,0.0598393305024,0.999999962589,6.43889561859e-05,-0.000265181449675,1.88310608153e-05,1793248829653678080
+90,1.500000000,BASELINE,766,745,715.234306525,681,662.765693475,634.234306525,879,786,810,653,629,652.234306525,0.400962841666,0.00452997284534,0.0598388584256,0.999999962363,6.45156200552e-05,-0.000265992283454,1.89595410693e-05,1793248829670344704
+91,1.516666667,BASELINE,766,745,715.816945012,681,662.183054988,634.816945012,879,786,810,653,629,652.816945012,0.400960754687,0.00452717300135,0.0598375558499,0.999999962053,6.21416049347e-05,-0.000267711972885,1.90708566716e-05,1793248829687011328
+92,1.533333333,BASELINE,766,745,715.606945711,680.606945711,662,634.606945711,879,786,810,653,629,652.606945711,0.400961746142,0.00452673058026,0.0598383624803,0.999999962411,6.16131007099e-05,-0.000266478274772,1.92477935879e-05,1793248829703678464
+93,1.550000000,BASELINE,766,745,715.03382751,680.03382751,662,634.03382751,879,786,810,653,629,652.03382751,0.400964147874,0.00452736812878,0.0598401353687,0.999999963074,6.19300517795e-05,-0.000263891586828,1.94547925963e-05,1793248829720345344
+94,1.566666667,BASELINE,766.513907657,744.486092343,715,680,662,634,878.486092343,785.486092343,810,653,629,652,0.400964086874,0.0045283435577,0.0598399335887,0.999999962994,6.24230796183e-05,-0.00026410573445,1.90690794156e-05,1793248829737011968
+95,1.583333333,BASELINE,766.930974226,744.069025774,715,680,662,634.069025774,878.069025774,785,810,653,629,652,0.400963937878,0.00452919356372,0.0598397193221,0.999999962904,6.27949951444e-05,-0.000264383025759,1.86931842889e-05,1793248829753678592
+96,1.600000000,BASELINE,766.303204769,744.696795231,715,680,662,634.696795231,878.696795231,785,810,653,629,652,0.400964327031,0.00452885675009,0.0598404066148,0.999999963115,6.20971391167e-05,-0.00026374932777,1.86977118281e-05,1793248829770344960
+97,1.616666667,BASELINE,766,745,715,680,662.298623219,634.701376781,879,785,810,653,629,652.298623219,0.400964097748,0.00452827819834,0.0598400840476,0.999999963021,6.1733080825e-05,-0.000264190567664,1.87055169819e-05,1793248829787011328
+98,1.633333333,BASELINE,766,745,715,680,662.876216937,634.123783063,879,785,810,653,629,652.876216937,0.400963290731,0.00452747381753,0.0598388180804,0.999999962641,6.16808527184e-05,-0.000265636002644,1.87163840467e-05,1793248829803677952
+99,1.650000000,BASELINE,766,745,715.450793898,679.549206102,662.549206102,634.450793898,879,785,810,653,628.549206102,652.549206102,0.40096440562,0.00452794750678,0.0598401343963,0.999999963131,6.1897770024e-05,-0.000263730486103,1.88066617857e-05,1793248829820344576
+100,1.666666667,BASELINE,766,745,716,679.025179205,662.025179205,634.974820795,879,785,810,653,628.025179205,652.025179205,0.400965958288,0.00452867257531,0.0598420300445,0.999999963816,6.20367273711e-05,-0.000261076314122,1.89143373254e-05,1793248829837011200
+101,1.683333333,BASELINE,766,745,716,679.613686539,662.613686539,634.386313461,879,785,810,653,628.613686539,652.613686539,0.400965576908,0.00452722230079,0.0598411286365,0.999999963739,5.87890529455e-05,-0.000262121753907,1.89266479926e-05,1793248829853677824
+102,1.700000000,BASELINE,766,745,716,680,662.800695178,634,879,785,810,653,628.800695178,653,0.400965194945,0.00452702519551,0.0598405967254,0.999999963602,5.78680088907e-05,-0.000262853999583,1.88232068701e-05,1793248829870344704
+103,1.716666667,BASELINE,766,745,716,680,662.22059681,634,879,785,810,653,628.22059681,653,0.400964811866,0.00452922240656,0.0598407707784,0.999999963363,6.13922456746e-05,-0.000262987853727,1.84986093582e-05,1793248829887011840
+104,1.733333333,BASELINE,766,745,716,679.642859889,662,634,879,785.357140111,810,653,628,653,0.400964685228,0.00452797761389,0.0598410267815,0.999999963413,6.06393797582e-05,-0.000262956177043,1.87449812175e-05,1793248829903678464
+105,1.750000000,BASELINE,766,745,716,679.066571941,662,634,879,785.933428059,810,653,628,653,0.400964715946,0.0045246207437,0.0598413330706,0.999999963636,5.72620041394e-05,-0.000262822927566,1.93417105077e-05,1793248829920344832
+106,1.766666667,BASELINE,766,745,716,679,662,634,879,785.492722145,810,652.492722145,628.507277855,652.492722145,0.400963829365,0.00452567576393,0.0598401872654,0.999999963255,5.77627161598e-05,-0.000264179928989,1.90495571008e-05,1793248829937011200
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663,634,879,786,810,653,629,652,0.400964450249,0.00452651344761,0.0598404442791,0.99999996333,5.95792360173e-05,-0.000263514093315,1.87450047521e-05,1793248829979506432
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.578622588,745,716,679.578622588,663,634,879,785.421377412,810,653,628.421377412,652.578622588,0.400962423532,0.00452746216133,0.0598388301873,0.99999996263,6.0601464558e-05,-0.000265925838695,1.87424258547e-05,1793248829996173056
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.843592991,745,716,680,662.843592991,634.156407009,879,785,810,653,628.156407009,653,0.40096166283,0.00452780285679,0.059838175766,0.999999962356,6.09337149946e-05,-0.000266873295925,1.88023216453e-05,1793248830012839936
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.268054518,745,716,680,662.268054518,634.731945482,879,785,810,653,628.731945482,653,0.40096429473,0.00452651421636,0.0598400930201,0.999999963233,5.94169977883e-05,-0.000263896829541,1.9029633894e-05,1793248830029506816
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662,635,879,785.313803061,810,653,629,652.686196939,0.400963795269,0.00452706901321,0.0598399564909,0.999999963159,5.92630762455e-05,-0.000264226853746,1.8809561757e-05,1793248830046173184
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662,635,879,785.901169396,810,653,629,652.098830604,0.40096056599,0.00452923085863,0.0598380295403,0.999999962255,6.02971956022e-05,-0.000267439368777,1.81994744914e-05,1793248830062839552
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.51852794,680,662.48147206,635,879.48147206,785.51852794,810.48147206,653,629,652.48147206,0.400960946085,0.00452962777811,0.0598379325658,0.999999962112,6.18336153719e-05,-0.000267617967914,1.82441733225e-05,1793248830079506176
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.939937591,634.939937591,879.939937591,785.060062409,810.939937591,653,629,653,0.40096215103,0.00452960327872,0.0598383232312,0.99999996217,6.32987694012e-05,-0.000267045955255,1.84271596297e-05,1793248830096172800
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.363781819,634.363781819,879.363781819,785.636218181,810.363781819,653,629,653,0.400964169472,0.00452902562974,0.0598397229826,0.999999962632,6.32784236092e-05,-0.000265298028191,1.86601934985e-05,1793248830112839424
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.211857719,680,662,634,879,786,810,653,629,653,0.400972454837,0.00452913221087,0.0598437724762,0.999999964339,6.28851911395e-05,-0.000258868957403,1.88125746443e-05,1793248830129506048
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.786612926,680,662,634,879,786,810,653,629,653,0.400991475006,0.00453041083046,0.059852360793,0.999999968039,6.18532298078e-05,-0.000244421414254,1.88268032779e-05,1793248830146172672
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.629347926,679.629347926,662,634,879,785.629347926,810,653,629,652.629347926,0.401026999383,0.00453009183795,0.059866081741,0.999999973845,6.12081775275e-05,-0.000219549874764,1.89906253138e-05,1793248830162839552
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.039826576,679.039826576,662,634,879,785.039826576,810,653,629,652.039826576,0.401072269461,0.00452882945895,0.0598828334978,0.999999980197,6.07915940937e-05,-0.000188522985648,1.92427819298e-05,1793248830179506432
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.540598279,679.540598279,662,634,879,785.540598279,810,653,628.459401721,652.540598279,0.401138921891,0.00452763863687,0.0599026307829,0.999999985295,5.97771905489e-05,-0.000159556215943,1.94385600159e-05,1793248830196173312
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.119710895,745,716,680,662,634.119710895,879,785.880289105,810,652.880289105,628,653,0.401209557448,0.00452640909545,0.0599204841333,0.999999989216,5.84836125885e-05,-0.000133279930771,1.95781843174e-05,1793248830212839936
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.69633065,745,716,680,662,634.69633065,879,785.30366935,810,652.30366935,628,653,0.401289482778,0.00452501198304,0.0599300757502,0.999999991415,5.62898072497e-05,-0.00011670290486,1.95190732182e-05,1793248830229506304
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.724641011,745,716,679.724641011,662.275358989,634.724641011,879,785,810,652.275358989,628.275358989,653,0.401376531986,0.00452511957075,0.0599365416545,0.999999992811,5.53213130451e-05,-0.000104697893154,1.88779490685e-05,1793248830246172672
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.142933051,745,716,679.142933051,662.857066949,634.142933051,879,785,810,652.857066949,628.857066949,653,0.401471506815,0.00452690120353,0.0599395300654,0.999999993513,5.57160314392e-05,-9.77794490863e-05,1.75893098437e-05,1793248830262839296
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662.560420208,634,879,785,809.560420208,653,629,652.560420208,0.401587008445,0.00452557387155,0.0599429538308,0.999999994261,5.28607780366e-05,-9.16057849155e-05,1.70766626691e-05,1793248830279505920
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715.977881869,679,662,634.022118131,879.022118131,785,809.022118131,653,629,652.022118131,0.401710112009,0.00452335439709,0.0599464488211,0.999999994993,4.89691697311e-05,-8.56500058999e-05,1.67570220969e-05,1793248830296172544
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.40127715,679,662,634.59872285,879.59872285,785,809.59872285,653,629,652.59872285,0.401856159774,0.00452415872978,0.0599481740758,0.999999995721,4.56375869999e-05,-7.90742474566e-05,1.4938823389e-05,1793248830312839680
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.1752985,662,634.8247015,879.8247015,785,810,652.8247015,628.8247015,652.8247015,0.402011269834,0.00452485113023,0.0599493368359,0.999999996313,4.29400641386e-05,-7.32108618691e-05,1.30804138765e-05,1793248830329506560
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.751807537,662,634.248192463,879.248192463,785,810,652.248192463,628.248192463,652.248192463,0.402187121004,0.00452528734817,0.0599492121987,0.99999999669,4.16937321445e-05,-6.89779047005e-05,1.11299730317e-05,1793248830346172928
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.665711119,662,634,879.334288881,785,810,652.334288881,628,652.334288881,0.402382307075,0.0045250412164,0.0599484709867,0.999999997048,3.7839384511e-05,-6.62613997168e-05,9.00065197787e-06,1793248830362839552
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.078714921,662,634,879.921285079,785,810,652.921285079,628,652.921285079,0.40259210948,0.00452427925908,0.0599472636718,0.999999997372,3.20134945449e-05,-6.4691263745e-05,6.73610534794e-06,1793248830379506176
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.505362638,679,662.505362638,634.505362638,879.494637362,785,810,653,628.505362638,652.494637362,0.402842566882,0.00452363339321,0.0599480792761,0.999999997929,2.57788572481e-05,-5.88107879541e-05,4.24731701819e-06,1793248830396214784
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662.912278417,634.912278417,878.912278417,785,810,653,629,652,0.403103453876,0.00452320779773,0.0599492680326,0.999999998412,1.98569942502e-05,-5.27117103323e-05,1.69523065038e-06,1793248830412915200
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662.336959694,634.336959694,878.336959694,785,810,653,629,652,0.403387317217,0.00452390663392,0.0599507895911,0.999999998665,1.60255271094e-05,-4.9107926553e-05,-1.01566684179e-06,1793248830429533952
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.763131,679.236869,662.236869,634,878,785,810,653,629,652.236869,0.403680738353,0.00452442482113,0.0599466366737,0.999999998365,1.11727991588e-05,-5.59297922014e-05,-4.03153922529e-06,1793248830446172416
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.191408743,679.808591257,662.808591257,634,878,785,810,653,629,652.808591257,0.403987670986,0.00452468763129,0.0599344619521,0.999999996958,4.87635145204e-06,-7.74900268006e-05,-7.4785435717e-06,1793248830462839296
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.607066605,634,878.392933395,785,810,653,628.607066605,653,0.404322862984,0.00452494668521,0.0599223923038,0.999999995064,-1.02815041091e-06,-9.87376810641e-05,-1.10463447906e-05,1793248830479505920
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.016372999,634,878.983627001,785,810,653,628.016372999,653,0.404672277684,0.00452520384866,0.0599103755384,0.99999999269,-6.7353888994e-06,-0.000119828015488,-1.46749419947e-05,1793248830496172544
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,878.436234387,785,810.563765613,653,628,653,0.405067404323,0.0045251960914,0.0599016200211,0.99999999013,-1.37575335166e-05,-0.0001386467133,-1.80845994313e-05,1793248830512839168
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.857442273,745,715.142557727,680,662,634,878.142557727,785,811,653,628.142557727,652.857442273,0.405482656874,0.00452464384405,0.0598991070515,0.999999988845,-2.1899183e-05,-0.000146176564397,-2.15360757069e-05,1793248830529505792
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.281826536,745,715.718173464,680,662,634,878.718173464,785,811,653,628.718173464,652.281826536,0.405955088542,0.00452246050219,0.0599152750951,0.999999991975,-3.33277589594e-05,-0.000119610187551,-2.51335481663e-05,1793248830546172416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.29376294,745,716,680,662,634.29376294,879,785,810.70623706,652.70623706,629,652,0.406463917737,0.00452248841607,0.0599400062325,0.999999995805,-4.15058045368e-05,-7.64065182772e-05,-2.87990000772e-05,1793248830562839296
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.869327291,745,716,680,662,634.869327291,879,785,810.130672709,652.130672709,629,652,0.407007662469,0.00452463754685,0.0599729517908,0.999999998238,-4.65656770639e-05,-1.72429955603e-05,-3.2529663796e-05,1793248830579506432
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.458192362,745,715.541807638,680,662,634.541807638,879.458192362,785.458192362,810.458192362,652.458192362,628.541807638,652,0.407561065176,0.00452387099008,0.0599923142042,0.999999997826,-5.466823187e-05,9.59676974179e-06,-3.56090124277e-05,1793248830596173568
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.950532577,745,715,680,662.049467423,634,879.950532577,785.950532577,810.950532577,652.950532577,628,652.049467423,0.40811677819,0.00452241820487,0.0600051609803,0.999999996982,-6.36791875563e-05,2.21287720468e-05,-3.86235873994e-05,1793248830612840704
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.375168471,745,715,680,662.624831529,634,879.375168471,785.375168471,810.375168471,652.375168471,628,652.624831529,0.408666895183,0.0045227744362,0.0599911531889,0.999999996287,-7.28465354932e-05,-1.65143990531e-05,-4.29833194513e-05,1793248830629507328
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.200438683,680,662.799561317,634,879,785,810.200438683,652,628,653,0.409237744351,0.00452259654771,0.059979491392,0.999999994478,-8.14105855309e-05,-4.67992507304e-05,-4.71754846912e-05,1793248830646173440
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.776501277,680,662.223498723,634,879,785,810.776501277,652,628,653,0.409847445773,0.00452141771381,0.0599722260111,0.999999992864,-8.88440494501e-05,-6.14205337191e-05,-5.10536280425e-05,1793248830662839808
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.639884725,680,662.360115275,634,879.360115275,785,811,652.360115275,628,653,0.41051202664,0.00452061630616,0.0599774758887,0.999999992547,-9.85944787182e-05,-4.47357213128e-05,-5.64341816577e-05,1793248830679506432
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.051483733,680,662.948516267,634,879.948516267,785,811,652.948516267,628,653,0.411211396881,0.00452005415813,0.0599906594894,0.999999991967,-0.000109813687554,-8.20522287522e-06,-6.27671489987e-05,1793248830696173056
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.529445013,715,680,663,634,880,785,811,652.470554987,628.529445013,653,0.411906249615,0.00451926014725,0.059985930683,0.99999999087,-0.000116187360663,-1.764929978e-05,-6.6697526787e-05,1793248830712839936
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.891343429,715.108656571,680.108656571,663,634,880,785.108656571,811,652.108656571,629,653,0.41259574335,0.00452026441004,0.0599735221814,0.999999992244,-9.79595680957e-05,-4.21229967327e-05,-6.43605020826e-05,1793248830729506816
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.316426143,715.683573857,680.683573857,663,634,880,785.683573857,811,652.683573857,629,653,0.413264099469,0.00452908072376,0.0599355293958,0.999999992772,2.38428170489e-05,-0.000112173873861,-3.61177521554e-05,1793248830746173440
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.741405042,680.741405042,663,634,880,786,811,653,629,653,0.413979216585,0.00453264530686,0.0599157818281,0.999999985229,8.2466888941e-05,-0.000148976226432,-2.33760166711e-05,1793248830762840064
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.166256782,680.166256782,663,634,880,786,811,653,629,653,0.414751575231,0.00452978110117,0.0599183687355,0.999999987006,6.37526420821e-05,-0.000145078144223,-2.96095022614e-05,1793248830779506688
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.420716714,715.420716714,680,663.420716714,634,880.420716714,785.579283286,811,653,629,653,0.415611786025,0.00451592102475,0.0599614176193,0.99999999662,3.74599516805e-05,-6.56646904101e-05,-3.23261540252e-05,1793248830796173568
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.987847858,716,680,664,634,881,785,811,652.987847858,629,653,0.416505947226,0.00449758271023,0.0600196656365,0.999999998526,8.31522682627e-06,4.18928368314e-05,-3.35291185054e-05,1793248830812839936
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.412459082,716,680,664,634,881,785,811,652.412459082,629,653,0.417318045845,0.00447890708373,0.0600198455415,0.999999998999,-1.01976864043e-05,3.07628467212e-05,-3.08513357835e-05,1793248830829506304
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.836156715,680.163843285,663.836156715,634,880.836156715,785,811.163843285,652,629,653,0.418139125581,0.004467511861,0.0600139949565,0.999999999231,-2.03218147073e-05,1.51590369391e-05,-2.9907162274e-05,1793248830846172672
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.257541615,680.742458385,663.257541615,634,880.257541615,785,811.742458385,652,629,653,0.418982941106,0.00447454709432,0.0599928780924,0.999999999332,-9.20960288769e-06,-1.17703159693e-05,-3.33516475208e-05,1793248830862839552
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.32581362,634,880.32581362,785,811.67418638,652,629,653,0.419811445863,0.00447943726506,0.0599675996636,0.999999998186,1.64235320138e-06,-4.84340683227e-05,-3.57690903433e-05,1793248830879506176
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.912971016,634,880.912971016,785,811.087028984,652,629,653,0.420627669407,0.0044826068237,0.059938983134,0.999999994911,1.22855507055e-05,-9.29060401512e-05,-3.73627149009e-05,1793248830896173056
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.506340888,663.012681775,634,880.506340888,785,811.493659112,652,629.493659112,653,0.421466867795,0.00448048059022,0.0599003501465,0.999999985309,1.53244694264e-05,-0.00016655703259,-3.7496215461e-05,1793248830912839680
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680.072759571,662.072759571,634,880.072759571,785,812,652,629.927240429,653,0.422325037318,0.00447826799422,0.0598696765498,0.9999999736,1.77147899727e-05,-0.00022598661931,-3.76340454744e-05,1793248830929506304
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680.648665662,662.648665662,634,880.648665662,785,812,652,629.351334338,653,0.423286749055,0.00448183080077,0.059906096861,0.999999987365,2.47704268842e-05,-0.000151960247368,-3.955883482e-05,1793248830946173184
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.22355299,681,663.22355299,634,881.22355299,785,812,652,629,653,0.42425047659,0.00448142818049,0.0599519653161,0.99999999627,2.60480896776e-05,-7.17631345097e-05,-4.03915344796e-05,1793248830962839808
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.796846585,681,663.796846585,634,881.796846585,785,812,652,629,653,0.425217357916,0.00447482179322,0.0600126150582,0.999999998888,1.82863210286e-05,1.80878913948e-05,-3.95156994761e-05,1793248830979506176
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,716,680.617414472,663.617414472,634,881.617414472,785,812.382585528,652,629.382585528,653,0.426151115861,0.0044734938287,0.0600341547838,0.999999997159,-2.69976867191e-05,5.71488536133e-05,-4.10826287583e-05,1793248830996172800
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,716,680.024844868,663.024844868,634,881.024844868,785,812.975155132,652,629.975155132,653,0.427066693805,0.0044750629546,0.0600342287679,0.999999992385,-9.28759717413e-05,6.83334173525e-05,-4.39902820602e-05,1793248831012839424
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.445505767,745,716,680.554494233,663,634,881,785,813,652,629.445505767,653,0.427987439337,0.00447338620585,0.0600058839409,0.999999994584,-8.95045589634e-05,2.8105844072e-05,-4.50723184089e-05,1793248831029506560
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.867775753,681,663.132224247,634,881,785,813,652,629,653,0.428888047506,0.00447167891507,0.0599744087227,0.99999999541,-8.19367787642e-05,-1.94007550427e-05,-4.57187936137e-05,1793248831046173696
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.293489649,681,663.706510351,634,881,785,813,652,629,653,0.429720574852,0.00447034441448,0.059936625677,0.999999992992,-7.04712428597e-05,-8.37210735566e-05,-4.51761727743e-05,1793248831062840320
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.71215903,634,881,785,813.28784097,652,629.28784097,653,0.430586982581,0.00447012314243,0.0599190432539,0.999999990949,-6.25283445937e-05,-0.000109886840045,-4.60092493899e-05,1793248831079506944
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663.123465492,634,881,785,813.876534508,652,629.876534508,653,0.431488802172,0.00447106542152,0.059922574607,0.999999992512,-5.82673226502e-05,-9.61733077186e-05,-4.82802108367e-05,1793248831096173056
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.45764442,634,880.54235558,784.54235558,813.54235558,652,630,653,0.432448482125,0.0044672489102,0.0599668937657,0.999999996848,-5.87787921987e-05,-2.17126185344e-05,-4.87565333699e-05,1793248831112839680
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.036677456,745,715,681,664,633.963322544,880.036677456,784.036677456,813.036677456,652,630,653,0.43341820192,0.00446251120458,0.0600178917431,0.999999995112,-5.99958495378e-05,6.16466683957e-05,-4.87559327328e-05,1793248831129506304
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.614760976,745,715,681,664,633.385239024,880.614760976,784.614760976,813.614760976,652,630,653,0.434309456375,0.00446281783115,0.0600076933022,0.999999996674,-5.29322840015e-05,3.83864789922e-05,-4.8745753139e-05,1793248831146172672
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.191481828,745,715,681,663.808518172,633,881,784.808518172,814,652,630,652.808518172,0.43517839836,0.00446136187726,0.0599896671627,0.999999997579,-4.93302363397e-05,2.98223869955e-06,-4.89820798375e-05,1793248831162839552
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.765480627,745,715,681,663.234519373,633,881,784.234519373,814,652,630,652.234519373,0.436002767613,0.00445638487424,0.0599560038848,0.999999995772,-5.26431481188e-05,-5.66817781289e-05,-4.97108440045e-05,1793248831179506432
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.652146398,745,715.347853602,681,663,633,881,784,814,652,630,652.347853602,0.436787783059,0.00445507993377,0.0599324385898,0.999999993033,-5.02225586519e-05,-9.41034571548e-05,-5.05625065263e-05,1793248831196173056
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.063988404,745,715.936011596,681,663,633,881,784,814,652,630,652.936011596,0.437545612041,0.0044563117296,0.0599158491902,0.999999990966,-4.38411489882e-05,-0.000116159670268,-5.14990697699e-05,1793248831212840192
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715.482206241,681.517793759,663,633.517793759,881.517793759,784,814,652,630,652.482206241,0.438358409008,0.00445381976856,0.0599037991282,0.999999986592,-4.1943851706e-05,-0.000149698431391,-5.14591514842e-05,1793248831229506816
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.902248221,715,682,663,634,882,784,814,652,630,652.097751779,0.439188785666,0.00445072823545,0.0599034199623,0.999999984602,-4.14769749267e-05,-0.000162583544247,-5.14065834913e-05,1793248831246173440
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.327394543,715,682,663,634,882,784,814,652,630,652.672605457,0.440072213271,0.00444692903483,0.0599572988782,0.999999995328,-4.53198925008e-05,-6.78218376658e-05,-5.18740838147e-05,1793248831262839808
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.247448996,715,682,663.247448996,633.752551004,882,784,814,652,630,653,0.440902730636,0.00444387713465,0.059997495974,0.999999997676,-4.4763167085e-05,-1.61620081171e-06,-5.13917089984e-05,1793248831279506176
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,744.822279075,715,682,663.822279075,633.177720925,882,784,814,652,630,653,0.441663246387,0.00444181393158,0.0600195916821,0.999999997671,-3.83856063235e-05,2.68090483367e-05,-4.96526265226e-05,1793248831296172800
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.593483642,745,715,681.593483642,663.593483642,633,881.593483642,784,814.406516358,652,630,653,0.442362260996,0.0044397218197,0.0600057673703,0.99999999814,-3.52040282632e-05,6.15629327272e-06,-4.94166810127e-05,1793248831312839424
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.005036239,745,715,681.005036239,663.005036239,633,881.005036239,784,814.994963761,652,630,653,0.443033751646,0.00443761676989,0.0599758675284,0.999999997533,-3.34527695919e-05,-3.64606740758e-05,-4.98534444508e-05,1793248831329506304
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.577193265,745,715,681.577193265,663,633,881.577193265,784,815,652,630,653,0.443710565417,0.00443317150545,0.0599569474294,0.999999995738,-4.29727899485e-05,-6.27538611482e-05,-5.23392930052e-05,1793248831346173440
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.843026782,663,633,882,784,815,652,630,653,0.444384642959,0.00442932867572,0.0599477916804,0.999999994456,-5.02008158197e-05,-7.48863198549e-05,-5.44055029715e-05,1793248831362840320
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.269602966,663,633,882,784,815,652,630,653,0.445051339509,0.00442713770193,0.0599642893327,0.999999995924,-5.10900404884e-05,-4.98241572536e-05,-5.53114829206e-05,1793248831379506688
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,882,784,815,652,630,653,0.445658717378,0.00442584990714,0.0599630157772,0.999999995203,-5.26639372916e-05,-6.06388176373e-05,-5.60697424768e-05,1793248831396173056
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,633,882,784,815,652,630,653,0.446213457312,0.00442536357066,0.0599459725009,0.999999991554,-5.48453947101e-05,-0.000103289663997,-5.66969185862e-05,1793248831412839424
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.462679211,715,681.462679211,662.537320789,633,881.537320789,784,815,652,630,653,0.446764949867,0.00442258509939,0.0599350518281,0.9999999898,-6.0101312189e-05,-0.000115618462822,-5.84853533709e-05,1793248831429506304
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.943860802,715.056139198,682,662.056139198,633,881.056139198,784,815,652,630,653,0.447316355721,0.00441930816114,0.0599291476852,0.999999989385,-6.60497096795e-05,-0.000114896003667,-6.05426618429e-05,1793248831446172928
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.364146748,715.635853252,682,662.635853252,633,881.635853252,784,815,652,630,653,0.447875610202,0.00441749293387,0.0599537073113,0.999999992923,-7.02602335385e-05,-7.32881970343e-05,-6.20117879005e-05,1793248831462839552
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715.78650795,682,663,633,881.78650795,784.21349205,815,652,630,653,0.448412290433,0.00441525999778,0.0599736622019,0.999999994349,-7.51814561021e-05,-4.02791630576e-05,-6.34578721843e-05,1793248831479506432
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715.212374833,682,663,633,881.212374833,784.787625167,815,652,630,653,0.448910837094,0.004412321448,0.0599858385487,0.999999994354,-8.13032249189e-05,-2.17955949414e-05,-6.48650331768e-05,1793248831496173568
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.638626635,663,633,881.361373365,784.638626635,815,652,630.361373365,653,0.449335075943,0.00441114130598,0.0599693558267,0.999999993108,-8.29399894103e-05,-5.04890695085e-05,-6.60059081836e-05,1793248831512839936
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.065104355,663,633,881.934895645,784.065104355,815,652,630.934895645,653,0.449715691474,0.00441099345975,0.0599360484282,0.999999988687,-8.19437743897e-05,-0.00010687843629,-6.69904565259e-05,1793248831529506560
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.116452335,663,633,881.883547665,784,815,652,630,653,0.450409108859,0.00441000578825,0.0598773570973,0.999999978257,-5.54029087875e-05,-0.000191776440938,-6.03183016799e-05,1793248831562839552
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766.981742061,745,715,681.981742061,661.981742061,633,882,784.981742061,815.018257939,652,630,653,0.451897827931,0.00441567354112,0.0598633395835,0.999999978614,1.56239981453e-05,-0.000201873202959,-4.2134561268e-05,1793248831646173440
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.402030024,745,715,681.402030024,661.402030024,633,882,784.402030024,815.597969976,652,630,653,0.45212162982,0.00441609992363,0.0598632279368,0.999999978012,1.45227269825e-05,-0.000204552391749,-4.38640205878e-05,1793248831662840064
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.176438243,661,632.823561757,882,784,815.823561757,652,630,653,0.452334410705,0.00441632500068,0.0598618486791,0.999999977367,1.20848081688e-05,-0.000207495919816,-4.54572331035e-05,1793248831679506944
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.752092232,661,632.247907768,882,784,815.247907768,652,630,653,0.452522255022,0.00441609459642,0.0598576012773,0.999999976617,6.62254071188e-06,-0.000211037551416,-4.67421682876e-05,1793248831696173568
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,661,632,881.106135783,784,815.893864217,652,630.893864217,653,0.452839218412,0.00441792449146,0.0598449574916,0.999999972157,9.46270546821e-06,-0.000230879282182,-4.78657440011e-05,1793248831729506048
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681.915030447,660,632,882,784,815.084969553,652,630,653,0.453072442657,0.0044204199989,0.0598315141386,0.999999965906,9.97396675085e-06,-0.000256219579862,-4.94025106581e-05,1793248831762839552
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,881.765575068,784,815.765575068,652,630,653,0.453251789557,0.00442092257209,0.0598213236085,0.999999961419,7.69938954951e-06,-0.000273153056868,-4.99080855976e-05,1793248831796173568
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+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,882,784,815.282638966,652,630,653,0.453549809918,0.0044227038216,0.0598098899956,0.999999955515,9.73072041899e-06,-0.000294017222169,-4.92899420373e-05,1793248831896172544
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681.709005912,659.709005912,632,882,784,815,652,630,653,0.453570654263,0.00442242158725,0.0598074845033,0.999999954398,9.58769863013e-06,-0.000297840500646,-4.90131978818e-05,1793248831912839424
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.484941117,745,715,681.515058883,659,632,881.484941117,784,815,652,630,653,0.45361928675,0.00442546850078,0.0597970048779,0.999999949278,1.59437107631e-05,-0.000314435432714,-4.81603885967e-05,1793248832062839552
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.104023505,745,715,681.895976495,659.104023505,632,881.104023505,784,815.104023505,652,630,652.895976495,0.453620757209,0.00442463499683,0.0597974223869,0.999999949392,1.63728881327e-05,-0.000314106590027,-4.77994190387e-05,1793248832079506688
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.680374766,745,715,681.319625234,659.680374766,632,881.680374766,784,815.680374766,652,630,652.319625234,0.453621481693,0.00442577025345,0.0597972041556,0.999999949537,1.73770084157e-05,-0.000313555586974,-4.80272915511e-05,1793248832096173824
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.256785506,659.743214494,632,882,784,815.743214494,652,630.256785506,652.256785506,0.45362116489,0.00442702015371,0.0597965555115,0.999999949318,1.86021998539e-05,-0.00031415750304,-4.82070232239e-05,1793248832112840448
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.833270375,659.166729625,632,882,784,815.166729625,652,630.833270375,652.833270375,0.45361955168,0.00442841278612,0.0597953710009,0.999999948641,2.01026262274e-05,-0.000316194809653,-4.83268193179e-05,1793248832129506560
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,744.581709433,715,681.581709433,659.418290567,632,882,784,815.418290567,652,630.581709433,653,0.45362018717,0.00442782159733,0.059795337366,0.999999948619,1.97456856017e-05,-0.000316328152748,-4.80423077343e-05,1793248832146172672
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.006672727,715,681,659.993327273,632,882,784,815.993327273,652.006672727,630,653,0.453621717289,0.00442642822388,0.0597957577863,0.999999948861,1.86224860502e-05,-0.000315699108605,-4.75993345548e-05,1793248832162839296
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.585534725,715,681,659.414465275,632,882,784,815.414465275,652.585534725,630,653,0.453621500932,0.00442546644548,0.0597949574018,0.999999948757,1.65993027423e-05,-0.000316127922955,-4.7675270156e-05,1793248832179505920
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.16420479,659.16420479,632,882,784,815,652.83579521,630,653,0.453621406015,0.00442538225823,0.059794482784,0.999999948659,1.60340133414e-05,-0.000316452273729,-4.77839637897e-05,1793248832196172544
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.742390934,659.742390934,632,882,784,815,652.257609066,630,653,0.453621617262,0.00442751059096,0.059794829466,0.999999948576,1.91442617305e-05,-0.000316513258391,-4.79752446238e-05,1793248832212839680
+242,4.033333333,HOLD_POSE2,766,745,715,682,659,632,883,784,815,652,630,652,0.453623239316,0.00442685940667,0.0597956792291,0.99999994928,1.77928389143e-05,-0.000314429958337,-4.75021981599e-05,1793248832249357824
+243,4.050000000,HOLD_POSE2,766,745,715,682,659,632,883,784,815.591100803,652,630,652.591100803,0.453623656473,0.00442627378741,0.0597956990594,0.999999949474,5.66432944341e-06,-0.000314309815995,-4.72169049815e-05,1793248832266024704
+244,4.066666667,HOLD_POSE2,766,745,715,682,659,632,882.821100055,783.821100055,816,652,630.178899945,653,0.453623806247,0.00442580173571,0.0597955621641,0.999999948662,-3.78080803403e-05,-0.000314696154256,-4.70379944204e-05,1793248832282691328
+245,4.083333333,HOLD_POSE2,766,745,715,682,659,632,882.240710429,783.240710429,816,652,630.759289571,653,0.453623355955,0.00442558455372,0.0597950735429,0.999999937399,-0.000151622898541,-0.000316219140558,-4.70978287307e-05,1793248832299357696
+246,4.100000000,HOLD_POSE2,766,745,715,682,659.336755664,632,882,783.336755664,815.663244336,652,630.663244336,653,0.453623366186,0.00442465831072,0.0597948899939,0.999999929558,-0.000195940153907,-0.000316679239605,-4.69606666527e-05,1793248832316024320
+247,4.116666667,HOLD_POSE2,766,745,715,682,659.912149988,632,882,783.912149988,815.087850012,652,630.087850012,653,0.453623702762,0.00442322959846,0.0597949226313,0.999999930618,-0.000191008624594,-0.000316386135786,-4.66839052817e-05,1793248832332690944
+248,4.133333333,HOLD_POSE2,766,745,715,682,660,632,882,784,815.485818751,652,630.485818751,653,0.453624315032,0.00442462616696,0.0597953242876,0.999999931251,-0.000188744355044,-0.000315736858315,-4.67372752996e-05,1793248832349357568
+249,4.150000000,HOLD_POSE2,766,745,715,682,660,632,882,784,815.938803562,652,630.938803562,653,0.45362479885,0.00442625872635,0.0597956186837,0.999999931686,-0.000187175189211,-0.000315273168421,-4.68555929008e-05,1793248832366024192
+250,4.166666667,HOLD_POSE2,766,745,715,682,660,632,882,784,815.345875517,652,630.345875517,653,0.45362373491,0.00442551839981,0.0597944033502,0.999999931084,-0.000187469742035,-0.000316979678579,-4.70213660803e-05,1793248832382691072
+251,4.183333333,HOLD_POSE2,766,745,715,682,660,632,881.75910084,784,815.24089916,652.24089916,630,653,0.453623512669,0.00442480659295,0.0597939649236,0.999999930863,-0.000187706939089,-0.000317547738805,-4.69362172944e-05,1793248832399357696
+252,4.200000000,HOLD_POSE2,766,745,715,682,660,632,881.180940977,784,815.819059023,652.819059023,630,653,0.453624468812,0.00442413471392,0.0597946141731,0.999999931179,-0.000187863837594,-0.000316521960097,-4.64997757848e-05,1793248832416024320
+253,4.216666667,HOLD_POSE2,766,745,715,681.6057443,659.6057443,632,881.3942557,784,815.6057443,652.6057443,630.3942557,653,0.453624805163,0.00442461246847,0.0597947924976,0.999999931513,-0.000186825550222,-0.000316082334986,-4.64924058761e-05,1793248832432690944
+254,4.233333333,HOLD_POSE2,766,745,715,681.031897362,659.031897362,632,881.968102638,784,815.031897362,652.031897362,630.968102638,653,0.453624859187,0.0044256139037,0.0597947563066,0.999999931854,-0.000185242832156,-0.000315909714293,-4.66804864947e-05,1793248832449357568
+255,4.250000000,HOLD_POSE2,766,745,715,681.558778706,659,632,882,784,815,652,630.441221294,653,0.453624490371,0.00442783602817,0.0597939365983,0.999999931829,-0.000183839216286,-0.000316738594562,-4.71270519054e-05,1793248832466023936
+256,4.266666667,HOLD_POSE2,766,745,715,681.852913446,659,632,881.852913446,784,815,652,630,653,0.453624383432,0.00442928244698,0.0597936618878,0.999999931829,-0.000183177170748,-0.000317090929093,-4.73454535498e-05,1793248832482690560
+257,4.283333333,HOLD_POSE2,766,745,715,681.274455837,659,632,881.274455837,784,815,652,630,653,0.453625117505,0.0044282431929,0.0597951207761,0.999999931965,-0.000184659064826,-0.000315872792459,-4.68500855407e-05,1793248832499357440
+258,4.300000000,HOLD_POSE2,766,745,715,681,659,632,881.301522523,784,815,652,630,653,0.453625557432,0.00442700879825,0.059795803786,0.999999932075,-0.000185163105724,-0.000315268221626,-4.65912368129e-05,1793248832516024064
+259,4.316666667,HOLD_POSE2,766,745,715,681,659,632,881.875262555,784,815,652,630,653,0.453625731801,0.00442559822881,0.0597957863253,0.999999932163,-0.000184784331031,-0.000315217584131,-4.65459200567e-05,1793248832532690944
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,659,632,882,784,815,652,630,653,0.453625854417,0.00442673212215,0.0597962088534,0.999999932984,-0.000181921318682,-0.000314240534957,-4.67873012177e-05,1793248832565300736
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765.406896895,745,715,681.406896895,659,632,882,784,815.593103105,652,630,653,0.453625277364,0.00442492067946,0.0597950560121,0.999999931925,-0.000184284089229,-0.000316297818335,-4.63089797456e-05,1793248832581967360
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.363134424,745,715,681.181567212,659,632,881.818432788,784,815.818432788,652,630,653,0.453624790505,0.00442418596775,0.0597942745631,0.999999931252,-0.000185598287893,-0.000317683397482,-4.61250138438e-05,1793248832598633728
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.519788624,745,715,681.759894312,659,632,881.240105688,784,815.240105688,652,630,653,0.453624500736,0.00442580412363,0.0597943046784,0.999999931437,-0.000184621152259,-0.000317601171842,-4.65842723728e-05,1793248832615300352
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766.664346946,745,715,681.664346946,659,632,881,783.664346946,815,652,630.335653054,653,0.453624474799,0.00442651598556,0.0597944288342,0.999999931831,-0.000183270679687,-0.000317157077057,-4.64879912313e-05,1793248832631966976
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.090411533,745,715,681.090411533,659,632,881,783.090411533,815,652,630.909588467,653,0.453624636157,0.00442658446324,0.0597946197499,0.999999932371,-0.000181655172773,-0.000316456088941,-4.5997328716e-05,1793248832648633600
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,632,881.496300031,783,815,652,630.503699969,652.503699969,0.453624359694,0.0044272665527,0.0597944416994,0.999999932405,-0.000180711274417,-0.000316896553488,-4.59352266378e-05,1793248832665300224
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.08392612,681.08392612,659.08392612,632,882,783.08392612,815,652,630.08392612,652,0.453623428706,0.00442774250718,0.0597937220021,0.99999993216,-0.000180114095319,-0.000318006086711,-4.59510273303e-05,1793248832681966848
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.662855965,681.662855965,659.662855965,632,882,783.662855965,815,652,630.662855965,652,0.453619120129,0.00442632593629,0.0597902145394,0.999999930817,-0.000180821212437,-0.000321802993222,-4.59536667729e-05,1793248832698633728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.760052265,681.760052265,659.760052265,632,882,784,815.239947735,652,630.760052265,652.239947735,0.453609498168,0.00442626599572,0.0597856080859,0.999999928647,-0.000180319208299,-0.000328737337513,-4.6067450742e-05,1793248832715300352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.185523538,681.185523538,659.185523538,632,882,784,815.814476462,652,630.185523538,652.814476462,0.453592467275,0.00442809772856,0.0597794692097,0.999999925245,-0.000178131216151,-0.000340046496835,-4.63362136476e-05,1793248832731966976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.39027539,659.39027539,632,882,784,815.60972461,652,630,653,0.453558392731,0.00442863976386,0.0597662803442,0.999999917507,-0.000177210237121,-0.000362528273438,-4.6419982879e-05,1793248832748633600
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.966680151,659.966680151,632,882,784,815.033319849,652,630,653,0.453516189762,0.00442856671931,0.0597497292111,0.999999907095,-0.000176893519193,-0.000390338473462,-4.6415525287e-05,1793248832765300224
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,882,784,815,652,630,653,0.453458513972,0.00442834248194,0.0597346740839,0.999999900052,-0.000176760752088,-0.000408029667954,-4.65136615028e-05,1793248832781966848
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.144335621,744.855664379,715,682,659.855664379,632,882,784,815,652,630,653,0.453397087274,0.00442827175467,0.0597215639778,0.999999893684,-0.000176376905457,-0.000423500558635,-4.65847484488e-05,1793248832798633472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.721774805,744.278225195,715,682,659.278225195,632,882,784,815,652,630,653,0.453327253871,0.00442868949507,0.0597140148201,0.999999889315,-0.000175205786794,-0.000434171962473,-4.65557820085e-05,1793248832815300352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.701403965,744.298596035,715,681.701403965,659.298596035,632,882,784,815,652,630.298596035,653,0.453245438419,0.00442921600024,0.0597085307513,0.99999988593,-0.000173569075552,-0.00044258427463,-4.61887447132e-05,1793248832831966720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.125157376,744.874842624,715,681.125157376,659.874842624,632,882,784,815,652,630.874842624,653,0.45315248142,0.00442984364069,0.0597049669129,0.999999883505,-0.000171499431522,-0.000448895961967,-4.55073510701e-05,1793248832848633344
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.550785204,632,882,784,815,652,630.550785204,653,0.453043893807,0.00442999619737,0.0597015530249,0.999999881182,-0.000170211284233,-0.000454583926546,-4.49209598524e-05,1793248832865299968
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.023856197,659,632,881.976143803,784,815,652,630,653,0.452929853071,0.00443013864299,0.0596981543972,0.999999878938,-0.000168881898672,-0.000460039319075,-4.43505295234e-05,1793248832881967104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.617344411,659,632,881.382655589,784,815,652,630,653,0.452789157214,0.00443318709877,0.0596941267251,0.999999878347,-0.000161390404833,-0.000464073594983,-4.35318159828e-05,1793248832898633728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.795128159,659.204871841,632.204871841,881.204871841,784,815.204871841,652,630,653,0.452642785486,0.00443467850815,0.0596947424573,0.999999880545,-0.000156582001184,-0.000461072097463,-4.2488582702e-05,1793248832915300352
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.218419455,659.781580545,632.781580545,881.781580545,784,815.781580545,652,630,653,0.452486112219,0.00443334391997,0.0597037858435,0.999999887743,-0.000156643334617,-0.0004453008606,-4.10378522389e-05,1793248832931966720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.643563085,745,715,681,660,632.643563085,881.643563085,784,815.643563085,652,630,653,0.452302460096,0.00443365656549,0.0597121995254,0.999999893721,-0.000152966335715,-0.000433145979697,-3.92831468105e-05,1793248832948633344
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.069835876,745,715,681,660,632.069835876,881.069835876,784,815.069835876,652,630,653,0.452102361166,0.00443497339388,0.0597202293291,0.999999898949,-0.000147010382809,-0.000423195692308,-3.73431326858e-05,1793248832965300224
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.505605111,745,715,681,660,632,881.505605111,784,815,652,630,652.494394889,0.451872437968,0.00443809125342,0.0597279122298,0.999999904253,-0.000138681466555,-0.000413520052469,-3.55212924759e-05,1793248832981966848
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.083874072,660.083874072,632,882,784,815,652,630.083874072,652.083874072,0.451632827916,0.00444071944535,0.0597348353551,0.999999909001,-0.000130848666367,-0.000404661300887,-3.35575244386e-05,1793248832998633216
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.677899328,660.677899328,632,882,784,815,652,630.677899328,652.677899328,0.45135943997,0.00443885109266,0.0597374296958,0.999999911119,-0.000128033752917,-0.000400539623118,-3.06308841687e-05,1793248833015300096
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.736485605,745,715,682,661,632.263514395,882,784.263514395,815,652,630.736485605,653,0.451067543998,0.00443938072396,0.0597398309687,0.999999914118,-0.000122903015562,-0.000394776554374,-2.84644152447e-05,1793248833031966720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.160832625,745,715,682,661,632.839167375,882,784.839167375,815,652,630.160832625,653,0.450753724878,0.00444275082004,0.0597420035486,0.999999918103,-0.000115029134132,-0.000387069222224,-2.7198386136e-05,1793248833048633600
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.414984519,744.585015481,715,682,661.414984519,633,881.585015481,784.585015481,815,652,630,653,0.450401178872,0.00444395514727,0.0597456349046,0.999999921501,-0.000107302254476,-0.000380644256603,-2.43792717333e-05,1793248833065300224
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.990865299,744.009134701,715,682,661.990865299,633,881.009134701,784.009134701,815,652,630,653,0.450033617829,0.00444431977053,0.0597498318517,0.999999924611,-9.96323699815e-05,-0.000374716485541,-2.09580008808e-05,1793248833081966848
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,744,715.577138766,682,662,633,881.577138766,784,814.422861234,652,630,653,0.449649354533,0.00444578350809,0.0597582023214,0.999999932113,-9.00318353207e-05,-0.00035685412705,-1.79770148065e-05,1793248833098633216
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,744.162105326,715.837894674,682,662,633,882,784,814,652,630,652.837894674,0.449246807163,0.00444770939504,0.0597652409752,0.999999937825,-8.04761134846e-05,-0.000342999818272,-1.4988482956e-05,1793248833115300096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,744.743260365,715.256739635,682,662,633,882,784,814,652,630,652.256739635,0.448797690588,0.00445078416431,0.0597686629318,0.999999939598,-7.11166774966e-05,-0.000340003762924,-1.19621008315e-05,1793248833131966720
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.10544969,745,715,682,662.89455031,633,881.10544969,784,814,652,630.89455031,652,0.447853131848,0.00445883801058,0.0597849290658,0.999999950914,-4.27634618342e-05,-0.00031034786769,-5.20767132958e-06,1793248833165302016
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.763047044,634,879,785,810,652,628.236952956,652.236952956,0.406450272965,0.00456526675165,0.0598151171265,0.999999943757,0.000151352790743,-0.000297665899722,3.12007112507e-05,1793248834065300992
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.186020472,634,879,785,810,652,628.813979528,652.813979528,0.405981885182,0.00456426734958,0.0598263398373,0.9999999506,0.000145934210474,-0.000276648377387,3.11228701832e-05,1793248834081967616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.390365747,680,662.390365747,634,878.609634253,785.390365747,810,652,628.609634253,652.609634253,0.40553260986,0.00456246088095,0.0598266661534,0.999999951266,0.000143926713688,-0.000275246746479,3.15128961278e-05,1793248834098634240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.966447371,680,662.966447371,634,878.033552629,785.966447371,810,652,628.033552629,652.033552629,0.40509242722,0.00456027045161,0.0598218085284,0.999999949087,0.00014354203392,-0.000283177342552,3.21255090472e-05,1793248834115300864
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,716,680.554279666,661.891440669,634,879.108559331,785.445720334,810,652.554279666,628.554279666,652,0.404680185718,0.00455954155684,0.059798365215,0.999999929967,0.00019231652539,-0.000319460188853,3.20207930977e-05,1793248834131967744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.140562438,745,715.859437562,680.859437562,661.140562438,634,879.859437562,785,810,653,629,652,0.404279325071,0.00455876505492,0.0597757530562,0.999999910029,0.000230655216264,-0.000354566677114,3.19722165824e-05,1793248834148634624
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.719742469,745,715.280257531,680.280257531,661.719742469,634,879.280257531,785,810,653,629,652,0.403908585493,0.0045575579451,0.0597593211974,0.999999901327,0.000226942649677,-0.000380530896733,3.22372531739e-05,1793248834165301248
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.70256642,745,715.29743358,680,662,634,879,785,810,653,629,652,0.403584471599,0.00455595553713,0.0597617041725,0.999999904719,0.00022326395899,-0.000373654904374,3.31091572831e-05,1793248834181967872
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.126271293,745,715.873728707,680,662,634,879,785,810,653,629,652,0.403304072057,0.00455398251387,0.0597817271665,0.999999918843,0.00021961702905,-0.000335989272061,3.45500354935e-05,1793248834198634240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,879,785,810,653,629,652.447875395,0.403057116662,0.00455303145423,0.0598016333125,0.999999930057,0.000215901377909,-0.000303280001849,3.59599720861e-05,1793248834215300864
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.022118847,745,716,680,662,634,879,785,810,653,629,652.977881153,0.402820499739,0.00455236374501,0.0598212352096,0.99999993965,0.000212314074615,-0.000272444937384,3.73589832862e-05,1793248834231967232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.614395872,745,716,680,662,634,879,785,810,653,629,652.385604128,0.402608485488,0.00455160838512,0.0598338396136,0.99999994439,0.000212532241229,-0.000254073316586,3.87001636455e-05,1793248834248633856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.798585235,745,715.798585235,680,662,634,878.798585235,785.201414765,810,653,629,652,0.402397477511,0.00455069959101,0.0598403196791,0.999999946222,0.000212424701856,-0.000246678561907,3.97789315921e-05,1793248834265300736
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.22137687,745,715.22137687,680,662,634,878.22137687,785.77862313,810,653,629,652,0.402188347033,0.00454950452406,0.0598353731373,0.999999943036,0.000211709470128,-0.000259764115394,4.03680982324e-05,1793248834281967872
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.645035353,662,634,878,786,810,653,629,652,0.401999159258,0.0045498183063,0.0598298677872,0.999999939327,0.000211056528473,-0.00027413059184,4.067219676e-05,1793248834298634496
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.069233082,662,634,878,786,810,653,629,652,0.401822378613,0.00455107080353,0.0598240147797,0.999999935179,0.000210442339855,-0.000289293982647,4.07989431293e-05,1793248834315300608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.51714621,662,634,878.51714621,786,810,653,629,652,0.401689118012,0.00454880318833,0.0598230733419,0.999999937514,0.000199184859688,-0.000289494703895,3.8612037311e-05,1793248834331967232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.103565456,634,879,786,810,653,629,652,0.401565563101,0.00454512819404,0.0598228060397,0.999999942258,0.0001766304671,-0.000288321294138,3.40138937793e-05,1793248834348633600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.683519254,634,879,786,810,653,629,652,0.40145929348,0.00453719240901,0.0598225519337,0.999999951768,0.000108802756923,-0.000290233595672,1.97788710549e-05,1793248834365300224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715.262433788,680,662.737566212,634.262433788,879,786,810,653,629,652,0.401365853009,0.00453337848771,0.059824728219,0.999999956092,7.24512142033e-05,-0.000287086168923,1.22021954882e-05,1793248834381966848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715.840099936,680,662.159900064,634.840099936,879,786,810,653,629,652,0.401287822767,0.0045345157008,0.0598298238617,0.999999958586,7.39084758496e-05,-0.000277861057598,1.26234486639e-05,1793248834398633472
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.413084059,745,716,679.586915941,662,634.586915941,879,786,810,652.586915941,628.586915941,652,0.4012197797,0.00453542399295,0.0598294025531,0.99999995785,7.83651771982e-05,-0.000279239510313,1.35411579242e-05,1793248834415300352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.984276122,745,716,679.015723878,662,634.015723878,879,786,810,652.015723878,628.015723878,652,0.401155559228,0.00453624466554,0.0598268696301,0.999999955847,8.39699146482e-05,-0.000284676479458,1.46488858386e-05,1793248834431966976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.423506555,745,716,679.576493445,662,634,879,786,810,652.576493445,628.576493445,652.576493445,0.401106830005,0.00453456157912,0.0598235960831,0.999999954323,8.15072906102e-05,-0.000290662769431,1.50056972907e-05,1793248834448633856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.834440279,680,662,634,879,786,810,653,629,652.834440279,0.401063652479,0.00453412896004,0.0598214192989,0.999999953214,8.09168768637e-05,-0.000294609687421,1.51584929584e-05,1793248834465300480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.254744983,680,662,634,879,786,810,653,629,652.254744983,0.401033265204,0.00453700158275,0.0598220384303,0.999999953181,8.55809027307e-05,-0.000293416367295,1.48541295873e-05,1793248834481967104
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,878.677170974,785.677170974,810,653,629,652,0.401010646316,0.0045360373244,0.0598223990915,0.999999953523,8.45638515773e-05,-0.000292532046343,1.51119769573e-05,1793248834498633728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634,878.101259887,785.101259887,810,653,629,652,0.400994117457,0.00453206514054,0.0598225571249,0.999999954147,7.90931162816e-05,-0.000291889965393,1.58105698319e-05,1793248834515300608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.472041224,715.472041224,680.472041224,662,634,878,785.472041224,810.472041224,653,629,652.472041224,0.400984591186,0.00453274394046,0.0598251721328,0.999999955204,8.21488065433e-05,-0.000287367019952,1.6269249451e-05,1793248834531966976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.953623279,716,680.907246558,662,634,878,785.953623279,810.953623279,653,629,652.953623279,0.400976727437,0.00453420105355,0.059828125669,0.999999956245,8.64778696204e-05,-0.000282409235991,1.66330062889e-05,1793248834548633600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.36052946,716,679.72105892,662,634,878,785.36052946,810.36052946,653,629,652.36052946,0.400970851508,0.00453313651147,0.0598288908743,0.999999956519,8.43748902597e-05,-0.000282085399066,1.64811202047e-05,1793248834565300224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.226100313,662,634,878.452200627,785,810,653,628.773899687,652,0.400966859547,0.00453247766143,0.0598299983845,0.999999957022,8.31805976472e-05,-0.000280649233543,1.65246755208e-05,1793248834581967104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.802709262,662,634,879.605418524,785,810,653,628.197290738,652,0.400965788179,0.00453244772948,0.0598316365476,0.99999995788,8.3394983224e-05,-0.000277488697237,1.68712109583e-05,1793248834598633472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.621521111,680,662,634,879.621521111,785,810,653,628.378478889,652.378478889,0.400964529984,0.00453290749419,0.0598321240208,0.999999958082,8.39088589625e-05,-0.000276607391377,1.68273475297e-05,1793248834615300096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.046188048,680,662,634,879.046188048,785,810,653,628.953811952,652.953811952,0.400963174616,0.00453362195958,0.0598320129979,0.999999957946,8.45785053063e-05,-0.00027691155735,1.65804301072e-05,1793248834631966976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.542188297,680,662,634,878.457811703,785,810,653,629,652.457811703,0.400964811158,0.00453164845985,0.0598333508709,0.999999958649,8.41810998487e-05,-0.00027445107113,1.70979453939e-05,1793248834648633856
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.870603902,679.870603902,662,634,878.129396098,785.129396098,810,653,629,652.129396098,0.400965904072,0.00453049239257,0.0598344424858,0.999999959149,8.43805857764e-05,-0.000272542429575,1.73889464047e-05,1793248834665300224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.2914158,679.2914158,662,634,878.7085842,785.7085842,810,653,629,652.7085842,0.400964199486,0.0045329933762,0.0598342384608,0.999999958707,8.69786835603e-05,-0.000273390901476,1.66606192784e-05,1793248834681966848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,879,785.71393852,810,653,628.71393852,652.71393852,0.40096350278,0.00453302147376,0.0598339932124,0.999999958618,8.69648072179e-05,-0.000273729989989,1.65151177652e-05,1793248834698633472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,879,785.138193654,810,653,628.138193654,652.138193654,0.400963826717,0.00453054537562,0.0598337062185,0.999999958887,8.43058861021e-05,-0.000273553245765,1.69598211011e-05,1793248834715300096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.437451279,662,634,879.437451279,785.437451279,810,653,628,652.437451279,0.400963739313,0.00453134710703,0.0598346186409,0.999999959082,8.45189588588e-05,-0.000272758581115,1.7212677009e-05,1793248834731966976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.013399976,680,662.013399976,634,879.986600024,786,810,653,628.013399976,653,0.400963553222,0.00453312063865,0.0598359058805,0.999999959262,8.55944211444e-05,-0.000271749362917,1.73967503053e-05,1793248834748633856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.603788987,680,662.603788987,634,879.396211013,786,810,653,628.603788987,653,0.400964711868,0.00453216205891,0.0598370209073,0.999999959836,8.47458197079e-05,-0.000269905094517,1.72281443202e-05,1793248834765300480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.809771812,680,662.809771812,634,879,786,810,653,629,653,0.400965107731,0.00453131489765,0.0598374448128,0.999999960092,8.40018709388e-05,-0.000269194438371,1.71507075174e-05,1793248834781967104
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.231392044,680,662.231392044,634,879,786,810,653,629,653,0.400963947171,0.00453069508053,0.0598364585179,0.999999959702,8.3471461017e-05,-0.000270796864282,1.72592971099e-05,1793248834798633728
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.344518406,680,662,634,879,786,810.344518406,653,628.655481594,652.655481594,0.400963094118,0.0045314269705,0.0598361254388,0.999999959383,8.45971577577e-05,-0.000271638041913,1.70551304738e-05,1793248834815300352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.918782145,680,662,634,879,786,810.918782145,653,628.081217855,652.081217855,0.400962446128,0.00453306025906,0.0598362279629,0.999999959108,8.68272447964e-05,-0.000271971573915,1.66423994057e-05,1793248834831966976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.49506099,680,662,634,879,785.49506099,810.49506099,653,628.50493901,652,0.400962604719,0.00453318705054,0.0598359179256,0.99999995924,8.72283035191e-05,-0.000271345387659,1.6795955535e-05,1793248834848633344
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.091760937,634,878.908239063,785.091760937,810,653,628.908239063,652.091760937,0.400963121424,0.00453325523827,0.0598359213643,0.999999959498,8.76349875847e-05,-0.000270250962647,1.69855121257e-05,1793248834865300224
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.671698167,634,878.328301833,785.671698167,810,653,628.328301833,652.671698167,0.400964836476,0.00453433188411,0.0598379540754,0.999999960057,8.96744879323e-05,-0.000267506525984,1.68703222702e-05,1793248834881966848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.250376767,679.749623233,662.749623233,634,878.250376767,786,810.250376767,653,628.250376767,652.749623233,0.400964830642,0.00453394948615,0.0598384100836,0.999999960109,8.9577570502e-05,-0.00026733830821,1.69666242839e-05,1793248834898633728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.827413348,679.172586652,662.172586652,634,878.827413348,786,810.827413348,653,628.827413348,652.172586652,0.400962579615,0.00453166351326,0.0598368090102,0.999999959498,8.66933267201e-05,-0.000270531213331,1.73388540169e-05,1793248834915300352
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.597092862,679.402907138,662,634,879,786,810.597092862,653,629,652,0.400962325401,0.00453066581257,0.0598366265719,0.999999959664,8.47098236629e-05,-0.000270548987869,1.73062244605e-05,1793248834931966976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.022257444,679.977742556,662,634,879,786,810.022257444,653,629,652,0.400962923267,0.00453021784272,0.0598370494926,0.999999960163,8.3110684291e-05,-0.000269211872502,1.71008335818e-05,1793248834948633600
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f23933c3167188e197d6d7a57719d9a1bb317591
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+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
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+360,6.000000000,pose2_to_pose3_retreat,0.586204552735,0.00992785276389,1.05004238854,0.556776343655,0.0186023091452,1.04966577041
+361,6.016666667,pose2_to_pose3_retreat,0.58599825303,0.00992797549839,1.05004241857,0.556570041963,0.0186024248546,1.04966579387
+362,6.033333333,pose2_to_pose3_retreat,0.585802702549,0.00992800831033,1.05004246598,0.556374491122,0.0186024564667,1.0496658418
+363,6.050000000,pose2_to_pose3_retreat,0.585618248664,0.00992799421761,1.05004252092,0.556190037717,0.0186024441861,1.04966590087
+364,6.066666667,pose2_to_pose3_retreat,0.585448399574,0.0099279959707,1.05004237868,0.556020188567,0.0186024459309,1.04966576311
+365,6.083333333,pose2_to_pose3_retreat,0.5852947143,0.00992800376096,1.05004223478,0.555866503182,0.018602453523,1.04966562338
+366,6.100000000,pose2_to_pose3_retreat,0.585160059775,0.00992805201078,1.0500420993,0.555731848391,0.0186025010452,1.04966549195
+367,6.116666667,pose2_to_pose3_retreat,0.585043089557,0.00992809392391,1.05004198162,0.555614877942,0.0186025423263,1.04966537778
+368,6.133333333,pose2_to_pose3_retreat,0.584944424783,0.0099280100689,1.05004212752,0.555516214127,0.0186024615726,1.04966552021
+369,6.150000000,pose2_to_pose3_retreat,0.584857800039,0.00992793176149,1.05004226526,0.55542959027,0.018602386131,1.04966565464
+370,6.166666667,pose2_to_pose3_retreat,0.58478021437,0.00992787927994,1.05004238357,0.555352005178,0.0186023354846,1.04966577015
+371,6.183333333,pose2_to_pose3_retreat,0.584702867478,0.00992792286384,1.05004247407,0.555274657679,0.0186023769245,1.04966585872
+372,6.200000000,pose2_to_pose3_retreat,0.584636550616,0.00992796023247,1.05004255166,0.555208340296,0.0186024124548,1.04966593467
+373,6.216666667,pose2_to_pose3_retreat,0.584580688838,0.00992799170981,1.05004261702,0.555152478079,0.0186024423836,1.04966599864
+374,6.233333333,pose2_to_pose3_retreat,0.584525761664,0.00992797849812,1.0500425687,0.555097551165,0.0186024301399,1.04966595234
+375,6.250000000,pose2_to_pose3_retreat,0.584481017478,0.00992795816608,1.05004250494,0.55505280734,0.0186024111362,1.04966589096
+376,6.266666667,pose2_to_pose3_retreat,0.584447138536,0.00992794277127,1.05004245667,0.555018928671,0.0186023967471,1.04966584449
+377,6.283333333,pose2_to_pose3_retreat,0.584423046938,0.00992793182389,1.05004242234,0.554994837268,0.0186023865149,1.04966581144
+378,6.300000000,pose2_to_pose3_retreat,0.584405748751,0.00992792396349,1.05004239769,0.55497753922,0.018602379168,1.04966578771
+379,6.316666667,pose2_to_pose3_retreat,0.584393613085,0.00992791844896,1.0500423804,0.554965403652,0.0186023740138,1.04966577106
+380,6.333333333,pose2_to_pose3_retreat,0.58438576152,0.00992791488116,1.05004236921,0.554957552151,0.0186023706791,1.04966576029
+381,6.350000000,pose2_to_pose3_retreat,0.584380201484,0.00992791235465,1.05004236129,0.55495199216,0.0186023683176,1.04966575267
+382,6.366666667,pose2_to_pose3_retreat,0.584376445269,0.0099279106478,1.05004235593,0.554948235975,0.0186023667223,1.04966574751
+383,6.383333333,pose2_to_pose3_retreat,0.584374771164,0.00992790988707,1.05004235355,0.554946561883,0.0186023660112,1.04966574522
+384,6.400000000,pose2_to_pose3_retreat,0.58437450635,0.00992790976674,1.05004235317,0.554946297072,0.0186023658988,1.04966574485
+385,6.416666667,pose2_to_pose3_retreat,0.584374066038,0.00992790956666,1.05004235254,0.554945856763,0.0186023657118,1.04966574425
+386,6.433333333,pose2_to_pose3_retreat,0.584373781345,0.00992790943729,1.05004235214,0.554945572072,0.0186023655908,1.04966574386
+387,6.450000000,pose2_to_pose3_retreat,0.584373600613,0.00992790935517,1.05004235188,0.554945391342,0.0186023655141,1.04966574361
+388,6.466666667,pose2_to_pose3_retreat,0.584373303547,0.00992790922018,1.05004235146,0.554945094278,0.0186023653879,1.0496657432
+389,6.483333333,pose2_to_pose3_retreat,0.584372652,0.00992790892411,1.05004235053,0.554944442737,0.0186023651112,1.04966574231
+390,6.500000000,pose2_to_pose3_retreat,0.584372509991,0.00992790885958,1.05004235033,0.554944300729,0.0186023650509,1.04966574211
+391,6.516666667,pose2_to_pose3_retreat,0.584372065173,0.00992790865745,1.05004234969,0.554943855915,0.0186023648619,1.0496657415
+392,6.533333333,pose2_to_pose3_retreat,0.584372031789,0.00992790864228,1.05004234965,0.554943822531,0.0186023648478,1.04966574146
+393,6.550000000,pose2_to_pose3_retreat,0.584371852971,0.00992790856103,1.05004234939,0.554943643714,0.0186023647718,1.04966574121
+394,6.566666667,pose2_to_pose3_retreat,0.584371546136,0.0099279084216,1.05004234895,0.554943336881,0.0186023646415,1.04966574079
+395,6.583333333,pose2_to_pose3_retreat,0.584370962131,0.00992790815622,1.05004234812,0.554942752882,0.0186023643935,1.04966573999
+396,6.600000000,pose2_to_pose3_retreat,0.584370411619,0.00992790790607,1.05004234734,0.554942202374,0.0186023641597,1.04966573924
+397,6.616666667,pose2_to_pose3_retreat,0.584370165145,0.00992790779407,1.05004234699,0.554941955902,0.018602364055,1.0496657389
+398,6.633333333,pose2_to_pose3_retreat,0.584369683861,0.00992790757537,1.0500423463,0.554941474621,0.0186023638506,1.04966573824
+399,6.650000000,pose2_to_pose3_retreat,0.584369646864,0.00992790755856,1.05004234625,0.554941437625,0.0186023638348,1.04966573819
+400,6.666666667,pose2_to_pose3_retreat,0.58436956945,0.00992790752338,1.05004234614,0.554941360212,0.018602363802,1.04966573808
+401,6.683333333,pose2_to_pose3_retreat,0.58436951453,0.00992790749843,1.05004234606,0.554941305292,0.0186023637786,1.04966573801
+402,6.700000000,pose2_to_pose3_retreat,0.584368984277,0.00992790725747,1.0500423453,0.554940775044,0.0186023635534,1.04966573728
+403,6.716666667,pose2_to_pose3_retreat,0.584368455641,0.00992790701726,1.05004234455,0.554940246412,0.0186023633289,1.04966573655
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32a42933abe56311c0e3015a9409b2c0cbffb29d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a972d73e43da473e40003abe2e29aa28e33f8049b9f7f9d67e59fee6ca77b5c
+size 25162976
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80f80c8bf61a6bf2611c5ee1300665b35199bfde
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,397 @@
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+31,0.516666667,BASELINE,766,745,715,679.004332761,664,634,879,786,809,653,628,652,0.400937336069,0.00455620201015,0.049928451058,0.999999974598,7.48238677653e-05,-0.000211230337515,-2.42188050022e-05,1793248836701165568
+32,0.533333333,BASELINE,766.570522808,745.570522808,715,679,663.429477192,634,879,786,809.570522808,653.570522808,628.570522808,652.570522808,0.400935765911,0.00455525565029,0.0499271849738,0.999999974089,7.51077071462e-05,-0.000213589200717,-2.36755931194e-05,1793248836717832448
+33,0.550000000,BASELINE,766.850319549,745.850319549,715,679,663.149680451,634,878.850319549,786,809.850319549,653.850319549,628.850319549,652.850319549,0.400935005912,0.00455466754412,0.0499264459811,0.999999973825,7.51232365017e-05,-0.000214846274101,-2.33921398125e-05,1793248836734499072
+34,0.566666667,BASELINE,766.258360746,745.258360746,715,679,663.741639254,634,878.258360746,786,809.258360746,653.258360746,628.258360746,652.258360746,0.400936714026,0.00455518245202,0.0499273331113,0.999999974322,7.43442069399e-05,-0.000212739348352,-2.38978516613e-05,1793248836751165696
+35,0.583333333,BASELINE,766,745,715,679,664,634.32510416,878.32510416,786,809.32510416,653,628.32510416,652,0.400937390864,0.00455513685206,0.0499276870052,0.999999974514,7.38756909885e-05,-0.000211993684336,-2.39548763811e-05,1793248836767832320
+36,0.600000000,BASELINE,766,745,715,679,664,634.901990882,878.901990882,786,809.901990882,653,628.901990882,652,0.400937269011,0.00455465715711,0.0499276279252,0.999999974472,7.36476576127e-05,-0.000212302272889,-2.36644076155e-05,1793248836784499712
+37,0.616666667,BASELINE,766.477192326,745,715,679,663.522807674,634.522807674,878.522807674,786,810,653,629,652,0.400935600701,0.00455376533807,0.0499266344643,0.999999974224,7.24730078794e-05,-0.000213882146366,-2.35440871094e-05,1793248836801166336
+38,0.633333333,BASELINE,767,745,715.053140625,679.053140625,663.053140625,634,878.053140625,786,810,653,629,652.053140625,0.400934009079,0.00455304875895,0.0499257059275,0.999999973981,7.14984844008e-05,-0.000215341551259,-2.35163481272e-05,1793248836817833216
+39,0.650000000,BASELINE,767,745,715.640055669,679.640055669,663.640055669,634,878.640055669,786,810,653,629,652.640055669,0.400936366916,0.00455493961715,0.0499273503888,0.999999974257,7.44801599261e-05,-0.000212977442443,-2.40687656454e-05,1793248836834499584
+40,0.666666667,BASELINE,766.774542619,745.225457381,715.774542619,679.774542619,664,634,879,786,810,653,629,653,0.400938019445,0.00455548513107,0.0499282049864,0.999999974512,7.5291171401e-05,-0.000211466102444,-2.42693634675e-05,1793248836851165952
+41,0.683333333,BASELINE,766.19154088,745.80845912,715.19154088,679.19154088,664,634,879,786,810,653,629,653,0.400938553452,0.00455389711408,0.0499278069687,0.999999974749,7.2659808428e-05,-0.000211307136503,-2.39120236664e-05,1793248836867832576
+42,0.700000000,BASELINE,766,745.617653912,715,679,664,634,879,786,810,653,629,652.617653912,0.400938112297,0.00455281755077,0.0499276982696,0.999999974789,7.1375801018e-05,-0.000211579664503,-2.36786591434e-05,1793248836884499200
+43,0.716666667,BASELINE,766,745.048226797,715,679,664,634,879,786,810,653,629,652.048226797,0.400937193998,0.00455198677267,0.0499277311333,0.999999974735,7.07510515418e-05,-0.000212063321461,-2.3505955438e-05,1793248836901165824
+44,0.733333333,BASELINE,766,745,715,679,664,634,879,786,810,653,628.467206055,652,0.400937865559,0.00455239382416,0.0499274064943,0.999999974606,7.12882712854e-05,-0.000212499579595,-2.34566473959e-05,1793248836917832704
+45,0.750000000,BASELINE,766,745,715,679.115851244,664,634,879,786,810,653,628.115851244,652.115851244,0.400938654384,0.00455307033577,0.0499273516954,0.999999974574,7.20545173725e-05,-0.000212392420391,-2.3462202425e-05,1793248836934499328
+46,0.766666667,BASELINE,766,745,715,679.702827803,664,634,879,786,810,653,628.702827803,652.702827803,0.400939321831,0.00455437686509,0.0499285287634,0.999999974963,7.33148968132e-05,-0.000210093213905,-2.36444336172e-05,1793248836951166208
+47,0.783333333,BASELINE,766,745,715,680,664,634.28647375,879.28647375,786,810,653,628.71352625,653,0.400939543653,0.00455491262011,0.0499289403156,0.999999975044,7.42755046119e-05,-0.00020937157798,-2.36575392702e-05,1793248836967833088
+48,0.800000000,BASELINE,766,745,715,680,664,634.866704479,879.866704479,786,810,653,628.133295521,653,0.40093930852,0.00455465800504,0.0499285668899,0.999999974811,7.492871961e-05,-0.000210267620057,-2.34972196052e-05,1793248836984499200
+49,0.816666667,BASELINE,766,745.44266269,715,679.55733731,664,634.55733731,879.55733731,786.44266269,810,653.44266269,628.44266269,652.55733731,0.400938092543,0.00455350863268,0.0499277541617,0.999999974642,7.34939691573e-05,-0.000211591957436,-2.33268590804e-05,1793248837001165568
+50,0.833333333,BASELINE,766.017342338,745.982657662,715,679,663.982657662,634,879,786.982657662,809.982657662,653.982657662,628.982657662,652,0.400936660282,0.00455221417938,0.0499268518104,0.999999974495,7.15194847389e-05,-0.000212972939906,-2.31887963866e-05,1793248837017832192
+51,0.850000000,BASELINE,766.591884552,745.408115448,715,679,663.408115448,634,879,786.408115448,809.408115448,653.408115448,628.408115448,652,0.400937677789,0.00455483227494,0.0499272794887,0.999999974614,7.22113605569e-05,-0.000212069803836,-2.41846606236e-05,1793248837034499072
+52,0.866666667,BASELINE,767,745.172391675,715,679,663.172391675,634,879.172391675,786,809.172391675,653.172391675,628.172391675,652,0.400938332265,0.00455646553377,0.0499274679832,0.99999997467,7.28012090604e-05,-0.000211533264574,-2.47631311249e-05,1793248837051165696
+53,0.883333333,BASELINE,767,745.767526044,715,679,663.767526044,634,879.767526044,786,809.767526044,653.767526044,628.767526044,652,0.400938096504,0.00455568375394,0.049927069946,0.99999997458,7.31408638755e-05,-0.000211895702209,-2.4318059378e-05,1793248837067832320
+54,0.900000000,BASELINE,766.649900483,745.649900483,715,679.350099517,664,634,879.649900483,786,810,653.649900483,628.649900483,652,0.400937375789,0.0045551145762,0.0499263634411,0.999999974459,7.30199860105e-05,-0.00021251478397,-2.42331736332e-05,1793248837084499456
+55,0.916666667,BASELINE,766.075378866,745.075378866,715,679.924621134,664,634,879.075378866,786,810,653.075378866,628.075378866,652,0.400936344208,0.00455468168149,0.0499254592011,0.999999974319,7.26038957534e-05,-0.000213298380696,-2.43791756817e-05,1793248837101166848
+56,0.933333333,BASELINE,766,745.49983474,715,679.50016526,664,634,879,786,809.50016526,653,628,652.49983474,0.40093701134,0.0045547727441,0.0499266041949,0.999999974462,7.3038975059e-05,-0.000212503356166,-2.41733213409e-05,1793248837117833216
+57,0.950000000,BASELINE,766,745.92326579,715,679,664,634,879,786,809,653,628,652.92326579,0.400937704192,0.00455481526833,0.0499277410678,0.999999974598,7.34335909204e-05,-0.00021174778509,-2.39466233563e-05,1793248837134499584
+58,0.966666667,BASELINE,766,745.335842137,715,679,664,634,879,786,809,653,628,652.335842137,0.400936860902,0.00455400814536,0.0499267642869,0.99999997442,7.27034321788e-05,-0.000212841400813,-2.39348420678e-05,1793248837151166208
+59,0.983333333,BASELINE,766.249629411,745,715.249629411,679,663.750370589,634,879,786,809,653,628,652,0.400936924545,0.00455404704233,0.0499266999001,0.999999974518,7.15776088774e-05,-0.000212757086341,-2.3989867311e-05,1793248837167832576
+60,1.000000000,BASELINE,766.832495132,745,715.832495132,679,663.167504868,634,879,786,809,653,628,652,0.400938198875,0.00455521531158,0.0499278534901,0.999999974982,6.9923603329e-05,-0.000211100324653,-2.41340741996e-05,1793248837184499200
+61,1.016666667,BASELINE,766.590632823,745,715.590632823,679.409367177,663.409367177,634,879,786,809,653,628,652,0.40093652674,0.0045565218755,0.0499265791062,0.999999974355,7.22700231797e-05,-0.000213241457961,-2.43832622689e-05,1793248837201165824
+62,1.033333333,BASELINE,766.016177915,745,715.016177915,679.983822085,663.983822085,634,879,786,809,653,628,652,0.400933666369,0.00455788421019,0.04992432558,0.999999973264,7.62297164693e-05,-0.000216914189164,-2.46747866615e-05,1793248837217832192
+63,1.050000000,BASELINE,766,745,715,680,664,634.555159617,879,786,809.555159617,653,628.555159617,652.555159617,0.400937196407,0.00455639427581,0.0499265016964,0.999999974169,7.48941267696e-05,-0.000213229681861,-2.42000270907e-05,1793248837234498816
+64,1.066666667,BASELINE,766,745,715,680,663.868005628,634.868005628,879.131994372,786,810,653,628.868005628,653,0.400939980121,0.00455512830068,0.0499283694314,0.999999974918,7.36358332872e-05,-0.000210184331651,-2.37626500852e-05,1793248837251165440
+65,1.083333333,BASELINE,766,745,715,680,663.271507625,634.271507625,879.728492375,786,810,653,628.271507625,653,0.40093948575,0.00455494133312,0.0499287002098,0.999999974966,7.31895567088e-05,-0.000210138526726,-2.35349708362e-05,1793248837267832064
+66,1.100000000,BASELINE,766,745,715,679.685778006,663.314221994,634.314221994,879.685778006,786,810,653,628.314221994,652.685778006,0.400939049253,0.00455414022267,0.0499284533988,0.999999974925,7.22619165469e-05,-0.000210656087093,-2.34788633804e-05,1793248837284498688
+67,1.116666667,BASELINE,766,745,715,679.109044676,663.890955324,634.890955324,879.109044676,786,810,653,628.890955324,652.109044676,0.400938661106,0.00455282603716,0.0499277240506,0.99999997481,7.09321295195e-05,-0.000211644301261,-2.35660926258e-05,1793248837301165312
+68,1.133333333,BASELINE,766,745,715.466931825,679,664,634.533068175,879.466931825,786,810,653,628.533068175,652.466931825,0.400938400755,0.00455390532654,0.0499272779,0.999999974655,7.17068884087e-05,-0.000212098672435,-2.37306786419e-05,1793248837317832192
+69,1.150000000,BASELINE,766,745,715.956550141,679,664,634.043449859,880,786,810,653.043449859,628.043449859,653,0.400938223717,0.00455534519208,0.0499269638918,0.999999974538,7.2644693466e-05,-0.000212306957786,-2.39173680036e-05,1793248837334498816
+70,1.166666667,BASELINE,766,745,715.371075884,679,664,634.628924116,880,786,810,653.628924116,628.628924116,653,0.400938714264,0.00455432157272,0.0499274746258,0.999999975033,6.94952519953e-05,-0.000210998108127,-2.41547931855e-05,1793248837351165440
+71,1.183333333,BASELINE,766,745,715.21333188,679,664,634.78666812,879.78666812,786,810,653.78666812,628.78666812,653,0.400938539823,0.00455364718686,0.0499275854559,0.999999975158,6.85466460933e-05,-0.000210716879981,-2.41472261172e-05,1793248837367832064
+72,1.200000000,BASELINE,766,745,715.795893875,679,664,634.204106125,879.204106125,786,810,653.204106125,628.204106125,653,0.400937214435,0.00455357724646,0.049927004141,0.999999974652,7.14071973691e-05,-0.000212214236286,-2.37156319011e-05,1793248837384498688
+73,1.216666667,BASELINE,766,745,716,679.374296777,664,634,879,786,810,653,628.374296777,652.625703223,0.400937184683,0.00455414539564,0.0499269093063,0.9999999744,7.37928359595e-05,-0.000212600749537,-2.35794404968e-05,1793248837401165312
+74,1.233333333,BASELINE,766,745,716,679.950456592,664,634,879,786,810,653,628.950456592,652.049543408,0.400937853684,0.0045550576747,0.0499270768365,0.999999974285,7.59223478941e-05,-0.000212388170832,-2.36025636325e-05,1793248837417832192
+75,1.250000000,BASELINE,766,745,715.475556542,679.475556542,664.524443458,634,879,786,810,653,628.475556542,652,0.400938940372,0.00455547704303,0.049927628878,0.999999974507,7.57819523532e-05,-0.000211363628557,-2.38416406661e-05,1793248837434498816
+76,1.266666667,BASELINE,766.101248627,745,715.101248627,679.101248627,664.898751373,634,879.101248627,786,810,653,628,652,0.400939785457,0.00455547156838,0.0499281409082,0.999999974754,7.48047543339e-05,-0.000210526527984,-2.3969557448e-05,1793248837451165184
+77,1.283333333,BASELINE,766.692688199,745,715.692688199,679.692688199,664.307311801,634,879.692688199,786,810,653,628,652,0.400939270582,0.00455363374452,0.0499282840896,0.999999974964,7.08101059977e-05,-0.000210966750255,-2.3460934264e-05,1793248837467831808
+78,1.300000000,BASELINE,766.72232145,745,716,680,664,634,879.72232145,786,810,653,628,652.27767855,0.400939079017,0.00455334685257,0.0499281497175,0.999999975014,7.04744752949e-05,-0.000210850455386,-2.33940211143e-05,1793248837484498688
+79,1.316666667,BASELINE,766.144306596,745,716,680,664,634,879.144306596,786,810,653,628,652.855693404,0.400939237145,0.00455473744413,0.0499277151443,0.999999974894,7.40964275768e-05,-0.000210132233188,-2.38048602734e-05,1793248837501165312
+80,1.333333333,BASELINE,766.430153699,745,715.569846301,679.569846301,664,634,879,786,809.569846301,653,628.430153699,652.569846301,0.400937890137,0.00455392204333,0.0499273813563,0.999999974775,7.21425444322e-05,-0.000211392589142,-2.3643659937e-05,1793248837517831936
+81,1.350000000,BASELINE,766.996474419,745,715,679,663.996474419,634,879,786,809.003525581,653,629,652,0.400936061015,0.00455238538816,0.0499270818502,0.999999974644,6.83689211344e-05,-0.000213294091716,-2.32970127067e-05,1793248837534498816
+82,1.366666667,BASELINE,766.407452138,745,715,679,663.407452138,634,879,786,809.592547862,653,629,652,0.40093733497,0.00455296443429,0.0499269065856,0.999999974689,7.04896642629e-05,-0.000212342398234,-2.37618406682e-05,1793248837551165440
+83,1.383333333,BASELINE,766,745,715,679,663.178746523,634,879,786,810,653.178746523,628.821253477,652.178746523,0.400938224184,0.00455344042237,0.0499267722751,0.999999974704,7.18281308435e-05,-0.000211797015269,-2.39627769335e-05,1793248837567832064
+84,1.400000000,BASELINE,766,745,715,679,663.758608956,634,879,786,810,653.758608956,628.241391044,652.758608956,0.400938250018,0.00455368514324,0.049926729868,0.999999974666,7.14111311329e-05,-0.000212163412725,-2.35715274605e-05,1793248837584498688
+85,1.416666667,BASELINE,766,745,715,679.337454616,664,634,879,786,809.662545384,653.662545384,628.337454616,653,0.400937729327,0.00455369548177,0.0499267360117,0.999999974581,7.14295568987e-05,-0.000212557545042,-2.35510610143e-05,1793248837601165568
+86,1.433333333,BASELINE,766,745,715,679.915575097,664,634,879,786,809.084424903,653.084424903,628.915575097,653,0.400936818865,0.00455353866348,0.049926776781,0.999999974464,7.1758519409e-05,-0.000212971457287,-2.3795029612e-05,1793248837617832192
+87,1.450000000,BASELINE,766,745,715,680,663.5101154,634.4898846,879,786,809.4898846,653,629,653,0.400938345102,0.00455344847782,0.0499275739524,0.999999975001,7.05831384815e-05,-0.000210858236365,-2.35695060162e-05,1793248837634498816
+88,1.466666667,BASELINE,766.065362681,745,715,680,663.065362681,634.934637319,879,786,810,653,629,652.934637319,0.400939916976,0.00455350073911,0.0499282525057,0.999999975486,6.96267800116e-05,-0.00020889384063,-2.33027323063e-05,1793248837651165184
+89,1.483333333,BASELINE,766.655453871,745,715,680,663.655453871,634.344546129,879,786,810,653,629,652.344546129,0.400938510043,0.00455460508268,0.0499269403881,0.999999974714,7.24939282813e-05,-0.000211593525657,-2.33493366675e-05,1793248837667831808
+90,1.500000000,BASELINE,766.758883115,745,715,679.758883115,664,634,878.758883115,786,809.758883115,653,629,652,0.400938434658,0.00455475309496,0.0499267280487,0.999999974516,7.35642137627e-05,-0.000212146114308,-2.346957238e-05,1793248837684498688
+91,1.516666667,BASELINE,766.179433721,745,715,679.179433721,664,634,878.179433721,786,809.179433721,653,629,652,0.400940227683,0.00455355919381,0.0499280589059,0.999999975135,7.21131612798e-05,-0.000209685921166,-2.36931267755e-05,1793248837701165312
+92,1.533333333,BASELINE,766,745,715,679,663.602975133,634,878.397024867,786,809,653,629,652,0.400939523852,0.00455463735033,0.0499276357543,0.99999997496,7.34436695993e-05,-0.000210026605895,-2.39876523865e-05,1793248837717832704
+93,1.550000000,BASELINE,766,745,715,679,663.027858072,634,878.972141928,786,809,653,629,652,0.400937700013,0.00455673467652,0.0499264258125,0.999999974422,7.60218937681e-05,-0.000211623671383,-2.43140133517e-05,1793248837734500352
+94,1.566666667,BASELINE,766,745,715,679,663.558301527,634,879,786,809.558301527,653.558301527,629,652,0.40093763227,0.00455496669297,0.0499266662609,0.999999974555,7.31800352267e-05,-0.00021204356246,-2.39151109277e-05,1793248837751166464
+95,1.583333333,BASELINE,766,745,715.143229756,679.143229756,664,634,879,786,810,653.856770244,629,652.143229756,0.400937710195,0.00455345255449,0.0499269279903,0.999999974692,7.06182585939e-05,-0.000212300624345,-2.36037443657e-05,1793248837767832576
+96,1.600000000,BASELINE,766,745,715.72269569,679.72269569,664,634,879,786,810,653.27730431,629,652.72269569,0.400937959516,0.00455331083531,0.0499270296656,0.999999974763,6.97498643116e-05,-0.00021224426627,-2.3671432039e-05,1793248837784499200
+97,1.616666667,BASELINE,766,745.301606902,715.698393098,679.698393098,664.301606902,634.301606902,879,786,810,653,628.698393098,652.698393098,0.400937964567,0.00455287422889,0.0499268980148,0.999999974759,6.94261654093e-05,-0.000212374520457,-2.36335092131e-05,1793248837801166080
+98,1.633333333,BASELINE,766,745.88000899,715.11999101,679.11999101,664.88000899,634.88000899,879,786,810,653,628.11999101,652.11999101,0.40093774544,0.00455216699416,0.0499265522324,0.999999974686,6.96023525311e-05,-0.000212676035235,-2.34986639398e-05,1793248837817833472
+99,1.650000000,BASELINE,766,745.543969991,715,679.456030009,664.087939982,634.543969991,879,786,809.543969991,653.456030009,628.456030009,652,0.40093853464,0.00455268465435,0.0499270739686,0.999999975014,6.92835600819e-05,-0.000211230111515,-2.35183703224e-05,1793248837834499840
+100,1.666666667,BASELINE,766,745.032078267,715,680,663.032078267,634.032078267,879,786,809.032078267,653.967921733,629,652.032078267,0.40093955678,0.00455345929275,0.0499277909832,0.999999975413,6.89458197223e-05,-0.000209441735123,-2.356814987e-05,1793248837851165952
+101,1.683333333,BASELINE,766,745.619385757,715,680,663.619385757,634.619385757,879,786,809.619385757,653.380614243,629,652.619385757,0.40094004248,0.00455313235885,0.0499279576157,0.999999975264,7.05226687416e-05,-0.000209642921347,-2.34382425772e-05,1793248837867832832
+102,1.700000000,BASELINE,766,745.796072052,715,679.796072052,664,634.796072052,879,786,809.796072052,653,629,652.796072052,0.400939991142,0.00455243716809,0.0499279006018,0.999999975225,7.04230032598e-05,-0.000209865081986,-2.33735063267e-05,1793248837884499456
+103,1.716666667,BASELINE,766,745.216622074,715,679.216622074,664,634.216622074,879,786,809.216622074,653,629,652.216622074,0.400938950878,0.00455106385275,0.0499274317554,0.999999975389,6.72361289227e-05,-0.000210125865826,-2.34287789583e-05,1793248837901166080
+104,1.733333333,BASELINE,766.360300136,745.360300136,715,679,664,634,879,786,809,653,629,652.360300136,0.400937506828,0.004552518871,0.049926624674,0.999999974937,6.840474766e-05,-0.000211870738169,-2.36023746568e-05,1793248837917832448
+105,1.750000000,BASELINE,766.935713228,745.935713228,715,679,664,634,879,786,809,653,629,652.935713228,0.400935821703,0.00455566251239,0.0499256156535,0.999999974106,7.21737619615e-05,-0.000214501668104,-2.38466137545e-05,1793248837934499072
+106,1.766666667,BASELINE,766.488665879,745.488665879,715.511334121,679,664,634,879,786.511334121,809.511334121,653,629,653,0.400936468098,0.00455470235083,0.0499258223116,0.999999974321,7.22768136155e-05,-0.000213477395657,-2.36926981034e-05,1793248837951166208
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,878,786,809,654,628,653,0.400937220219,0.00455474334279,0.0499262374793,0.999999974487,7.06499809986e-05,-0.000213214957663,-2.39394827584e-05,1793248837993571072
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.420911472,664,634.420911472,879.158177055,786,809.579088528,653.420911472,628.579088528,652.420911472,0.400938800559,0.00455496872961,0.0499271652371,0.999999974714,7.19717115285e-05,-0.000211748086069,-2.35605056606e-05,1793248838010237184
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.842780205,745,715,679.157219795,664,634.157219795,880,786.157219795,810,653,629,652.157219795,0.400939822489,0.00455516333327,0.049927870061,0.999999974912,7.28895969128e-05,-0.000210514836607,-2.33867625424e-05,1793248838026903296
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.267196096,745,715,679.732803904,664,634.732803904,880,786.732803904,810,653,629,652.732803904,0.400939358482,0.00455527602251,0.0499279816542,0.999999975043,7.27328443859e-05,-0.000209903258938,-2.37591501462e-05,1793248838043569408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.307774094,745,715,679.692225906,664,634.692225906,879.692225906,786.692225906,809.692225906,653,628.692225906,653,0.40093947523,0.00455523681662,0.0499276509587,0.99999997495,7.29257622832e-05,-0.000210270015898,-2.38227330562e-05,1793248838060236288
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.882212331,745,715,679.117787669,664,634.117787669,879.117787669,786.117787669,809.117787669,653,628.117787669,653,0.400940095163,0.0045550660045,0.049926937052,0.999999974663,7.34216444944e-05,-0.000211484429572,-2.36187588595e-05,1793248838076903168
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.529501937,634,879,786,809,653,628.470498063,653,0.400947398101,0.00455439330494,0.0499290389693,0.999999975933,7.14621719934e-05,-0.00020609389753,-2.34864516353e-05,1793248838093569792
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,879,786,809,653,629,652.939186032,0.400957904751,0.00455380197693,0.0499322069322,0.9999999777,6.94913293545e-05,-0.00019804570295,-2.34316762104e-05,1793248838110236416
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,879,786,809,653,629,652.36196105,0.400980978277,0.00455500092287,0.0499382598205,0.999999980522,7.28019529781e-05,-0.000181896522568,-2.38783000445e-05,1793248838126903552
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.215169825,634.215169825,879,786,809.215169825,653.215169825,629,652,0.401009202425,0.00455505671178,0.0499446183839,0.999999983629,7.41511079501e-05,-0.000163261269875,-2.42861292024e-05,1793248838143570176
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.792142402,634.792142402,879,786,809.792142402,653.792142402,629,652,0.401046087213,0.00455319031025,0.0499514909319,0.999999987228,7.22021014432e-05,-0.00014044574956,-2.46287260247e-05,1793248838160236544
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.375839588,679,664,635,879,786,810,653.624160412,628.624160412,652.375839588,0.401089208959,0.00455334601485,0.0499569986433,0.999999990207,7.07051387277e-05,-0.000118088563758,-2.53423061438e-05,1793248838176902912
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.963323619,679,664,635,879,786,810,653.036676381,628.036676381,652.963323619,0.401135842891,0.00455464041658,0.0499617377825,0.999999992636,6.94627327049e-05,-9.5989475142e-05,-2.62647960369e-05,1793248838193569536
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.457105318,679.542894682,664,635,879,786,810,653,628,653,0.401192657342,0.0045556513702,0.0499627454538,0.999999993474,7.08373839028e-05,-8.5573201046e-05,-2.66695975711e-05,1793248838210235904
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,786,809.87866989,653.12133011,628.12133011,653,0.401254607155,0.00455592809023,0.0499639045751,0.999999994098,7.14409850889e-05,-7.73389150918e-05,-2.67938520677e-05,1793248838226902784
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,786,809.302516235,653.697483765,628.697483765,653,0.40133326648,0.00455352318061,0.0499665628385,0.999999994551,6.85009517848e-05,-7.43679861977e-05,-2.59956552037e-05,1793248838243569664
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.273727495,679.726272505,663.726272505,634.726272505,879,786,809.273727495,653.726272505,629,652.726272505,0.401420906232,0.00455127983178,0.0499680504637,0.999999994933,6.51174811966e-05,-7.24919297233e-05,-2.5279986237e-05,1793248838260236288
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.850070769,679.149929231,663.149929231,634.149929231,879,786,809.850070769,653.149929231,629,652.149929231,0.40151847417,0.0045492150945,0.0499682439054,0.999999995241,6.12437746108e-05,-7.1826295026e-05,-2.46555549341e-05,1793248838276903168
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.435333109,715.564666891,679,663.435333109,634,879,786,810,653,629,652,0.401631686351,0.00454800009649,0.0499677945292,0.999999995311,5.90693234042e-05,-7.30008455797e-05,-2.36684772252e-05,1793248838293570304
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.02336678,745.97663322,715,679.02336678,664,634,879,786,809.97663322,653,629,652.02336678,0.401751985819,0.00454706047501,0.049967263539,0.999999995314,5.75038945274e-05,-7.45464697118e-05,-2.25416609503e-05,1793248838310236928
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.602724108,745.397275892,715,679.602724108,664,634,879,786,809.397275892,653,629,652.602724108,0.401910039278,0.0045455641696,0.0499701685026,0.99999999578,5.62134280954e-05,-6.95262568004e-05,-2.1123834653e-05,1793248838326903040
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.819355658,745,715,679.819355658,664,634,879,786,809,653,629,652.819355658,0.402076190882,0.00454459335089,0.0499708804527,0.999999995897,5.51248736189e-05,-6.90777861422e-05,-1.98708551209e-05,1793248838343569664
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.244571036,745,715,679.244571036,664,634,879,786,809,653,629,652.244571036,0.402260011464,0.00454476906968,0.0499668075584,0.999999995247,5.44768625008e-05,-7.86042079742e-05,-1.89775479871e-05,1793248838360236544
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.669435675,634,879.330564325,786,809.330564325,653.330564325,629,652.330564325,0.402463752626,0.00454381444294,0.049964363773,0.999999995052,5.10157377498e-05,-8.35284838947e-05,-1.77814711684e-05,1793248838376903168
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.094040483,634,879.905959517,786,809.905959517,653.905959517,629,652.905959517,0.402682247887,0.00454202263129,0.0499631265789,0.999999995216,4.54710939247e-05,-8.50442036995e-05,-1.63611493539e-05,1793248838393569792
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.494133543,663.494133543,634,879.505866457,786,809.505866457,653.505866457,629,652.505866457,0.402935303087,0.00453993849459,0.0499657978475,0.999999995776,4.2608520494e-05,-8.01085970051e-05,-1.46500669953e-05,1793248838410236672
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663.91674436,634,879,786,809.08325564,653.08325564,628.91674436,652,0.403203380694,0.00453735085961,0.0499700060092,0.999999996537,3.95294125057e-05,-7.21007317309e-05,-1.28043479966e-05,1793248838426903296
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663.336858886,634,879,786,809.663141114,653.663141114,628.336858886,652,0.403520793277,0.00453210046708,0.0499788270652,0.999999998012,3.20330092076e-05,-5.32847423501e-05,-1.04943520875e-05,1793248838443570176
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.240075101,715.240075101,680,663.240075101,634,879,786,810,653.759924899,628.240075101,652,0.40385749912,0.0045274955003,0.049987431936,0.999999999063,2.47902363785e-05,-3.45455208373e-05,-8.08125052026e-06,1793248838460236544
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.812918002,715.812918002,680,663.812918002,634,879,786,810,653.187081998,628.812918002,652,0.404220947306,0.00452378515768,0.049995737152,0.999999999698,1.78990208845e-05,-1.59127083112e-05,-5.52523446882e-06,1793248838476903168
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.613398082,715.613398082,679.613398082,664,634,879,786,810,653,629,652.386601918,0.404605038795,0.00451960444686,0.0500025896437,0.99999999992,1.22841800004e-05,1.83763709294e-07,-2.9042252577e-06,1793248838493569792
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.039306317,715.039306317,679.039306317,664,634,879,786,810,653,629,652.960693683,0.404999141629,0.00451519562228,0.0500087376092,0.99999999986,7.28834110991e-06,1.50501893131e-05,-2.51696469772e-07,1793248838510236160
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.55484547,663.44515453,634,879,786,810,653,629,652.44515453,0.4054097679,0.00451300124956,0.0500017617636,0.999999999981,4.73785482256e-06,3.1623002849e-06,2.27356993382e-06,1793248838526902784
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.854580785,663.145419215,634,879,786,810,653,629,652,0.405827422645,0.00451036231067,0.0499905821643,0.999999999825,1.92229141188e-06,-1.79111816026e-05,5.01841249707e-06,1793248838543569664
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.278954253,663.721045747,634,879,786,810,653,629,652,0.406262277458,0.0045059266607,0.0499698198445,0.999999998141,-2.2091907353e-06,-6.03418133493e-05,8.44051923451e-06,1793248838560236800
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.29430937,664,634,879.29430937,786,810,653,629,652.29430937,0.406731832901,0.00450083470056,0.0499512785301,0.99999999556,-6.09149350033e-06,-9.33045034419e-05,1.16848767288e-05,1793248838576903680
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.865351269,664,634,879.865351269,786,810,653,629,652.865351269,0.407234016624,0.00449512562611,0.0499348255751,0.999999992956,-9.73949893866e-06,-0.000117364704385,1.47621009839e-05,1793248838593570304
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.455921746,745,715,680,663.544078254,634,880,786,810.455921746,653,629,653,0.407792010493,0.00448946862734,0.0499422073981,0.999999994994,3.53503040672e-06,-9.82971766859e-05,1.83866019757e-05,1793248838610236928
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.949239751,745,715,680,663.050760249,634,880,786,811,653,628.949239751,653,0.408372009365,0.00448360965244,0.0499582904781,0.99999999746,2.09217109585e-05,-6.44013359616e-05,2.22223974185e-05,1793248838626903296
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.372608365,745,715,680,663.627391635,634,880,786,811,653,628.372608365,653,0.409001578993,0.00447549175896,0.0499883289445,0.999999999181,2.68163516843e-05,-1.4745059991e-05,2.64977941061e-05,1793248838643569920
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.203900886,680,664,634,880,786,810.796099114,653,628.203900886,653,0.409633820752,0.00446753038041,0.0500091755294,0.999999999119,2.40734558012e-05,1.79253941258e-05,2.93551631937e-05,1793248838660236544
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.780187046,680,664,634,880,786,810.219812954,653,628.780187046,653,0.410270942603,0.00445985484641,0.0500132349304,0.999999999354,5.55578052118e-06,1.9574548248e-05,2.96227807568e-05,1793248838676903424
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.636196707,680,664,634,880,786,810.363803293,653,629,653,0.410893455698,0.00445223082493,0.0499932806841,0.999999999126,-1.49208691525e-05,-2.54621817526e-05,2.96313153615e-05,1793248838693570048
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.048060513,680,664,634,880,786,810.951939487,653,629,653,0.411506960536,0.00444463856803,0.0499585188443,0.999999993967,-3.66054851833e-05,-9.92869410438e-05,2.9480090869e-05,1793248838710236672
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.532010309,786,811,653,629,653,0.412218783889,0.00443906371595,0.0499493694409,0.99999999347,-4.26853614124e-05,-0.000101971702361,2.89686075558e-05,1793248838726903552
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.110509528,634,880.889490472,785.889490472,811,653,629,653,0.412952345547,0.00443362714482,0.0499498159884,0.99999999463,-4.489859634e-05,-8.88020480557e-05,2.89440454286e-05,1793248838743570432
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.68542029,634,880.31457971,785.31457971,811,653,629,653,0.413740491888,0.00442801724933,0.0499810101371,0.999999998209,-3.66983756254e-05,-3.56100256777e-05,3.11004263911e-05,1793248838760236800
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,634,880.260505679,785.260505679,811,653,629,653,0.414511332133,0.00442819099964,0.0499895560105,0.999999998741,-3.24591648948e-05,-2.03260592903e-05,3.24200368859e-05,1793248838776903424
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,634,880.835802161,785.835802161,811,653,629,653,0.415261260079,0.00443535361222,0.0499707340826,0.999999997627,-3.30063728583e-05,-5.08495610295e-05,3.27285079769e-05,1793248838793570304
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.578031057,634,881,786,811,652.578031057,629,653,0.416038914123,0.00444655993755,0.0499492248605,0.999999995638,-2.50769015034e-05,-8.40942692758e-05,3.19807391051e-05,1793248838810236672
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.012228063,745,715.012228063,680,664.012228063,634,881,786,811.012228063,652.012228063,629,653,0.416829169638,0.0044590124868,0.0499276731792,0.999999992622,-1.39111545839e-05,-0.00011666402051,3.08645334252e-05,1793248838826903552
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.590935436,745,715.590935436,680,664.590935436,634,881,786,811.590935436,652.590935436,629,653,0.4176901826,0.00445437606522,0.0499538781094,0.999999997148,-9.66715949753e-06,-6.76145660328e-05,3.22239212929e-05,1793248838843570176
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.83119302,745,715.83119302,680.16880698,665,634,881,786,812,653,629,653,0.418539807761,0.0044492207653,0.0499731399084,0.999999998722,-1.0742621282e-05,-3.62712148632e-05,3.35409378822e-05,1793248838860237056
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.255336968,745,715.255336968,680.744663032,665,634,881,786,812,653,629,653,0.419361973141,0.00444281427953,0.0499756595359,0.999999997958,-2.46450410548e-05,-4.76230975914e-05,3.47557834751e-05,1793248838876903424
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.681076391,665,634,881.318923609,786,812,653,629.318923609,653,0.42021024311,0.00443917959682,0.0499709542455,0.999999997516,-3.27483868234e-05,-5.19024659301e-05,3.4673406235e-05,1793248838893570304
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.108086853,665,634,881.891913147,786,812,653,629.891913147,653,0.421079308886,0.00443775303165,0.0499604933276,0.999999997503,-3.62319826419e-05,-5.05476163917e-05,3.35576149433e-05,1793248838910236928
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.481176803,665,634,881.518823197,786,812,653,630,653,0.422007661821,0.00443565649743,0.0499815538751,0.999999998582,-4.09285897914e-05,-5.01171596067e-06,3.36969000617e-05,1793248838926903040
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665.072414921,634,881,785.927585079,812,653,630,653,0.422940712248,0.00443412150294,0.0500045716973,0.999999997656,-4.40958216212e-05,3.9662861156e-05,3.42004908439e-05,1793248838943569664
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665.651006755,634,881,785.348993245,812,653,630,653,0.423810248772,0.00443760042534,0.0499900446389,0.99999999876,-3.46015021586e-05,6.51734677623e-06,3.52109134033e-05,1793248838960236544
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665.772527015,634,881,785,812.227472985,653,629.772527015,653,0.42469328738,0.00443971090697,0.0499839904311,0.999999998915,-2.87058267786e-05,-6.76638433097e-06,3.6050320105e-05,1793248838976903168
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665.199291646,634,881,785,812.800708354,653,629.199291646,653,0.425596849495,0.00443974133843,0.0499908150824,0.999999998878,-2.82801435102e-05,1.01400909229e-05,3.66297803098e-05,1793248838993570048
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785,813,652.615303983,629.384696017,653,0.426508010842,0.00443728779834,0.0500029988799,0.999999998508,-3.2950318457e-05,2.02053441118e-05,3.86119395888e-05,1793248839010236416
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785,813,652.025585967,629.974414033,653,0.427423222112,0.00443351043687,0.0500180388096,0.999999997977,-4.03363079681e-05,2.6624597995e-05,4.13416609473e-05,1793248839026902784
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881.551447107,785,813,652,630,653,0.428256983283,0.00443367889585,0.0499786730145,0.99999999751,-3.52840424409e-05,-4.48971002964e-05,4.14726683289e-05,1793248839043569408
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881.871063708,785,813.128936292,652,630,653,0.429110987881,0.00443419336907,0.0499477717734,0.999999994049,-2.97317693189e-05,-9.65282740192e-05,4.12299464198e-05,1793248839060236288
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881.289957395,785,813.710042605,652,630,653,0.430048939696,0.00443529368563,0.0499552086072,0.99999999672,-2.44043756089e-05,-6.60079419097e-05,4.00899230344e-05,1793248839076902912
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785,814,652,630,653,0.430942712797,0.00443465533379,0.0499558885728,0.999999997086,-2.68886876284e-05,-5.91370349569e-05,4.01033119205e-05,1793248839093569280
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785,814,652,630,653,0.431792487936,0.00443228542919,0.0499498393232,0.999999995584,-3.71527354556e-05,-7.58187671837e-05,4.12653926991e-05,1793248839110235904
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.446082026,665,634,881,785,814,652,630,653,0.432655783636,0.0044316905138,0.0499402189282,0.999999994183,-4.48682067656e-05,-8.90046537577e-05,4.12101866076e-05,1793248839126902528
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.965356582,665,633.965356582,881,785,814.034643418,652,630,653,0.433523977428,0.00443166716244,0.0499318033617,0.999999993114,-5.05384497134e-05,-9.7728952595e-05,4.08396274103e-05,1793248839143569408
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.386461731,665,633.386461731,881,785,814.613538269,652,630,653,0.434400982749,0.00443167807878,0.0499603125669,0.999999996994,-3.69215006173e-05,-5.39785767741e-05,4.16493583234e-05,1793248839160237056
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.808266819,715,681,665,633.191733181,881.191733181,785,814.808266819,652,630,653,0.435249695354,0.00443285555298,0.0499777426721,0.999999998206,-2.58612414703e-05,-3.32094669348e-05,4.26186986533e-05,1793248839176903936
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.231477484,715,681,665,633.768522516,881.768522516,785,814.231477484,652,630,653,0.436041588088,0.00443637581562,0.0499729227178,0.999999997121,-1.9935559169e-05,-5.85934349587e-05,4.39085815229e-05,1793248839193569792
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.350622285,715,681,664.649377715,634,881.649377715,785,814.350622285,652,630,653,0.436821115022,0.0044359603568,0.0499630589278,0.999999995514,-2.60549558158e-05,-7.94744327218e-05,4.44541023772e-05,1793248839210236160
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.936281832,715,681,664.063718168,634,881.063718168,785,814.936281832,652,630,653,0.437592352577,0.00443290661368,0.049949814037,0.999999993463,-4.02486894884e-05,-9.73368934912e-05,4.45006451402e-05,1793248839226902784
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.516316424,634,881,785,815,652,630,653,0.438424751017,0.00443162101159,0.0499724472257,0.99999999697,-4.29845422836e-05,-4.77019633257e-05,4.4016148944e-05,1793248839243569408
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664.904607571,634,881.095392429,784.904607571,815,652.095392429,630,653,0.439243133541,0.00443063774991,0.049992352459,0.999999998198,-4.10287277401e-05,-4.43867372569e-06,4.36094953958e-05,1793248839260236032
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.326906302,634,881.673093698,784.326906302,815,652.673093698,630,653,0.439952900043,0.00443009177196,0.0499763196896,0.99999999817,-2.24238545453e-05,-3.50526910423e-05,4.39241963282e-05,1793248839276902912
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.249291414,664,633.750708586,882,784.249291414,815,652.750708586,630.249291414,653,0.440651218599,0.0044294502598,0.0499607099019,0.999999997027,-1.6167636071e-05,-6.12674906159e-05,4.39479002009e-05,1793248839293570048
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681.823529233,664,633.176470767,882,784.823529233,815,652.176470767,630.823529233,653,0.441334614929,0.00442868422073,0.0499456514637,0.99999999537,-2.6007645246e-05,-8.17479948713e-05,4.35922952021e-05,1793248839310237184
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681.591619903,664.816760193,633,882,785,815,652,630.591619903,653,0.442018567539,0.00442732245511,0.0499590351086,0.99999999686,-3.36780252545e-05,-5.66056451576e-05,4.40679477624e-05,1793248839326903296
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681.002060475,665.99587905,633,882,785,815,652,630.002060475,653,0.442702767003,0.00442569639315,0.0499850371868,0.999999998113,-4.03858420996e-05,-1.12225501504e-05,4.49123906936e-05,1793248839343569408
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665.422861818,633,882,785,815.577138182,652.577138182,630,653,0.443351935486,0.00442592072818,0.0499969330426,0.999999998011,-4.35612469642e-05,6.94007938062e-06,4.50811794233e-05,1793248839360236032
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.844681911,745,715,681.155318089,665,633,882,784.844681911,815.844681911,652.844681911,630.155318089,653,0.44396892621,0.00442617250202,0.0499956816658,0.999999997997,-4.41500987664e-05,2.43377385497e-06,4.52849330721e-05,1793248839376902656
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.269159734,745,715,681.730840266,665,633,882,784.269159734,815.269159734,652.269159734,630.730840266,653,0.444499194405,0.0044264809525,0.0499589950634,0.999999996254,-3.7774699136e-05,-6.31437357754e-05,4.55896931884e-05,1793248839393569280
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.306872059,745,715,681.693127941,664.693127941,633.306872059,882,784,815.306872059,652,631,653,0.445039681585,0.0044266164326,0.0499404993719,0.999999994492,-3.41477798174e-05,-8.83082720881e-05,4.52851459503e-05,1793248839410236160
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.88335155,745,715,681.11664845,664.11664845,633.88335155,882,784,815.88335155,652,631,653,0.445589146788,0.00442659994675,0.049937985603,0.99999999543,-3.29355829984e-05,-7.79673305843e-05,4.44452819453e-05,1793248839426903040
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.469982317,664.469982317,633.530017683,882,784.469982317,815.530017683,652.469982317,631,652.530017683,0.446125792632,0.0044258028282,0.0499568500093,0.999999997708,-3.6175658844e-05,-3.68874082151e-05,4.37509283296e-05,1793248839443569408
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633,882,785,815.058392003,652.941607997,630.941607997,652.058392003,0.446652592687,0.00442499444252,0.0499788839925,0.999999998251,-3.97666508062e-05,6.97839964752e-06,4.32228171711e-05,1793248839460236288
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633,882,785,815.639671722,652.360328278,630.360328278,652.639671722,0.447120346578,0.00442585846319,0.0499807377508,0.999999998359,-3.63861481278e-05,5.96391535218e-06,4.38528275189e-05,1793248839476902912
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.782468794,665,633.217531206,882.217531206,784.782468794,816,652,630.217531206,653,0.447550537963,0.00442618711023,0.0499690236197,0.999999998338,-3.49939933227e-05,-1.317760874e-05,4.38933975972e-05,1793248839493569536
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.210187093,665,633.789812907,882.789812907,784.210187093,816,652,630.789812907,653,0.447919472261,0.00442564266837,0.0499351829366,0.999999996483,-3.68444420215e-05,-6.18807595388e-05,4.29727067152e-05,1793248839510236160
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.371519616,665.371519616,633.628480384,882.628480384,784,816,652,631,653,0.448274230997,0.00442484016289,0.0499153234665,0.999999994056,-3.8050584731e-05,-9.26837020139e-05,4.3004430246e-05,1793248839526903040
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.958697366,665.958697366,633.041302634,882.041302634,784,816,652,631,653,0.448620761199,0.00442388785767,0.0499035797484,0.999999991899,-3.88827236231e-05,-0.000113096011943,4.35890072049e-05,1793248839543569664
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,682,665.460938219,633,882,784,816.539061781,652,630.460938219,653,0.448977547649,0.00442473932218,0.0499175546357,0.999999994339,-3.75707822796e-05,-8.96078944956e-05,4.33742090768e-05,1793248839560236288
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633,882,784,816.881494865,652,630,653,0.449325929985,0.00442518549215,0.0499340339499,0.999999996394,-3.71094871117e-05,-6.29430057935e-05,4.3283399628e-05,1793248839576903168
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633,882,784,816.303623365,652,630,653,0.449638727096,0.00442353156359,0.049952678113,0.999999997534,-4.05744372564e-05,-3.68396890796e-05,4.3907666335e-05,1793248839593569792
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715.272909979,681.727090021,665,633,882,784.272909979,816,652,630,653,0.449924451651,0.0044224044312,0.0499640458992,0.999999997911,-4.20774100404e-05,-2.12316783452e-05,4.424502186e-05,1793248839610236416
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715.847961801,681.152038199,665,633,882,784.847961801,816,652,630,653,0.450180203844,0.00442186052112,0.0499673579218,0.999999998014,-4.14082544652e-05,-1.72431456876e-05,4.42647346341e-05,1793248839626903040
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715.566678537,681.433321463,664.566678537,633,881.566678537,785,816,652,630.433321463,653,0.450399414631,0.00442182638679,0.0499681832563,0.999999997961,-4.18186801718e-05,-1.86715692216e-05,4.45146785417e-05,1793248839643569664
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715.022019359,682,664,633,881.022019359,784.977980641,816,652.022019359,631,653,0.450604611654,0.00442197925826,0.0499681532159,0.99999999785,-4.25358757455e-05,-2.19142847952e-05,4.48363517587e-05,1793248839660236032
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715.601438038,682,664,633,881.601438038,784.398561962,816,652.601438038,631,653,0.450787528122,0.00442222791403,0.0499690947956,0.999999997907,-4.11963103239e-05,-2.17990171502e-05,4.48790737011e-05,1793248839676902656
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.17938531,745,715.82061469,682,664.17938531,633,882,784,816,653,630.82061469,653,0.450958996335,0.00442215611599,0.0499698536732,0.9999999979,-4.04111840103e-05,-2.30925874422e-05,4.50976143493e-05,1793248839693569280
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.754089899,745,715.245910101,682,664.754089899,633,882,784,816,653,630.245910101,653,0.451105235498,0.00442137811976,0.049970209922,0.999999997743,-4.0847899666e-05,-2.74908757342e-05,4.57036143881e-05,1793248839710236160
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.327801881,745,715,682,664.663900941,633,882,784.336099059,816,653,630,653,0.451228486321,0.00442125524455,0.0499687181342,0.999999997522,-4.08703945977e-05,-3.39185914845e-05,4.62162156097e-05,1793248839726903040
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.152857053,745,715,682,664.076428526,633,882,784.923571474,816,653,630,653,0.451334543846,0.00442162234375,0.0499658441732,0.999999997212,-4.05830878943e-05,-4.18641458865e-05,4.66589625646e-05,1793248839743570176
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.504166498,745,715,681.495833502,664,633,882,784.495833502,816,653,630.504166498,653,0.451415199205,0.00442304148211,0.0499553890329,0.999999996363,-4.01097922095e-05,-5.94587226392e-05,4.61602305381e-05,1793248839760236544
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681.083722592,664,633,882,784,816,652.916277408,630.916277408,653,0.451490185666,0.00442460441157,0.0499445838092,0.999999995207,-3.93174978754e-05,-7.72422373143e-05,4.55295420185e-05,1793248839776903168
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681.663217398,664,633,882,784,816,652.336782602,630.336782602,653,0.451554099295,0.00442608713182,0.0499384194043,0.999999994476,-3.68009305735e-05,-8.75994175159e-05,4.49512311811e-05,1793248839793569536
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784,816,652,630,653,0.451611734201,0.00442665057389,0.0499341358629,0.999999993904,-3.5843128437e-05,-9.44241213157e-05,4.4627403625e-05,1793248839810236160
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784,816,652,630,653,0.451660656875,0.00442593844399,0.0499324621704,0.999999993675,-3.70482376161e-05,-9.63472313714e-05,4.46566919863e-05,1793248839826902784
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784,816,652,630,653,0.451696030237,0.00442749671396,0.0499306085703,0.99999999323,-3.52151099771e-05,-0.000101411838276,4.48949535991e-05,1793248839843569408
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784,816,652,630,653,0.451724893658,0.00443014582667,0.0499286685312,0.999999992637,-3.19222224692e-05,-0.000107985817559,4.5233619087e-05,1793248839860236032
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681.434896903,664,632.434896903,882,784.565103097,816,652,630.565103097,653,0.451748333008,0.00443005698976,0.0499281255394,0.999999992649,-3.18592720924e-05,-0.000108069393834,4.48075212129e-05,1793248839876903168
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,744.857355169,715,681,664,632.142644831,881.857355169,784.857355169,816,652,631,653,0.451769039014,0.00442963817958,0.0499275389067,0.999999992619,-3.2416226738e-05,-0.000108302328516,4.45160221069e-05,1793248839893570048
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,744.283290158,715,681,664,632.716709842,881.283290158,784.283290158,816,652,631,653,0.451781872648,0.00442842050057,0.0499267186861,0.999999992412,-3.46131510512e-05,-0.000109458995295,4.46872250004e-05,1793248839910236416
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,744,715,681.290932847,664,633,881.290932847,784,816,652,630.709067153,653,0.45179091913,0.00442849301578,0.0499259326738,0.999999992199,-3.53725139011e-05,-0.000111223629871,4.44873819651e-05,1793248839926902528
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,744,715,681.865309848,664,633,881.865309848,784,816,652,630.134690152,653,0.451796275944,0.00442982251513,0.0499251799891,0.999999991982,-3.47313187816e-05,-0.00011358058312,4.39260438473e-05,1793248839943569408
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.454659636,744.454659636,715,682,664,633,882,784,816,652,630,653,0.45179797876,0.00443188156414,0.0499232206637,0.999999991534,-3.2260233353e-05,-0.000118124666928,4.40310980824e-05,1793248839960236032
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.952615198,745,715,682,664,633,882,784,816,652,630,653,0.451798721534,0.00443384669235,0.04992106043,0.999999991028,-2.95252264143e-05,-0.000122920515946,4.42931918142e-05,1793248839976902656
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.373482322,745,715,682,664,633,882,784,816,652,630,653,0.45180125189,0.00443224992884,0.0499207936052,0.99999999101,-3.01190005026e-05,-0.000123023108589,4.40267583575e-05,1793248839993569536
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.203411182,745,715,682,664.203411182,633,882,784.203411182,816,652,630,653,0.451802775233,0.0044314190177,0.0499202979227,0.999999990946,-3.07499176018e-05,-0.000123461047107,4.38050894365e-05,1793248840010236160
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.776237722,745,715,682,664.776237722,633,882,784.776237722,816,652,630,653,0.451802469736,0.0044319789723,0.0499193866112,0.999999990801,-3.14482901444e-05,-0.000124508007772,4.36647174727e-05,1793248840026902784
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.641331904,745,715,682,665,633,882,784.641331904,816,652.358668096,630.358668096,653,0.451802765785,0.00443297004875,0.0499185492177,0.999999990782,-3.05091563701e-05,-0.000124956267648,4.34858875366e-05,1793248840043569408
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.052745164,745,715,682,665,633,882,784.052745164,816,652.947254836,630.947254836,653,0.451803447445,0.00443423748918,0.0499177592082,0.999999990842,-2.85203244262e-05,-0.000125020739585,4.32824047162e-05,1793248840060235776
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664.472209127,633,882.527790873,784,816,653,631,653,0.451804001387,0.00443323556351,0.0499184631809,0.999999990733,-3.08571037144e-05,-0.000125214042367,4.36203496735e-05,1793248840076902656
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882.893503677,784,816,652.893503677,631,653,0.451804463225,0.00443257172074,0.0499190046836,0.99999999065,-3.23129461874e-05,-0.000125431544745,4.38562498612e-05,1793248840093569536
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882.319357031,784,816,652.319357031,631,653,0.451804575824,0.00443437340827,0.0499181869718,0.999999990765,-2.80306515468e-05,-0.000125699626307,4.34100164272e-05,1793248840110236160
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.745073246,664,633,882,784,816,652.254926754,630.745073246,653,0.451805030799,0.00443520635403,0.0499182079627,0.999999990846,-2.67965764748e-05,-0.000125457137377,4.30085504099e-05,1793248840126902528
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.170617492,664,633,882,784,816,652.829382508,630.170617492,653,0.451805914916,0.00443482506462,0.049919280196,0.999999990899,-2.93831847646e-05,-0.000124574691804,4.26631964815e-05,1793248840143569408
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.417007926,664,633,882,784,816,652.582992074,630.417007926,653,0.451805044971,0.00443380344101,0.0499182184946,0.999999990599,-3.04959939362e-05,-0.000126541051087,4.31108906581e-05,1793248840160236288
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.990046562,664,633,882,784,816,652,631,653,0.451803505319,0.00443253373343,0.0499163088457,0.999999990159,-3.09895647882e-05,-0.000129601677321,4.38694141256e-05,1793248840176902912
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.411045908,664,633,882,784,816,652,631,653,0.4518060457,0.00443254754353,0.0499174645693,0.999999990573,-3.16790377527e-05,-0.000126412180635,4.32429555633e-05,1793248840193569792
+240,4.000000000,HOLD_POSE2,766,745,716,681,664,633,883,785,816,653,631,653,0.451804799741,0.00443563326462,0.0499174393076,0.999999990561,-2.87876680155e-05,-0.000127470858278,4.24329919073e-05,1793248840234366976
+241,4.016666667,HOLD_POSE2,766,745,715.423407195,681,664,633,882.423407195,784.423407195,815.423407195,653,631,653,0.451805293845,0.0044340175886,0.0499168358459,0.999999990355,-2.95091812708e-05,-0.000128685257352,4.31137326809e-05,1793248840251033344
+242,4.033333333,HOLD_POSE2,766,745,715,681,664,633,882,784,815.156564274,652.843435726,630.843435726,653,0.451805791477,0.00443327520421,0.04991645877,0.999999990271,-2.93580728502e-05,-0.000129261467312,4.34430287978e-05,1793248840267699968
+243,4.050000000,HOLD_POSE2,766,745,715,681,664,633,882,784,815.745874551,652.254125449,630.254125449,653,0.451806298865,0.00443494661059,0.0499167074278,0.999999990524,-2.67950251834e-05,-0.000128073713256,4.2800926763e-05,1793248840284366592
+244,4.066666667,HOLD_POSE2,766,745,715,681.329479687,664,633,882,784,816,652.329479687,630,653,0.45180659117,0.00443670059463,0.0499170256198,0.999999990656,-2.46957107266e-05,-0.000127564036186,4.24983783201e-05,1793248840301033472
+245,4.083333333,HOLD_POSE2,766,745,715,681.908759348,664,633,882,784,816,652.908759348,630,653,0.451806720408,0.00443851718606,0.0499173965304,0.999999990699,-2.2947982724e-05,-0.000127568453441,4.24532675729e-05,1793248840317700096
+246,4.100000000,HOLD_POSE2,766,745,715,682,664,633,882,784,816,652.515477793,630.484522207,653,0.451807130297,0.00443652959221,0.0499179121259,0.999999990743,-2.40869987126e-05,-0.000126845355559,4.29431130926e-05,1793248840334366464
+247,4.116666667,HOLD_POSE2,766,745,715,681.939203234,664,633,881.939203234,784,816,652,630.939203234,652.939203234,0.451807559912,0.00443416157142,0.049918369949,0.999999990769,-2.57749368175e-05,-0.000126147017294,4.3417512515e-05,1793248840351033088
+248,4.133333333,HOLD_POSE2,766,745,715,681.352821145,664,633,881.352821145,784,816,652,630.352821145,652.352821145,0.451807706461,0.00443465312204,0.0499180944923,0.999999990657,-2.75427104907e-05,-0.000126838538785,4.28937818544e-05,1793248840367699456
+249,4.150000000,HOLD_POSE2,766,744.769117145,715,681.230882855,664,632.769117145,881.230882855,784,816,652,630.230882855,652,0.451806675647,0.00443525926776,0.0499169713086,0.999999990435,-2.80930534363e-05,-0.000128591146319,4.24911978499e-05,1793248840384366080
+250,4.166666667,HOLD_POSE2,766,744.189458764,715,681.810541236,664,632.189458764,881.810541236,784,816,652,630.810541236,652,0.451803866285,0.00443603852272,0.0499145675342,0.999999990042,-2.68043248861e-05,-0.000131946648214,4.22716200696e-05,1793248840401032704
+251,4.183333333,HOLD_POSE2,766,744.389353386,715,682,664.389353386,632.389353386,882,784,816,652,630.610646614,652.389353386,0.451804259275,0.00443641686713,0.049914684088,0.999999990157,-2.60974494825e-05,-0.000131217658914,4.22644996865e-05,1793248840417699328
+252,4.200000000,HOLD_POSE2,766,744.967754705,715,682,664.967754705,632.967754705,882,784,816,652,630.032245295,652.967754705,0.451806207145,0.00443660055219,0.04991602437,0.999999990516,-2.56730888708e-05,-0.000128505472512,4.23605365533e-05,1793248840434365952
+253,4.216666667,HOLD_POSE2,766,745,715,681.456220559,664.456220559,633,882,784,815.456220559,652,630,653,0.451806576365,0.00443725203004,0.0499165537687,0.999999990554,-2.66390479687e-05,-0.000128203161734,4.17963813259e-05,1793248840451032320
+254,4.233333333,HOLD_POSE2,766,745,715,681.12193766,664.12193766,633,882,784,815.12193766,652,630.12193766,653,0.451806725292,0.00443769779141,0.0499168044976,0.999999990536,-2.71172752058e-05,-0.000128355466088,4.14346602462e-05,1793248840467698944
+255,4.250000000,HOLD_POSE2,766,745,715,681.708764939,664.708764939,633,882,784,815.708764939,652,630.708764939,653,0.451806389688,0.00443725395824,0.0499161753164,0.999999990384,-2.5423064891e-05,-0.000129698553474,4.19933274766e-05,1793248840484366592
+256,4.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,634,882,784,816,652,631,653,0.451805558377,0.00443649416728,0.0499158229119,0.999999990384,-2.79400085004e-05,-0.000129233175902,4.1827628985e-05,1793248840521408512
+257,4.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.852010231,882,784,816,652,630.426005116,653,0.451805939415,0.00443610890892,0.0499160952488,0.999999990374,-2.75163485704e-05,-0.000129282338398,4.21950094734e-05,1793248840538075136
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.147223486,882,784,816,652,630.147223486,653,0.451806109648,0.00443619936547,0.0499161195256,0.99999999035,-2.66476404194e-05,-0.000129587127084,4.23958942388e-05,1793248840554741760
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.718246388,882,784,816,652,630.718246388,653,0.451805673055,0.00443765922098,0.0499154297337,0.999999990281,-2.44978106464e-05,-0.000130627764609,4.2117502363e-05,1793248840571408384
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882.302114497,784,816,652,630.697885503,653,0.451805423188,0.00443745799496,0.0499152665096,0.99999999024,-2.3638874924e-05,-0.000131054233347,4.22580919863e-05,1793248840588075264
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882.898494039,784,816,652,630.101505961,653,0.451805355195,0.00443563884508,0.0499156161724,0.99999999023,-2.40372937416e-05,-0.000130882490392,4.28067772682e-05,1793248840604742400
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.51953949,882.51953949,784,816,652,630,653,0.451806087319,0.00443581823252,0.0499160736583,0.99999999031,-2.48321790437e-05,-0.00013007396856,4.2949114984e-05,1793248840621409024
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.059082934,682,664,632.059082934,882,784,816,652,630,653,0.451806528041,0.00443650633816,0.049916302088,0.999999990367,-2.55512847459e-05,-0.000129501757953,4.29345907706e-05,1793248840638075648
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.634318304,682,664,632.634318304,882,784,816,652,630,653,0.451802989328,0.00443805746536,0.0499143362588,0.999999990067,-2.48979474858e-05,-0.000132135020508,4.22778435771e-05,1793248840654742016
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.790757983,681.790757983,664.209242017,633,881.790757983,784,816,652,630.209242017,653,0.451794461112,0.00443848236217,0.049910104555,0.999999989156,-2.5071512381e-05,-0.000138937260715,4.18961461379e-05,1793248840671408640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.216378191,681.216378191,664.783621809,633,881.216378191,784,816,652,630.783621809,653,0.451777225966,0.00443694193051,0.049901918787,0.999999987055,-2.66880629272e-05,-0.000153014574981,4.19944243289e-05,1793248840688075008
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,744.630550017,715,681.369449983,664.630550017,633,881.369449983,784,815.630550017,652,631,653,0.451744314992,0.00443754946817,0.0498881869315,0.999999982945,-2.5332171687e-05,-0.000178132426801,4.16679537282e-05,1793248840704741632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,744.037802318,715,681.962197682,664.037802318,633,881.962197682,784,815.037802318,652,631,653,0.451701929454,0.0044394552508,0.0498711029878,0.999999976876,-2.2179719506e-05,-0.000209923244857,4.10847624694e-05,1793248840721408000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,744.540451868,715,682,664,633,882,784,815.540451868,652,631,653,0.451639302978,0.00443881220256,0.0498497164584,0.999999968631,-2.29712923663e-05,-0.000246034825994,4.09598006496e-05,1793248840738074880
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784,816,652,631,653,0.451501715243,0.00444218353592,0.0498185305345,0.999999957673,-1.9782745774e-05,-0.000287634113965,3.91022462474e-05,1793248840771408128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.726399016,664,633,882,784.273600984,816,652,631,652.726399016,0.451422931652,0.00444427532573,0.0498111166181,0.999999955701,-1.69481273871e-05,-0.000294720553483,3.8094469123e-05,1793248840788075008
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,744.555697886,715,681.444302114,664,633,882.444302114,785,816,652,630.555697886,652,0.451235451346,0.00444513147846,0.0498125188675,0.999999956924,-1.27568802052e-05,-0.000290834270163,3.74914954761e-05,1793248840821408512
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.748231689,664.748231689,633,881.251768311,784,816,652,630.748231689,652.748231689,0.450700874697,0.00445020341194,0.0498385432468,0.999999970818,-3.35291148037e-06,-0.000239005405385,3.5068852923e-05,1793248840888074752
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,744.50497174,715,682,664,633,882,784.50497174,815.49502826,652.50497174,630,653,0.450056900668,0.00445866481111,0.0498268223838,0.999999967294,1.4234829121e-05,-0.000253412587869,3.1475675948e-05,1793248840938075136
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.342527976,664,633,882,785,815,652.342527976,630,653,0.449500081959,0.00446679795276,0.0498133859746,0.999999961594,2.72785707613e-05,-0.000274355694083,2.82270006057e-05,1793248840971407872
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.393098851,745,715,682,664.393098851,633,881.393098851,785,814.606901149,652.393098851,630,653,0.448513220586,0.00448243133806,0.0497955203124,0.999999954894,5.27276263657e-05,-0.000294904542686,2.15193251002e-05,1793248841021408000
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,744.436781815,715,681.436781815,664.436781815,633,882,784.436781815,814.563218185,652.436781815,630.563218185,652.436781815,0.447719826493,0.0044939430111,0.049779181389,0.999999948269,6.87979025654e-05,-0.000313766186917,1.67401727493e-05,1793248841054741504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.859862067,744.140137933,715,681,664.280275866,633,882,784,815,652,631,652,0.447283545642,0.00449972605516,0.049769118363,0.999999943845,7.73994620568e-05,-0.000325757083021,1.42254725794e-05,1793248841071408640
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.284347025,744.715652975,715,681,665.43130595,633,882,784,815,652,631,652,0.446820131937,0.00450877082373,0.0497568982234,0.999999936013,8.94768548082e-05,-0.000346182148928,1.11849387457e-05,1793248841088075264
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.317135877,745,715,681,664.317135877,633,881,785,812.317135877,652,630,652.317135877,0.439608585362,0.0045832396222,0.0498102329742,0.99999995813,6.57343169862e-05,-0.00028090069941,-2.2652187705e-05,1793248841288074240
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.850555445,745,715,681,664,633,881,785.850555445,812.850555445,652,630,652,0.438045779891,0.0045895909819,0.0497550781103,0.999999928326,2.80572115345e-05,-0.000376246191462,-3.1611151848e-05,1793248841321407488
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664.387550254,634,879.612449746,786,811,653,630,652.387550254,0.418968283037,0.00457902762963,0.049790670437,0.999999934091,9.61480526469e-05,-0.0003485186291,-3.32857885038e-05,1793248841688074240
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.189413165,745,715,681,663.810586835,634,880.189413165,785.810586835,811,653,630,652,0.418102617859,0.00458005956811,0.049781791594,0.999999925046,0.000105939732764,-0.000370931845854,-3.30820121523e-05,1793248841704740864
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.765363578,745,715,681,663.234636422,634,880.765363578,785.234636422,811,653,630,652,0.417277407548,0.00458058527168,0.0497707524174,0.999999921822,0.000107255442751,-0.000379067666806,-3.40536002058e-05,1793248841721407488
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.348670283,634,880.302659435,785.348670283,811,653,629.651329717,652,0.416484566732,0.00458113253375,0.0497810010749,0.999999931584,0.000103900667068,-0.00035328707083,-3.49934385752e-05,1793248841738073856
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663.937034038,634,879.125931924,785.937034038,811,653,629.062965962,652,0.415713978383,0.00458169461618,0.04980588406,0.999999948352,9.73351645673e-05,-0.00030419062439,-3.59114504908e-05,1793248841754740480
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.482370359,664,634,879.517629641,786,811,653,629.517629641,652.517629641,0.41492719186,0.00458264440371,0.0498063616407,0.999999947554,0.000101234047965,-0.000305500068338,-3.62492862577e-05,1793248841771407104
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.096521579,664,634,880,786,811,653,629.903478421,653,0.41414073452,0.00458292521635,0.0498002014996,0.999999942984,0.000105541284423,-0.000318692145398,-3.64459536594e-05,1793248841788073984
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.671582587,664,634,880,786,811,653,629.328417413,653,0.413365533716,0.00457965898952,0.0497756335004,0.999999928655,0.000105655446608,-0.000360846843642,-3.628745295e-05,1793248841804740608
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,634,880,786,811,653,629.251747802,653,0.412623815977,0.00457980891089,0.0497701154588,0.999999924193,0.000107388109655,-0.000372489971671,-3.65036029816e-05,1793248841821407232
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,634,880,786,811,653,629.838709456,653,0.411926682551,0.00458450759201,0.0497899633194,0.999999934118,0.000111275881653,-0.000343505528467,-3.7218617878e-05,1793248841838073856
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.419923403,745,715,681,664,634,879.580076597,786,811,653,629.580076597,653,0.411243904544,0.00458536963467,0.0498054718227,0.999999941491,0.000109718934585,-0.000321887955728,-3.69741260082e-05,1793248841854740736
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.998959542,745,715,681,664,634,879.001040458,786,811,653,629.001040458,653,0.410566565877,0.00458477794109,0.0498193361062,0.999999947787,0.000106098935052,-0.000303061753695,-3.63660684941e-05,1793248841871407360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,715,681,664,634,879,786,810.423466472,652.423466472,629.576533528,652.423466472,0.40989982078,0.00458167504603,0.0497931085488,0.999999933479,0.000100604001238,-0.000348673334731,-3.671070082e-05,1793248841888073984
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,715,680.846335254,664,634,879.153664746,786,810,652.153664746,629.846335254,652,0.409259225127,0.00457901076414,0.0497776071025,0.999999924489,9.70651131621e-05,-0.000374467316827,-3.70871495401e-05,1793248841904740608
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,715,680.270413361,664,634,879.729586639,786,810,652.729586639,629.270413361,652,0.408690433279,0.00457756417361,0.0497917783726,0.999999934723,9.89105396354e-05,-0.000345485554769,-3.75463146106e-05,1793248841921407232
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,715.312084728,680,664,634,879.687915272,786,810,653,629.312084728,652,0.408135326125,0.00457698967955,0.0498084415437,0.999999943354,0.000100845641831,-0.000318949583045,-3.73156287362e-05,1793248841938073856
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,715.90040354,680,664,634,879.09959646,786,810,653,629.90040354,652,0.407592331672,0.00457718710021,0.0498273103585,0.999999950656,0.000102860118174,-0.000294578443967,-3.64743383227e-05,1793248841954740480
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,715.518567408,680,664,634,879,786,810,653,629.518567408,652,0.407050895715,0.00457931365693,0.0498183585612,0.999999944902,0.000101989525597,-0.000313790837433,-3.64496397239e-05,1793248841971407360
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,715.060645812,680,663.939354188,634,879,786,810.060645812,653,629,652.060645812,0.406513670517,0.00458164521143,0.0498029060531,0.999999935592,9.98324135696e-05,-0.000342786739951,-3.669167143e-05,1793248841988073984
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,715.637050398,680,663.362949602,634,879,786,810.637050398,653,629,652.637050398,0.406009554395,0.00458237674216,0.0497803849636,0.999999923087,9.1734329902e-05,-0.000379450631054,-3.77868476977e-05,1793248842004740608
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.787393777,745,715.787393777,680,663,634.212606223,879,786,810.787393777,653,629,653,0.405533871419,0.00458420723825,0.0497669028058,0.999999914235,8.98547645645e-05,-0.000402468512192,-3.84206686312e-05,1793248842021407232
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.213281208,745,715.213281208,680,663,634.786718792,879,786,810.213281208,653,629,653,0.405106534976,0.00458790636702,0.0497687900552,0.999999913496,9.85488974558e-05,-0.000402283310406,-3.82700210453e-05,1793248842038074112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.371290439,634.628709561,879,786,810,653.371290439,629.371290439,652.628709561,0.404722730001,0.00459069303998,0.0497844794691,0.99999992288,0.000106087192404,-0.000376205984041,-3.8132340079e-05,1793248842054740736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.962044324,634.037955676,879,786,810,653.962044324,629.962044324,652.037955676,0.404364655692,0.00459294037621,0.0498083271071,0.999999936846,0.000112942291944,-0.000334824263973,-3.80023233925e-05,1793248842071407360
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,715.116707529,680,663.883292471,634,879,786.883292471,810,653,629,652,0.403718770129,0.00458920631028,0.0498504077195,0.999999954701,0.000111932017172,-0.000277055308682,-3.6191753747e-05,1793248842104740864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,715.692746086,680,663.307253914,634,879,786.307253914,810,653,629,652,0.403407657799,0.00458812738314,0.0498480664853,0.999999952157,0.000112942099541,-0.000285737313046,-3.58309083131e-05,1793248842121407488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,716,680,663.274617885,634,879,786,810,653,629.274617885,652.274617885,0.403107006369,0.00458556748829,0.049839381136,0.999999946919,0.000109956467197,-0.000304637195,-3.56138614887e-05,1793248842138073856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,716,680,663.863157764,634,879,786,810,653,629.863157764,652.863157764,0.402818313051,0.0045813146654,0.0498234436836,0.999999937939,0.000102403241746,-0.000335217366061,-3.55611941455e-05,1793248842154740736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,715.555284775,679.555284775,664.444715225,634,879,786,810,653,629.555284775,652.555284775,0.402560977622,0.00457215271362,0.0498109713419,0.999999932939,8.05601563522e-05,-0.000355598538235,-3.43895950627e-05,1793248842171407616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.976033654,745,715.023966346,679,664.976033654,634,879,786,810,653,629,652.023966346,0.402315801871,0.00456177042717,0.0498000680423,0.99999992878,5.55728879811e-05,-0.000371845329315,-3.29039092403e-05,1793248842188074240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.401172957,745,715.598827043,679,664.401172957,634,879,786,810,653,629,652.598827043,0.402131764079,0.00455752292934,0.0498011010724,0.999999931539,5.78229256093e-05,-0.000364081140741,-3.19904572979e-05,1793248842204742144
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.173072343,745,715.826927657,679,664,634,879,786,810,653,629,653,0.401957367279,0.00455609017376,0.0498034636944,0.999999934315,6.232409078e-05,-0.000355651734813,-3.15701116263e-05,1793248842221409024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.745896161,745,715.254103839,679,664,634,879,786,810,653,629,653,0.401805238656,0.0045611587311,0.0498088973229,0.999999937136,7.20247666487e-05,-0.00034568585329,-3.22887115374e-05,1793248842238074624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.330890695,634,879,786,810,653,629,652.669109305,0.401675949138,0.00456293564781,0.0498168141933,0.999999942105,7.50389803848e-05,-0.000330299186007,-3.25915604368e-05,1793248842254740736
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.925588562,634,879,786,810,653,629,652.074411438,0.401564868395,0.00456208825916,0.0498267108632,0.999999948592,7.27223209754e-05,-0.000310590721356,-3.25629461779e-05,1793248842271407360
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.504671898,715,679,663.990656205,634.504671898,879,786,810,653,629,652.504671898,0.401464919649,0.0045632282363,0.0498308709272,0.999999951084,7.57084709882e-05,-0.000301666220918,-3.31360875589e-05,1793248842288075264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.91869618,715.08130382,679,663.08130382,634.91869618,878.91869618,786.08130382,810,653,629,653,0.401369138245,0.00456461898061,0.0498335395807,0.999999952607,7.90675842668e-05,-0.000295630275951,-3.37220154341e-05,1793248842304742656
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.343389928,715.656610072,679,663.656610072,634.343389928,878.343389928,786.656610072,810,653,629,653,0.401289003982,0.00456580638499,0.049832131476,0.999999951885,8.00847315915e-05,-0.000297774036852,-3.38627140916e-05,1793248842321408768
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.762711678,745,715.762711678,679,663.762711678,634,878,786.762711678,810,652.762711678,629,652.762711678,0.401218736938,0.00456590905894,0.0498314142836,0.999999951668,8.02764575416e-05,-0.000298446877977,-3.39110352997e-05,1793248842338075136
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.174079343,745,715.174079343,679,663.174079343,634,878,786.174079343,810,652.174079343,629,652.174079343,0.401163079923,0.00456440561275,0.0498317200993,0.999999952201,7.92460126369e-05,-0.000296941782656,-3.38225766385e-05,1793248842354741504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.407911159,745,715,679.407911159,663.407911159,634,878.407911159,786,810,652.407911159,628.592088841,652,0.40112232994,0.00456522290996,0.0498342293146,0.999999954007,7.97061861722e-05,-0.000290666424949,-3.38556913825e-05,1793248842371408384
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.987112606,745,715,679.987112606,663.987112606,634,878.987112606,786,810,652.987112606,628.012887394,652,0.401087839726,0.00456701473511,0.0498376637828,0.999999956289,8.07923010749e-05,-0.00028238793596,-3.39398573004e-05,1793248842388075264
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,715,679.435685961,664,634,879,786,809.435685961,653,628.564314039,652,0.401060089093,0.00456501857558,0.0498384722478,0.999999956984,7.8911574623e-05,-0.000280468339953,-3.37967202852e-05,1793248842404741632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.858859172,745,715,679,664,634.141140828,878.858859172,786,809.141140828,653,629,652.141140828,0.401034992645,0.00456348012731,0.0498392732272,0.999999957528,7.74271239678e-05,-0.000278950370999,-3.3689358877e-05,1793248842421408000
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.283046118,745,715,679,664,634.716953882,878.283046118,786,809.716953882,653,629,652.716953882,0.401017597979,0.00456361677141,0.0498402351927,0.999999957735,7.73710137526e-05,-0.000278223640822,-3.37081060707e-05,1793248842438074624
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.299572348,745,715.299572348,679.299572348,664,634.700427652,878.299572348,786,810,653,629,653,0.401004703009,0.0045645571841,0.0498406588545,0.999999957824,7.89000116948e-05,-0.000277454613829,-3.38622334124e-05,1793248842454740992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.888770334,745,715.888770334,679.888770334,664,634.111229666,878.888770334,786,810,653,629,653,0.400996158329,0.00456627467786,0.0498405620861,0.999999957792,8.19614873883e-05,-0.000276644694315,-3.41472458724e-05,1793248842471407360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.53016297,745,715.53016297,679.53016297,664,634.46983703,879,786,810,653,628.53016297,652.53016297,0.400991351181,0.00456587006634,0.049841457376,0.999999958486,8.13831558569e-05,-0.000274337128624,-3.38154684428e-05,1793248842488073984
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.624634082,745,715,679,663.375365918,634.375365918,879,786,810,653,628.624634082,652.624634082,0.40098562372,0.00456491952318,0.0498426710113,0.999999959297,7.96573193263e-05,-0.000271893615209,-3.36690403858e-05,1793248842521407232
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.644715059,664.644715059,634,879,786,810,653,629,652,0.400980285413,0.00456291203887,0.0498424233051,0.999999959254,7.96351758117e-05,-0.000272153505977,-3.29073831386e-05,1793248842571407616
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f957598ebf3382c747202dca7203cccfef3c7109
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,397 @@
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+367,6.116666667,pose2_to_pose3_retreat,0.584224831294,0.00992786138696,1.0400424168,0.554796623022,0.0186023204123,1.03966579647
+368,6.133333333,pose2_to_pose3_retreat,0.584184625622,0.00992787539158,1.04004242152,0.554756417087,0.0186023334862,1.03966580029
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+372,6.200000000,pose2_to_pose3_retreat,0.584075074213,0.00992793751682,1.04004239081,0.554646865331,0.0186023947107,1.03966577601
+373,6.216666667,pose2_to_pose3_retreat,0.584062810624,0.00992794447135,1.04004238738,0.554634601703,0.0186024015644,1.0396657733
+374,6.233333333,pose2_to_pose3_retreat,0.584054540041,0.00992794916149,1.04004238506,0.554626331094,0.0186024061866,1.03966577146
+375,6.250000000,pose2_to_pose3_retreat,0.584049033659,0.00992795228409,1.04004238351,0.554620824694,0.0186024092639,1.03966577024
+376,6.266666667,pose2_to_pose3_retreat,0.584045044742,0.00992795454616,1.0400423824,0.554616835765,0.0186024114932,1.03966576936
+377,6.283333333,pose2_to_pose3_retreat,0.584042182428,0.00992795616934,1.04004238159,0.554613973442,0.0186024130928,1.03966576873
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+379,6.316666667,pose2_to_pose3_retreat,0.584039260766,0.00992795782618,1.04004238078,0.55461105177,0.0186024147256,1.03966576808
+380,6.333333333,pose2_to_pose3_retreat,0.584038335428,0.00992795835093,1.04004238052,0.55461012643,0.0186024152428,1.03966576787
+381,6.350000000,pose2_to_pose3_retreat,0.584038009622,0.00992795853569,1.04004238042,0.554609800623,0.0186024154248,1.0396657678
+382,6.366666667,pose2_to_pose3_retreat,0.58403783139,0.00992795863676,1.04004238037,0.55460962239,0.0186024155244,1.03966576776
+383,6.383333333,pose2_to_pose3_retreat,0.584037576965,0.00992795878104,1.0400423803,0.554609367964,0.0186024156666,1.03966576771
+384,6.400000000,pose2_to_pose3_retreat,0.584037505485,0.00992795882158,1.04004238028,0.554609296484,0.0186024157066,1.03966576769
+385,6.416666667,pose2_to_pose3_retreat,0.584037102304,0.00992795905022,1.04004238017,0.554608893301,0.0186024159319,1.0396657676
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+387,6.450000000,pose2_to_pose3_retreat,0.584035868071,0.00992795975013,1.04004237982,0.554607659064,0.0186024166217,1.03966576733
+388,6.466666667,pose2_to_pose3_retreat,0.584035422969,0.00992796000255,1.0400423797,0.554607213961,0.0186024168704,1.03966576723
+389,6.483333333,pose2_to_pose3_retreat,0.584035203701,0.00992796012689,1.04004237964,0.554606994692,0.018602416993,1.03966576718
+390,6.500000000,pose2_to_pose3_retreat,0.584035153396,0.00992796015542,1.04004237962,0.554606944387,0.0186024170211,1.03966576717
+391,6.516666667,pose2_to_pose3_retreat,0.58403500307,0.00992796024067,1.04004237958,0.554606794061,0.0186024171051,1.03966576713
+392,6.533333333,pose2_to_pose3_retreat,0.584034776241,0.0099279603693,1.04004237952,0.554606567231,0.0186024172319,1.03966576708
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+394,6.566666667,pose2_to_pose3_retreat,0.584033951739,0.00992796083686,1.04004237929,0.554605742727,0.0186024176927,1.0396657669
+395,6.583333333,pose2_to_pose3_retreat,0.584033716274,0.00992796097039,1.04004237922,0.554605507261,0.0186024178242,1.03966576685
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11b13771775727118c444b7da98253660f45e44f
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a0f7e94343f0885c7d140e3f98ac0eec57a8aaba3694914677ad1b0a166403b
+size 25404860
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb921873a4c1211ae69a483544d001fa5f399765
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,401 @@
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+22,0.366666667,BASELINE,766,745,715.758694999,679,663.482610003,634,879,786,810,653.241305001,629,652,0.400982267121,0.00456109272772,0.0498501112905,0.999999963167,7.55620508483e-05,-0.00025876609438,-3.15585509316e-05,1793248843358284288
+23,0.383333333,BASELINE,766.333058962,745,715.666941038,679,663.333058962,634,879,786,810,653,629,652,0.400982367291,0.00456115131613,0.0498504742921,0.999999963173,7.59413703213e-05,-0.000258635954263,-3.15456217255e-05,1793248843374951168
+24,0.400000000,BASELINE,766.906434623,745,715.093565377,679,663.906434623,634,879,786,810,653,629,652,0.4009819298,0.00456164539134,0.0498506048699,0.999999962795,7.80241151424e-05,-0.000259474557005,-3.15557894123e-05,1793248843391617792
+25,0.416666667,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652,0.400982313903,0.0045605962163,0.0498509063636,0.999999963323,7.6607547385e-05,-0.00025786503262,-3.14847054676e-05,1793248843408284416
+26,0.433333333,BASELINE,766.914853005,745,715,679,664,634,878.914853005,786,810,653,629,652,0.400982587904,0.00455960658669,0.0498509658691,0.999999963799,7.49251390829e-05,-0.000256515144623,-3.14261161081e-05,1793248843424951296
+27,0.450000000,BASELINE,766.337598299,745,715,679,664,634,878.337598299,786,810,653,629,652,0.400981299608,0.00456070039308,0.0498494341747,0.999999962991,7.56501416471e-05,-0.000259424945236,-3.15313124981e-05,1793248843441619200
+28,0.466666667,BASELINE,766,745,715,679,664,634.238720831,878,786,810.238720831,653,629,652,0.400980701844,0.00456152498369,0.0498487259564,0.999999962662,7.60461335189e-05,-0.00026056131935,-3.16211919413e-05,1793248843458286080
+29,0.483333333,BASELINE,766,745,715,679,664,634.813722003,878,786,810.813722003,653,629,652,0.400981076813,0.00456197033641,0.0498491777493,0.999999963019,7.59786558329e-05,-0.000259199509682,-3.16894947606e-05,1793248843474951424
+30,0.500000000,BASELINE,766,745,715,679,664,634.611509639,878.388490361,786,810.611509639,653,629,652.388490361,0.400980960735,0.0045620116432,0.0498491287449,0.999999962955,7.65265212825e-05,-0.000259264896137,-3.18524038821e-05,1793248843491617792
+31,0.516666667,BASELINE,766,745,715,679,664,634.036852865,878.963147135,786,810.036852865,653,629,652.963147135,0.400980609344,0.00456185932928,0.0498488397559,0.999999962689,7.73692620683e-05,-0.000260014201746,-3.20606487883e-05,1793248843508284672
+32,0.533333333,BASELINE,766.556065734,745,715,679,664,634,879,786,810,653,629,652.443934266,0.400980846543,0.00456086547322,0.0498491830141,0.999999962964,7.63459961027e-05,-0.00025930867866,-3.16595452504e-05,1793248843524951296
+33,0.550000000,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652.14478772,0.40098093868,0.00456008486816,0.0498494235818,0.999999963168,7.53405848421e-05,-0.00025884872573,-3.13724735251e-05,1793248843541618176
+34,0.566666667,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652.717411208,0.400980482989,0.00456010480197,0.049849232687,0.999999963061,7.47657711845e-05,-0.000259408993366,-3.15457403456e-05,1793248843558284800
+35,0.583333333,BASELINE,766.707159399,745,715,679,664,634,879,786,810,653,629,652.707159399,0.400979899649,0.00455980905799,0.0498486715864,0.999999962846,7.42562070788e-05,-0.000260356066504,-3.17651792938e-05,1793248843574951680
+36,0.600000000,BASELINE,766.128996065,745,715,679,664,634,879,786,810,653,629,652.128996065,0.400979191935,0.00455920574037,0.049847749784,0.999999962525,7.3810217356e-05,-0.000261680015056,-3.20296050491e-05,1793248843591618560
+37,0.616666667,BASELINE,766,745,715.459333339,679,663.540666661,634,879,786,810,653,629,652,0.40098032292,0.00455948003385,0.0498494283996,0.999999962958,7.4834974053e-05,-0.000259750645303,-3.18408691153e-05,1793248843608285184
+38,0.633333333,BASELINE,766.049528984,745,715.950471016,679,663,634,878.950471016,786,809.950471016,653,629,652,0.400981878244,0.00456005338578,0.0498515725689,0.999999963551,7.62083973943e-05,-0.000257086211034,-3.1570433852e-05,1793248843624951808
+39,0.650000000,BASELINE,766.628465962,745,715.371534038,679,663,634,878.371534038,786,809.371534038,653,629,652,0.400982324974,0.00456112930525,0.0498507104058,0.999999963636,7.67938812969e-05,-0.000256551570522,-3.18178079683e-05,1793248843641618432
+40,0.666666667,BASELINE,766.793925053,745,715,679.206074947,663.206074947,634,878,786,809,653,629,652.206074947,0.400981870992,0.00456134952409,0.0498496165633,0.999999963402,7.69696577009e-05,-0.000257396528287,-3.19133992832e-05,1793248843658284800
+41,0.683333333,BASELINE,766.218695023,745,715,679.781304977,663.781304977,634,878,786,809,653,629,652.781304977,0.400979803507,0.00456003687223,0.0498481076988,0.999999962591,7.64114991212e-05,-0.000260712847713,-3.17370924534e-05,1793248843674951424
+42,0.700000000,BASELINE,766.355970186,745,715.355970186,679.644029814,664,634,878.355970186,786,809.355970186,653,629,653,0.400979513462,0.00455973876389,0.0498482950548,0.999999962492,7.64596485439e-05,-0.00026111610796,-3.14279677959e-05,1793248843691618048
+43,0.716666667,BASELINE,766.930288918,745,715.930288918,679.069711082,664,634,878.930288918,786,809.930288918,653,629,653,0.400980313682,0.00456006296644,0.0498495228555,0.999999962833,7.68797012418e-05,-0.000259732526768,-3.10373740201e-05,1793248843708284672
+44,0.733333333,BASELINE,767,745,715.481775145,679,664,634,879,786,810,652.481775145,628.481775145,652.481775145,0.400982198666,0.00456009392313,0.0498504823978,0.999999963324,7.69454714924e-05,-0.000257838974685,-3.08427054146e-05,1793248843724951040
+45,0.750000000,BASELINE,767,745,715,679,664,634,878.89322784,786,809.89322784,652.10677216,628.10677216,652.10677216,0.400983762139,0.00456005402856,0.0498511983231,0.999999963751,7.64955549277e-05,-0.000256316180056,-3.08034161471e-05,1793248843741617664
+46,0.766666667,BASELINE,767,745,715,679,664,634,878.310343101,786,809.310343101,652.689656899,628.689656899,652.689656899,0.400983223702,0.00455987884523,0.0498509931788,0.999999963811,7.39643633885e-05,-0.000256760803142,-3.13362908221e-05,1793248843758284288
+47,0.783333333,BASELINE,766.732798489,745,715,679,664,634,878.267201511,786,809.267201511,653,629,653,0.400982657792,0.00456046810994,0.0498507412369,0.999999963754,7.31191679104e-05,-0.000257177594104,-3.16923615114e-05,1793248843774951168
+48,0.800000000,BASELINE,766.161334606,745,715,679,664,634,878.838665394,786,809.838665394,653,629,653,0.400982060599,0.00456192785161,0.0498504360066,0.999999963571,7.41938158929e-05,-0.000257562692683,-3.18471055632e-05,1793248843791617792
+49,0.816666667,BASELINE,766.412997431,745,715,679.412997431,664,634,879.412997431,786,809.587002569,653,628.587002569,652.587002569,0.400981819549,0.00456174122868,0.0498503454887,0.999999963454,7.48566943808e-05,-0.000257824217808,-3.18495023028e-05,1793248843808284416
+50,0.833333333,BASELINE,766.988457694,745,715,679.988457694,664,634,879.988457694,786,809.011542306,653,628.011542306,652.011542306,0.400981718597,0.00456090696711,0.0498503394333,0.999999963364,7.53575930123e-05,-0.000258037132212,-3.17919694214e-05,1793248843824951040
+51,0.850000000,BASELINE,766.420831502,745,715,679.420831502,664,634,878.841663004,786,809.579168498,653,628.579168498,652.579168498,0.400983074376,0.00456042358379,0.0498509104787,0.999999963891,7.53929459873e-05,-0.00025598903893,-3.1686276107e-05,1793248843841617664
+52,0.866666667,BASELINE,766.167035831,745,715,679.167035831,664,634,878.167035831,786.167035831,810,653,629,652.832964169,0.400983146483,0.00456034566434,0.049850948264,0.999999963981,7.59835564839e-05,-0.000255477901501,-3.15579783181e-05,1793248843858284544
+53,0.883333333,BASELINE,766.747100246,745,715,679.747100246,664,634,878.747100246,786.747100246,810,653,629,652.252899754,0.400979970733,0.00456125257482,0.0498496382522,0.999999962958,7.79707110585e-05,-0.000258881618942,-3.13762240356e-05,1793248843874951168
+54,0.900000000,BASELINE,766.672055987,745,715.327944013,679.672055987,664,634,879,786.672055987,810,652.672055987,629,652.327944013,0.400979603879,0.00456092507937,0.049849625174,0.999999962948,7.68874482486e-05,-0.000259259488741,-3.12676166738e-05,1793248843891617792
+55,0.916666667,BASELINE,766.090609804,745,715.909390196,679.090609804,664,634,879,786.090609804,810,652.090609804,629,652.909390196,0.400981408314,0.00455964338265,0.0498506146312,0.999999963716,7.34307391593e-05,-0.0002572983648,-3.12155522128e-05,1793248843908284416
+56,0.933333333,BASELINE,766.489516498,745,715.510483502,679,664,634,879,786,810,652.489516498,629,652.510483502,0.400981426428,0.00455976606818,0.0498506753751,0.999999963561,7.46635585557e-05,-0.000257564255779,-3.10501785255e-05,1793248843924951040
+57,0.950000000,BASELINE,767,745,715,679,664,634,879,786,809.930642013,653,629,652,0.400981109847,0.00456010049629,0.0498505421019,0.999999963269,7.64186590257e-05,-0.000258197477258,-3.09229062294e-05,1793248843941617920
+58,0.966666667,BASELINE,767,745,715,679,664,634,879,786,809.351103581,653,629,652,0.40098075696,0.00456008544918,0.0498502427794,0.999999963238,7.56476494891e-05,-0.000258508642466,-3.12297604579e-05,1793248843958284544
+59,0.983333333,BASELINE,767,745,715,679,664,634,879,786,809.22663425,653,629,652.22663425,0.400981753686,0.00455964369608,0.0498506311583,0.999999963591,7.44885811346e-05,-0.000257468793677,-3.1296848825e-05,1793248843974951168
+60,1.000000000,BASELINE,767,745,715,679,664,634,879,786,809.80160465,653,629,652.80160465,0.400984824761,0.00455854609719,0.0498520765321,0.999999964527,7.27330674425e-05,-0.000254352440545,-3.09954178406e-05,1793248843991617792
+61,1.016666667,BASELINE,766.623080368,745,715,679,664,634,879,786,810,653,629,652.623080368,0.400983715082,0.00455920945126,0.049851286703,0.999999964106,7.3380602185e-05,-0.000255796258787,-3.11558345227e-05,1793248844008284416
+62,1.033333333,BASELINE,766.047583881,745,715,679,664,634,879,786,810,653,629,652.047583881,0.400980402807,0.00456080054826,0.0498493192764,0.99999996296,7.52941623577e-05,-0.00025964256414,-3.15595716793e-05,1793248844024951040
+63,1.050000000,BASELINE,766,745,715,679,664,634,879,786,810,653,629,652,0.400981325904,0.0045613752041,0.0498496584482,0.999999963108,7.57676659256e-05,-0.000258919909394,-3.16752507294e-05,1793248844041617664
+64,1.066666667,BASELINE,766.130443934,745,715,679,664,634,879,786,810,653,629,652.130443934,0.400982488971,0.00456141901537,0.0498503139787,0.99999996349,7.54593298398e-05,-0.000257531130246,-3.16843177228e-05,1793248844058284544
+65,1.083333333,BASELINE,766.709011209,745,715,679,664,634,879,786,810,653,629,652.709011209,0.400983164939,0.00455995391972,0.0498513420801,0.999999964267,7.29109982218e-05,-0.000255268746407,-3.14163299956e-05,1793248844074951936
+66,1.100000000,BASELINE,766.714319234,745,715,679.285680766,663.714319234,634,879,786,810,653,629,652.714319234,0.400982858794,0.00455948838048,0.0498515965502,0.99999996435,7.23036867917e-05,-0.000255116109842,-3.14340653952e-05,1793248844091618816
+67,1.116666667,BASELINE,766.139569933,745,715,679.860430067,663.139569933,634,879,786,810,653,629,652.139569933,0.40098155889,0.00456003425104,0.0498510682146,0.999999963734,7.36604134442e-05,-0.000257098239295,-3.17409122082e-05,1793248844108284928
+68,1.133333333,BASELINE,766,745,715,679.554857827,663.445142173,634,879,786,809.554857827,653,628.554857827,652.445142173,0.400982269465,0.0045609448595,0.049851332096,0.999999963601,7.63559736717e-05,-0.000256820189636,-3.178789274e-05,1793248844124951552
+69,1.150000000,BASELINE,766.032565668,745,715.032565668,679,663.967434332,634,878.967434332,786,809.032565668,653,628.032565668,652.967434332,0.400983428512,0.00456188154014,0.0498517220894,0.999999963584,7.92212373508e-05,-0.000256021988416,-3.17521515953e-05,1793248844141618688
+70,1.166666667,BASELINE,766.611864955,745,715.611864955,679,663.388135045,634,878.388135045,786,809.611864955,653,628.611864955,652.388135045,0.400981291535,0.00456129203227,0.0498499636972,0.999999963023,7.77267393202e-05,-0.000258660911594,-3.17268557857e-05,1793248844158285312
+71,1.183333333,BASELINE,767,745,715.809858472,679,663.190141528,634,878.190141528,786,810,653,629,652.190141528,0.400981267778,0.00456110115937,0.0498498488548,0.999999963124,7.71081423529e-05,-0.000258471718166,-3.16004756191e-05,1793248844174951936
+72,1.200000000,BASELINE,767,745,715.233658286,679,663.766341714,634,878.766341714,786,810,653,629,652.766341714,0.400985534654,0.00456171966493,0.0498530710348,0.99999996456,7.82679529696e-05,-0.0002525403872,-3.12688562692e-05,1793248844191618304
+73,1.216666667,BASELINE,766.657333355,745,715,679,664,634.342666645,879,786,810,653,629.342666645,653,0.400985208993,0.00456177022458,0.049853039953,0.999999964543,7.79848469497e-05,-0.000252689954084,-3.12960113079e-05,1793248844208284672
+74,1.233333333,BASELINE,766.080923366,745,715,679,664,634.919076634,879,786,810,653,629.919076634,653,0.400981750625,0.00456143337102,0.0498507897223,0.999999963538,7.6717483522e-05,-0.00025698748676,-3.15678972929e-05,1793248844224951296
+75,1.250000000,BASELINE,766,745,715,679.506196927,664,634.493803073,879,786,810,653,629.493803073,652.493803073,0.400981812401,0.00456066742871,0.0498507035621,0.99999996356,7.59382907195e-05,-0.000257160050647,-3.13511246373e-05,1793248844241617920
+76,1.266666667,BASELINE,766,745,715,679.906559759,664,634,879,786,810,653,629,652.093440241,0.400982492915,0.00456006833379,0.0498510441532,0.999999963752,7.54287449254e-05,-0.000256588395999,-3.11143454323e-05,1793248844258284544
+77,1.283333333,BASELINE,766,745,715,679.32776339,664,634,879,786,810,653,629,652.67223661,0.400983401061,0.00456069990536,0.0498517655545,0.999999963954,7.59056917412e-05,-0.000255650416081,-3.11881936802e-05,1793248844274951424
+78,1.300000000,BASELINE,766,745,715.249321914,679,664,634,878.750678086,786,810,653,629,653,0.400984276184,0.00456134757635,0.0498524516794,0.999999964062,7.77573069243e-05,-0.000254659804945,-3.12736025007e-05,1793248844291618304
+79,1.316666667,BASELINE,766,745,715.824173108,679,664,634,878.175826892,786,810,653,629,653,0.40098510819,0.00456201626765,0.0498530917454,0.999999964038,8.1403769528e-05,-0.000253600475483,-3.13741054755e-05,1793248844308285440
+80,1.333333333,BASELINE,766.398442265,745,715.601557735,679,664,634,878,786,810,653,629,653,0.400983936253,0.00456125278712,0.0498522448525,0.999999963911,8.00129591448e-05,-0.000254559768786,-3.12357309362e-05,1793248844324952064
+81,1.350000000,BASELINE,766.972455001,745,715.027544999,679,664,634,878,786,810,653,629,653,0.400981881292,0.00455985823132,0.0498507427427,0.999999963728,7.64025140937e-05,-0.000256408552342,-3.09920968952e-05,1793248844341618432
+82,1.366666667,BASELINE,766.431737948,745,715.568262052,679,664,634,878,786,810,653,629,653,0.400980713962,0.00455979814344,0.0498502191558,0.999999963396,7.56156137539e-05,-0.000257920711639,-3.10968837701e-05,1793248844358284800
+83,1.383333333,BASELINE,766,745,715.840619778,679.159380222,664,634,878.159380222,786,810,653,629,652.840619778,0.400980517679,0.00456002791777,0.049850231755,0.999999963313,7.48374986563e-05,-0.000258448517019,-3.12786203238e-05,1793248844374951424
+84,1.400000000,BASELINE,766,745,715.264629477,679.735370523,664,634,878.735370523,786,810,653,629,652.264629477,0.400982742705,0.00456083954862,0.0498515169843,0.999999963901,7.37103258178e-05,-0.000256447634846,-3.16155917391e-05,1793248844391618304
+85,1.416666667,BASELINE,766.310211968,745,715,679.689788032,664,634,878.689788032,786,810,653,629,652,0.400983028847,0.00456175759736,0.0498516012725,0.999999963929,7.44944342884e-05,-0.000256098592806,-3.17071562436e-05,1793248844408285184
+86,1.433333333,BASELINE,766.88407695,745,715,679.11592305,664,634,878.11592305,786,810,653,629,652,0.400981667108,0.00456276609195,0.0498506648658,0.99999996348,7.69029646122e-05,-0.000257153470388,-3.15901463381e-05,1793248844424952320
+87,1.450000000,BASELINE,766.530744803,745,715,679.469255197,664,634,878,786,809.530744803,653,629,652.469255197,0.400982140855,0.00456034557645,0.0498511621114,0.999999963791,7.48169159389e-05,-0.000256608118012,-3.11934775204e-05,1793248844441619200
+88,1.466666667,BASELINE,766.056817267,745,715,680,664,634,878,786,809,653,629,652.943182733,0.400982865922,0.00455759018866,0.0498519352445,0.9999999642,7.21453572292e-05,-0.00025582809683,-3.07795370424e-05,1793248844458285568
+89,1.483333333,BASELINE,766.639933069,745,715,680,664,634,878,786,809,653,629,652.360066931,0.400981615073,0.00455977332033,0.049851902255,0.999999963813,7.45892367559e-05,-0.000256626603522,-3.08613614587e-05,1793248844474952192
+90,1.500000000,BASELINE,767,745,715,679.780584482,664,634,878.219415518,786,809.219415518,653,629,652,0.40098068555,0.00456126690746,0.0498514632696,0.999999963428,7.60613054112e-05,-0.00025767411513,-3.10210045851e-05,1793248844491618560
+91,1.516666667,BASELINE,767,745,715,679.206967396,664,634,878.793032604,786,809.793032604,653,629,652,0.400980274745,0.00456164736543,0.0498503688867,0.999999963052,7.5964583535e-05,-0.000259123594271,-3.13062701279e-05,1793248844508284928
+92,1.533333333,BASELINE,767,745,715,679,663.634443351,634.365556649,879,786,810,653,628.634443351,652,0.400981198555,0.00456069545791,0.0498502554008,0.99999996329,7.49079047009e-05,-0.000258519231974,-3.12385853691e-05,1793248844524951552
+93,1.550000000,BASELINE,767,745,715,679,663.062536255,634.937463745,879,786,810,653,628.062536255,652,0.400982875731,0.00455899145299,0.0498506956143,0.999999963872,7.33093466492e-05,-0.000256755511609,-3.09716662563e-05,1793248844541618432
+94,1.566666667,BASELINE,766.471971431,745,715,679,663.528028569,634.471971431,879,786,809.471971431,652.471971431,628.528028569,652.528028569,0.400984197095,0.00455912470463,0.0498520354495,0.999999964417,7.4495380002e-05,-0.000254251510857,-3.1180251889e-05,1793248844558285056
+95,1.583333333,BASELINE,766.118248023,745,715,679,664,634,879,786,809,652.118248023,629.118248023,652.881751977,0.400984980962,0.00455980507976,0.0498529822711,0.999999964668,7.60732982677e-05,-0.000252765723724,-3.14169116065e-05,1793248844574951936
+96,1.600000000,BASELINE,766.698175789,745,715,679,664,634,879,786,809,652.698175789,629.698175789,652.301824211,0.400983836821,0.00456174093502,0.049851963411,0.999999963804,7.78464971859e-05,-0.000255610228452,-3.15352530026e-05,1793248844591618816
+97,1.616666667,BASELINE,767,745,715,679,664,634,879,786,809.275172437,653,629.724827563,652,0.400982927825,0.00456167545282,0.0498510965738,0.999999963507,7.68613939697e-05,-0.000257074480149,-3.1482425664e-05,1793248844608285440
+98,1.633333333,BASELINE,767,745,715,679,664,634,879,786,809.848987927,653,629.151012073,652,0.400982274031,0.00455943793055,0.0498503947264,0.999999963821,7.28827213154e-05,-0.000257040751055,-3.1243829882e-05,1793248844624952064
+99,1.650000000,BASELINE,767,745,715,679.424412943,664,634.424412943,879,786,810,653,629,652,0.400982177003,0.0045604093541,0.0498505172632,0.999999963674,7.52916270599e-05,-0.000256914894626,-3.12842535401e-05,1793248844641618432
+100,1.666666667,BASELINE,766.999576354,745,715,679.999576354,664,634.999576354,879,786,810,653,629,652.000423646,0.400982278632,0.00456252305758,0.0498509338649,0.999999963346,7.9975546511e-05,-0.000256756569615,-3.14239691005e-05,1793248844658285056
+101,1.683333333,BASELINE,766.408470262,745,715,679.408470262,664,634.408470262,879,786,810,653,629,652.591529738,0.400982099595,0.00455926255204,0.0498508220224,0.999999963575,7.56968034957e-05,-0.000257206712766,-3.10546930515e-05,1793248844674951424
+102,1.700000000,BASELINE,766.178981574,745,715.178981574,679.178981574,664,634,879,786.178981574,809.821018426,653,629,653,0.400981873571,0.00455749011262,0.0498508058116,0.999999963697,7.3008457717e-05,-0.00025752884736,-3.08846153551e-05,1793248844691618304
+103,1.716666667,BASELINE,766.758260485,745,715.758260485,679.758260485,664,634,879,786.758260485,809.241739515,653,629,653,0.400981542464,0.00455904577551,0.0498510034839,0.999999963616,7.3877080775e-05,-0.000257564687155,-3.11600504415e-05,1793248844708284928
+104,1.733333333,BASELINE,767,745.334506373,715.665493627,679.665493627,664,634,879,786.665493627,809.334506373,653,629,652.665493627,0.40098145735,0.00455998627421,0.0498511130366,0.999999963563,7.49522871459e-05,-0.000257443030557,-3.12919594917e-05,1793248844724951808
+105,1.750000000,BASELINE,767,745.908580123,715.091419877,679.091419877,664,634,879,786.091419877,809.908580123,653,629,652.091419877,0.40098154841,0.00456048620367,0.0498511594796,0.99999996353,7.61754448165e-05,-0.000257208577908,-3.13210778343e-05,1793248844741618688
+106,1.766666667,BASELINE,766.505622498,745.505622498,715.494377502,679,664,634.494377502,878.505622498,786,810,653,629,652,0.400983013628,0.00455949755195,0.049852008784,0.999999964125,7.40427020312e-05,-0.000255538909889,-3.11019840781e-05,1793248844758285312
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,879,786,810,653,629,653,0.400985858219,0.00455911706697,0.0498536491392,0.999999964836,7.56610297013e-05,-0.000252278032892,-3.09668126343e-05,1793248844801405696
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.422956747,745,715,679.422956747,663.422956747,634,878.422956747,786,809.422956747,653,629,652.422956747,0.400982349069,0.00455951263644,0.049852107547,0.999999964065,7.49407526294e-05,-0.00025551873695,-3.10364497635e-05,1793248844818072320
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.153669679,745,715.153669679,679,663.153669679,634,878.153669679,786,809.153669679,653,629,652,0.400980462026,0.00456006603359,0.0498511869834,0.999999963602,7.48008901824e-05,-0.00025735055851,-3.11683977933e-05,1793248844834738944
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.729152072,745,715.729152072,679,663.729152072,634,878.729152072,786,809.729152072,653,629,652,0.400983027551,0.00456105265696,0.0498519711002,0.999999964005,7.62542258524e-05,-0.00025531509512,-3.14713849809e-05,1793248844851405824
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.687339789,745,716,679,664,634,878.687339789,786,810,653,629,652,0.400983496344,0.00456097802418,0.0498518069453,0.999999964148,7.6281403363e-05,-0.000254749054108,-3.14207845072e-05,1793248844868072704
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.096696061,745,716,679,664,634,878.096696061,786,810,653,629,652,0.40098210095,0.00455995983761,0.0498507996901,0.999999964065,7.5040595779e-05,-0.000255489464074,-3.10558122532e-05,1793248844884739072
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.515990733,679,664,634,878.484009267,786,810,653,629,652,0.400981458453,0.00456066009466,0.0498508487223,0.999999963796,7.57290833861e-05,-0.000256342718332,-3.10215291118e-05,1793248844901405440
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.062193591,745,715,679.062193591,663.937806409,634,879,786,809.937806409,653,629,652,0.400981668117,0.00456146677192,0.0498514111887,0.99999996368,7.65714090531e-05,-0.000256542900985,-3.10314289858e-05,1793248844918072064
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.6356475,745,715,679.6356475,663.3643525,634,879,786,809.3643525,653,629,652,0.400987671335,0.00456038286247,0.0498544944895,0.999999965119,7.5573631495e-05,-0.000251192935521,-3.08723714436e-05,1793248844934738176
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.785775875,745,715,679.785775875,663.214224125,634,879,786,809.214224125,653,629,652.214224125,0.400997452515,0.00455979314594,0.0498584451828,0.99999996696,7.48452011116e-05,-0.000243986228424,-3.08201074713e-05,1793248844951404544
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.198273144,745,715,679.198273144,663.801726856,634,879,786,809.801726856,653,629,652.801726856,0.401013816669,0.00456006454469,0.0498639072788,0.999999969468,7.45860995682e-05,-0.000233544209654,-3.09539278554e-05,1793248844968071424
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,878.614264058,786,810,653,629,652.614264058,0.401054031947,0.00455967145407,0.0498774176393,0.99999997582,7.43669116233e-05,-0.000204653146357,-3.07716303411e-05,1793248844984738048
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,878.03203458,786,810,653,629,652.03203458,0.401106396968,0.00455893987319,0.049895027779,0.999999982948,7.41680555177e-05,-0.000166364155411,-3.04283026333e-05,1793248845001404672
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.542862773,745,715,679,664,634,878.542862773,786,809.457137227,653,629,652,0.401176065755,0.00455820367077,0.0499142005219,0.999999988448,7.29672619978e-05,-0.00012992649807,-2.99658022499e-05,1793248845018071296
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,715,679.117604721,664,634,879,786,809,653,629,652,0.401248388094,0.00455757243556,0.049931581578,0.999999992102,7.19770772391e-05,-9.8748768782e-05,-2.93894076024e-05,1793248845034737920
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,715,679.693404626,664,634,879,786,809,653,629,652,0.401327123592,0.0045573512072,0.0499416276506,0.999999993162,7.20347210076e-05,-8.7644065765e-05,-2.83963075932e-05,1793248845051404544
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,879,786,809.276639254,653,629,652,0.4014117619,0.0045572197773,0.0499475147644,0.999999993745,7.15023235362e-05,-8.15076371614e-05,-2.74573426657e-05,1793248845068071168
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,879,786,809.868341209,653,629,652,0.401503122876,0.0045571906183,0.0499486652658,0.999999993893,7.02979318258e-05,-8.10295455986e-05,-2.65800319036e-05,1793248845084737792
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.550144649,745,715,679.550144649,664.449855351,634,879,786,810,653,629,652,0.4016139852,0.00455589219283,0.0499465792294,0.999999993704,6.92276153418e-05,-8.44724230089e-05,-2.5773188138e-05,1793248845101404160
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.028281535,745,715,679.028281535,664.971718465,634,879,786,810,653,629,652,0.401731953517,0.0045542254906,0.0499438354774,0.999999993433,6.81153676512e-05,-8.87198258372e-05,-2.49616634652e-05,1793248845118071040
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.603375959,745,715,679.603375959,664.396624041,634,879,786,810,653,629,652,0.401879406079,0.00455246157265,0.0499462838905,0.999999993809,6.54505122252e-05,-8.68263886456e-05,-2.36697174208e-05,1793248845134737664
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.822677037,745,715,679.822677037,664,634,878.822677037,786,809.822677037,653,629,652,0.402034143788,0.00455084305788,0.049946951363,0.999999993931,6.2562776436e-05,-8.78774195701e-05,-2.23838831638e-05,1793248845151404032
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.251280081,745,715,679.251280081,664,634,878.251280081,786,809.251280081,653,629,652,0.402205071635,0.00454954768039,0.0499436609589,0.999999993469,5.91797224375e-05,-9.54720945835e-05,-2.11116316198e-05,1793248845168070912
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.334153132,745,715,679,663.665846868,634,878,786,809.334153132,653,629.334153132,652,0.402400374185,0.00454669693447,0.0499433243038,0.999999993599,5.37135589592e-05,-9.7655694851e-05,-1.94909337545e-05,1793248845184737792
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.930604357,745,715,679,663.069395643,634,878,786,809.930604357,653,629.930604357,652,0.402614810013,0.00454262528057,0.0499453062342,0.99999999419,4.66122297018e-05,-9.55917984387e-05,-1.75967180235e-05,1793248845201404416
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,715,679.508309259,663.508309259,634,878.508309259,786,809.491690741,653,629.491690741,652,0.402864525767,0.00454022310294,0.0499468280903,0.999999994319,4.2591230402e-05,-9.64661082244e-05,-1.55365594865e-05,1793248845218071040
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916515514,745,715,679.916515514,663.916515514,634,879,786,809.083484486,653,629,652,0.403125555873,0.00453811803144,0.0499490146054,0.999999994555,3.93223517627e-05,-9.57202488239e-05,-1.34681000616e-05,1793248845234737664
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.341701453,745,715,679.341701453,663.341701453,634,879,786,809.658298547,653,629,652,0.403425835963,0.00453646784281,0.0499554693344,0.999999995751,3.80929796771e-05,-8.31624391334e-05,-1.14793749938e-05,1793248845251404288
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.239728283,745,715,679,663.239728283,634,879,786,810,653,629,652.239728283,0.403744389492,0.00453427185123,0.0499645037546,0.999999997221,3.48284134917e-05,-6.52519954517e-05,-9.3717952303e-06,1793248845268070912
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.830855382,745,715,679,663.830855382,634,879,786,810,653,629,652.830855382,0.404089728598,0.00453127581015,0.0499773195405,0.999999998786,2.85806165596e-05,-3.94955477239e-05,-7.08999584201e-06,1793248845284737536
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.586843197,745,715.413156803,679.413156803,664,634,879,786,810,653,629,652.586843197,0.404467650969,0.00452689099674,0.0499877163523,0.999999999498,2.44077806507e-05,-1.98574737035e-05,-3.76059085944e-06,1793248845301404160
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.008079415,745,715.991920585,679.991920585,664,634,879,786,810,653,629,652.008079415,0.404858633786,0.00452194951729,0.0499971435585,0.999999999775,2.10666582356e-05,-2.67184784675e-06,-1.12707892946e-08,1793248845318070784
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.566637999,745,715.433362001,680,664,634,879.566637999,786,810,653,629,652.566637999,0.405283598143,0.00451869440057,0.0499931300862,0.999999999884,1.33429486975e-05,-7.16033947524e-06,1.88243410041e-06,1793248845334737408
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.858858782,745,715,680,664,634,879.717717565,786,810,653,629,653,0.405707383156,0.00451485858631,0.0499845557762,0.99999999973,6.34040549915e-06,-2.19774656289e-05,4.20328475233e-06,1793248845351404288
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.284836913,745,715,680,664,634,878.569673826,786,810,653,629,653,0.406126075529,0.00450916854779,0.0499625769658,0.999999997687,1.73997928086e-06,-6.75314438285e-05,7.91476510632e-06,1793248845368070912
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,878.596656701,786,810,653.29832835,629,652.70167165,0.406572414252,0.0045042485143,0.049943338936,0.999999994608,-4.14640824924e-06,-0.000103172104661,1.10296950051e-05,1793248845384737536
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,879.780999205,786,810,653.890499603,629,652.109500397,0.407045983707,0.00450008690792,0.0499268004758,0.999999991518,-1.12994228561e-05,-0.00012904850306,1.3557044198e-05,1793248845401404416
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.47180434,745,715.47180434,680,664,634,879.52819566,786.47180434,810,653.52819566,629,652.47180434,0.407594244784,0.00449388583056,0.0499298468557,0.999999992586,-1.70638193844e-05,-0.000119388913272,1.68510579697e-05,1793248845418070784
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.94968596,745,715.94968596,679.94968596,664,634,879.10062808,786.94968596,810,653,628.94968596,653,0.408166113473,0.00448723188489,0.0499392646547,0.999999994699,-2.25312422524e-05,-9.83743170917e-05,2.0400796752e-05,1793248845434737664
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.37461577,745,715.37461577,679.37461577,664,634,880.250768461,786.37461577,810,653,628.37461577,653,0.408807473085,0.00448068028266,0.0499687942426,0.99999999837,-2.81869556883e-05,-4.30130215831e-05,2.48036472299e-05,1793248845451404288
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.199125393,679.199125393,664,634,880.800874607,786,810.199125393,653,628.199125393,652.800874607,0.409444690222,0.00447406841735,0.0499915971265,0.999999999558,-4.57798798721e-06,-3.42273444403e-06,2.91894339118e-05,1793248845468071168
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.770382793,679.770382793,664,634,880.229617207,786,810.770382793,653,628.770382793,652.229617207,0.410074165726,0.00446734393082,0.0500018289259,0.999999996698,7.37217672076e-05,6.69417626075e-06,3.35433309583e-05,1793248845484737792
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.64302679,680,664,634,879.64302679,786,810.64302679,653,629,652.35697321,0.410692039064,0.00446050253833,0.0499921299086,0.999999994533,9.511636263e-05,-2.12300217849e-05,3.78901916848e-05,1793248845501404416
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.046131039,680,664,634,879.046131039,786,810.046131039,653,629,652.953868961,0.411302114532,0.00445358257335,0.0499690353418,0.999999993254,7.82648621784e-05,-7.47217395284e-05,4.22323231166e-05,1793248845518071040
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,879.530501194,786,810.530501194,653,629,653,0.411984037061,0.00444715229897,0.0499481647153,0.999999994205,9.73056174702e-07,-0.000103782804895,2.85920428845e-05,1793248845534737664
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.105637657,786,811,653,629,653,0.412695714032,0.00443943151722,0.0499371332024,0.999999991041,-6.78077820724e-05,-0.000114158632827,1.69715223849e-05,1793248845551404288
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.681671058,786,811,653,629,653,0.413513088204,0.00442578157581,0.0499690849944,0.999999995607,-7.6147651979e-05,-5.04424954434e-05,2.10516969213e-05,1793248845568070912
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.256231039,680,664.256231039,634,881,786,811,653,629,653,0.414298077489,0.00441875891841,0.0499830346257,0.999999996536,-7.53630008393e-05,-2.49705729318e-05,2.49859420503e-05,1793248845584737536
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.828971059,680,664.828971059,634,881,786,811,653,629,653,0.415043063505,0.00441992260115,0.0499747471211,0.999999996491,-6.33073010655e-05,-4.67397472596e-05,2.87399287353e-05,1793248845601404160
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.581674293,680,664.581674293,634,881.418325707,786,811,653,629,653,0.415802157422,0.00443570820405,0.0499540275889,0.999999995615,-4.01065257141e-05,-7.91177452296e-05,3.00327115035e-05,1793248845618071040
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.014229027,634,881.985770973,786,811.014229027,652.985770973,629,653,0.416569279106,0.0044574441892,0.049929077588,0.99999999294,-1.2357882651e-05,-0.000114257357731,3.02247644097e-05,1793248845634737664
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.589434832,634,881.410565168,786,811.589434832,652.410565168,629,653,0.417416092473,0.00446834169107,0.0499460156449,0.999999996353,7.61780230602e-06,-8.0202410899e-05,2.83324477245e-05,1793248845651404288
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.165284905,745,715,680,665,634,881.165284905,786,812,652.165284905,629,653,0.418269432345,0.0044721531824,0.0499617203786,0.999999998124,1.53323317749e-05,-5.25743170917e-05,2.7431189973e-05,1793248845668070912
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.74274156,745,715,680,665,634,881.74274156,786,812,652.74274156,629,653,0.419139047342,0.00445829425506,0.0499743495673,0.999999998712,-7.52884135164e-06,-4.09728993429e-05,2.90013407669e-05,1793248845684737536
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.673087771,745,715,680.326912229,665,634,881.673087771,786,811.673087771,653,629.326912229,653,0.419985906681,0.00445058456845,0.0499694056696,0.999999998141,-2.12301600014e-05,-4.87871723434e-05,2.97913965336e-05,1793248845701404160
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.083522858,745,715,680.916477142,665,634,881.083522858,786,811.083522858,653,629.916477142,653,0.42081448329,0.00444781539693,0.0499503429408,0.999999996565,-2.75721310316e-05,-7.22006889184e-05,2.99546966736e-05,1793248845718070784
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,786,811.990785477,653,629.504607261,653,0.421731819271,0.00444701367461,0.0499709646484,0.999999998804,-2.84242405938e-05,-2.63057886418e-05,2.98688242374e-05,1793248845734737664
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.92768182,745,715,681,665,634,881,786,812.92768182,653,629,653,0.422657204217,0.00444705250287,0.0499938920817,0.999999998946,-2.73407553616e-05,2.16192233649e-05,2.98956641851e-05,1793248845751404288
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.352373562,745,715,681,665,634,881,786,812.352373562,653,629,653,0.423536678048,0.00445067898661,0.0499872998148,0.999999999329,-1.90969483131e-05,4.10010835673e-06,3.09924888376e-05,1793248845768070912
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.228224696,745,715,681,665,634,881,785.771775304,812.228224696,653,629.228224696,653,0.424427084343,0.00445526719721,0.0499810618985,0.999999999424,-1.06868399989e-05,-7.56233457314e-06,3.13141858444e-05,1793248845784737536
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.817184492,745,715,681,665,634,881,785.182815508,812.817184492,653,629.817184492,653,0.42533477078,0.00446137552709,0.0499753840725,0.999999999486,-2.01387234427e-06,-9.96764362606e-06,3.04107055965e-05,1793248845801404160
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680.600532305,665,634,880.600532305,785.399467695,813,653,630,653,0.426254663248,0.00445834128382,0.0499895453092,0.999999999414,-1.05956843845e-05,2.64347198854e-06,3.24515214787e-05,1793248845818071040
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.021254436,665,634,880.021254436,785.978745564,813,653,630,653,0.427180049896,0.00445119174449,0.0500126365932,0.999999998753,-2.69442951042e-05,2.20138475922e-05,3.58176370647e-05,1793248845834737664
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.55416881,680,665,634,880.55416881,786,813.55416881,652.44583119,630,653,0.428009778307,0.00444844306858,0.0499766177152,0.999999997574,-2.88763008628e-05,-5.17335291684e-05,3.66261247011e-05,1793248845851404544
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715.870698706,680.129301294,664.870698706,634,881,785.870698706,813.870698706,652,630,653,0.428859520409,0.00444651972828,0.0499469049591,0.999999993294,-2.63057574581e-05,-0.00010662215797,3.67551387014e-05,1793248845868070912
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.296062017,680.703937983,664.296062017,634,881,785.296062017,813.296062017,652,630,653,0.429790741832,0.004446861659,0.0499466658678,0.999999995784,-1.01189087223e-05,-8.43425081853e-05,3.48794521973e-05,1793248845884737536
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.573256139,633.713371931,881.286628069,785,813.286628069,652,630,653,0.430702419987,0.0044473740549,0.0499480976835,0.999999996778,-8.22960201774e-06,-7.20507727513e-05,3.44199160563e-05,1793248845901404160
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665.755754124,633.122122938,881.877877062,785,813.877877062,652,630,653,0.431593328,0.00444806761677,0.0499513052962,0.999999996663,-2.15353554294e-05,-7.03739366612e-05,3.54654281492e-05,1793248845918071040
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665.540262112,633,882,785,814,652,630,653,0.432463103125,0.00444808502075,0.0499406663077,0.99999999519,-2.93981652571e-05,-8.6283393464e-05,3.62042400788e-05,1793248845934737408
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961165959,745,715,681,665,633,881.961165959,785,814,652,630,653,0.43332823778,0.0044478459365,0.0499291227048,0.99999999348,-3.44130817803e-05,-0.000102463491145,3.68313616542e-05,1793248845951404032
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.386496067,745,715,681,665,633,881.386496067,785,814,652,630,653,0.434205249575,0.00444649650938,0.0499548330688,0.999999997368,-1.96831124945e-05,-5.92093082873e-05,3.70190113937e-05,1793248845968070912
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.192324989,745,715,681,665,633,881,785,814,652.192324989,630,653,0.435063297666,0.00444673086532,0.0499719173351,0.999999998632,-7.32031339108e-06,-3.55851339415e-05,3.76404380854e-05,1793248845984737536
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.779672357,745,715,681,665,633,881,785,814,652.779672357,630,653,0.435882395765,0.00445021820318,0.0499712841914,0.999999997867,1.80482617073e-07,-5.22796473953e-05,3.91528131415e-05,1793248846001404416
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.361902827,785,814,652.638097173,630,653,0.436685323163,0.00445151593224,0.04995918031,0.999999995979,-7.14769531841e-06,-8.01409355836e-05,3.95974561464e-05,1793248846018071040
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.941061509,785,814,652.058938491,630,653,0.437478542991,0.00445149920513,0.0499401903677,0.999999992372,-2.33779357353e-05,-0.000114705809992,3.94011229816e-05,1793248846034737920
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.48125187,784.48125187,814.51874813,652,630.51874813,653,0.438313310244,0.0044473451075,0.0499645600641,0.999999996617,-4.07458675386e-05,-6.07176665899e-05,3.76832380531e-05,1793248846051404544
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.90481838,715,681,665,633,881.09518162,784.09518162,815,652,630.90481838,653,0.439132890213,0.00444310883424,0.0499874000623,0.999999998091,-4.88913619934e-05,-1.05487305922e-05,3.62804231736e-05,1793248846068070912
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.333815682,715,681,665,633,881.666184318,784.666184318,815,652,630.333815682,653,0.439853016291,0.0044408050523,0.0499780352475,0.999999998812,-1.02887441835e-05,-2.96263639331e-05,3.73144367392e-05,1793248846084737536
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.753440188,744.246559812,715,681,664.753440188,633,882,784.753440188,815,652,630,653,0.440569922637,0.00443893482616,0.0499643242502,0.999999997842,5.72240963775e-06,-5.30105810451e-05,3.83842269925e-05,1793248846101404160
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.159873522,744.840126478,715,681,664.159873522,633,882,784.159873522,815,652,630,653,0.441282297492,0.00443767478415,0.0499444964615,0.99999999577,-1.00615355398e-05,-8.24558576637e-05,3.95043691092e-05,1793248846118070784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.423286113,744.576713887,715,681,664.423286113,633,881.576713887,784,815.423286113,652,630,653,0.441996257971,0.00444215297895,0.0499563552919,0.999999997392,-1.31591878909e-05,-5.86652418798e-05,4.00095770709e-05,1793248846134737408
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.002585848,744.002585848,715,681.002585848,665,633,881.002585848,784.002585848,816,652,630,653,0.442710491913,0.00444872439365,0.0499798433164,0.999999999003,-1.15752511072e-05,-1.53652007371e-05,4.02944737375e-05,1793248846151404288
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.57667526,744.57667526,715,681.57667526,665,633,881.57667526,784.57667526,816,652,630,653,0.443355966883,0.00445041520011,0.0499919414492,0.999999999076,-8.88509847021e-06,2.5019158053e-06,4.19880220627e-05,1793248846168070912
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.846023708,745,715,682,664.846023708,633.153976292,882.153976292,785,816,652,630,653,0.4439743528,0.00445157942503,0.0499920759514,0.999999999037,-5.95957291639e-06,-1.44830825124e-07,4.3477086476e-05,1793248846184737536
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.259704789,745,715,682,664.259704789,633.740295211,882.740295211,785,816,652,630,653,0.444516676815,0.00445126508734,0.049958618353,0.999999997188,-2.37315444308e-06,-6.03914633717e-05,4.43919906684e-05,1793248846201404416
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681.676369028,664,633.676369028,882.676369028,784.676369028,816,652,630,652.676369028,0.445083122622,0.00444748562885,0.0499408636799,0.99999999546,-4.13043851661e-06,-8.38318398421e-05,4.51181915891e-05,1793248846218071296
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.095405338,664,633.095405338,882.095405338,784.095405338,816,652,630,652.095405338,0.445668748657,0.00444095090582,0.0499355950709,0.999999995862,-1.01367274394e-05,-7.80059969363e-05,4.56943465676e-05,1793248846234737920
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.482936574,664.482936574,633,881.517063426,784,816,652,630,652.482936574,0.446236251211,0.0044368843179,0.0499570121494,0.999999998261,-1.78969044308e-05,-3.22768577636e-05,4.59905703232e-05,1793248846251404544
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633,881.060385952,784,816,652,630,653,0.446788977468,0.00443359670094,0.0499800867803,0.999999998497,-2.59731766543e-05,1.39530366055e-05,4.62247202037e-05,1793248846268071168
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633,881.634623955,784,816,652,630,653,0.447246267661,0.00443281101393,0.049972648117,0.99999999835,-3.3806768801e-05,-2.27378304521e-06,4.63986976397e-05,1793248846284738048
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633.214572812,882,784,816,652,630,653,0.447679162029,0.00443085329461,0.0499561620132,0.999999997035,-5.80278071671e-05,-2.92514868523e-05,4.13166898449e-05,1793248846301404672
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,682,665,633.80451198,882,784,816,652,630,653,0.448069379125,0.00442684526207,0.0499238486263,0.999999990668,-0.000110916483965,-7.50364188993e-05,2.70400406315e-05,1793248846318071040
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,744.612785871,715,682,664.612785871,633.612785871,882,784,816,652,630,653,0.448461175374,0.00442089985551,0.0499079113157,0.999999986127,-0.000131880466364,-9.88562251145e-05,2.4109976185e-05,1793248846334737920
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,744.0336703,715,682,664.0336703,633.0336703,882,784,816,652,630,653,0.448853754278,0.00441399429545,0.0499000899059,0.999999984005,-0.000137022730207,-0.00011179022589,2.68032227941e-05,1793248846351404544
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,744.541742405,715,681.458257595,665.083484811,633,882,784,816,652,630.541742405,653,0.449226271046,0.00441693114337,0.0499190885899,0.99999998747,-0.000130923567529,-8.41144285512e-05,2.90426118788e-05,1793248846368071168
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.117088682,665.882911318,633,882,784.117088682,816,652,631,652.882911318,0.449587846942,0.00442168663522,0.0499389235921,0.999999992088,-0.00010861527206,-5.51905123094e-05,3.13202737835e-05,1793248846384737792
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.693070623,665.306929377,633,882,784.693070623,816,652,631,652.306929377,0.44991139721,0.0044311885571,0.0499555476659,0.999999998615,-2.54998948002e-05,-3.11997596614e-05,3.38577373736e-05,1793248846401404416
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,682.27602067,665.27602067,633,882,785,816,652,631,652.27602067,0.450211900816,0.00444256613783,0.0499674321883,0.99999999903,2.29811486733e-05,-1.40388845045e-05,3.48637588673e-05,1793248846418071040
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,682.866919749,665.866919749,633,882,785,816,652,631,652.866919749,0.450486113271,0.00445608342902,0.0499739099321,0.999999998896,3.19520885581e-05,-4.66938740993e-06,3.41227444244e-05,1793248846434737664
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.447986124,745,715,682.552013876,665.552013876,633.447986124,882,784.552013876,816,652,631,653,0.450725558617,0.0044558663239,0.0499737971726,0.999999998982,2.67260618711e-05,-8.80258424454e-06,3.52842244498e-05,1793248846451404288
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.973990903,745,715,682,664.973990903,633.973990903,881.973990903,784,816,652.026009097,630.973990903,653,0.45095270581,0.00445161755018,0.0499715768362,0.999999999017,1.74552110969e-05,-1.71596009728e-05,3.69802534299e-05,1793248846468070656
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.399870616,745,715,682,664.399870616,633.399870616,881.399870616,784,816,652.600129384,630.399870616,653,0.451133660569,0.00444654036194,0.0499653139461,0.999999998712,9.9123244823e-06,-3.18137604724e-05,3.82869595603e-05,1793248846484737536
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.821329401,664,633,881,784,816,652.821329401,630.178670599,653,0.451303505983,0.00444366513248,0.0499589478821,0.999999998193,4.33304852787e-06,-4.55368224734e-05,3.90061127947e-05,1793248846501404160
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.232643057,664,633,881,784,816,652.232643057,630.767356943,653,0.451447857494,0.00444584298896,0.0499523450543,0.999999997627,3.25989432505e-06,-5.71231871441e-05,3.83769414118e-05,1793248846518070784
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681.350294872,664,633,881,784,816,652,631,652.649705128,0.451574791869,0.00444633382759,0.0499434449984,0.999999996456,2.1349884554e-06,-7.48307335695e-05,3.85142667155e-05,1793248846534737408
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681.929476774,664,633,881,784,816,652,631,652.070523226,0.451690345686,0.00444572234797,0.0499330439045,0.999999994573,9.76267295191e-07,-9.65379374866e-05,3.91524304222e-05,1793248846551404032
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,744.492593132,715,682,664,633,881.507406868,784,816,652,631,652.507406868,0.451786287214,0.00444535855592,0.0499255264789,0.999999992996,-2.11070393265e-06,-0.000111618922913,3.9315379179e-05,1793248846568070912
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,744.084793597,715,682,664,633,882,784.084793597,816,652,630.915206403,653,0.451877007334,0.00444507867511,0.0499192983271,0.999999991482,-5.08929838242e-06,-0.000124332017148,3.93958223462e-05,1793248846584737536
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,744.66004157,715,682,664,633,882,784.66004157,816,652,630.33995843,653,0.451953254218,0.0044450855147,0.0499182149312,0.99999999093,-5.89469374349e-06,-0.000128662827544,3.93801386083e-05,1793248846601404160
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.23443517,745,715,682,664.23443517,633,882,784.76556483,816,652,630.23443517,653,0.45202250657,0.00444529680182,0.0499176002823,0.999999990596,-5.90953568662e-06,-0.000131209675857,3.94615326858e-05,1793248846618071552
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.807594292,745,715,682,664.807594292,633,882,784.192405708,816,652,630.807594292,653,0.452081652859,0.00444580348521,0.0499176629032,0.999999990597,-4.78214547343e-06,-0.000131178964035,3.96831897697e-05,1793248846634739200
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.604725566,745,715,681.604725566,664.604725566,633,882,784,816,652.395274434,630.604725566,653,0.452126535329,0.00444725246878,0.0499171247958,0.999999990258,-1.43794465843e-06,-0.00013384218135,3.96077565699e-05,1793248846651405824
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.009707552,745,715,681.009707552,664.009707552,633,882,784,816,652.990292448,630.009707552,653,0.452164209878,0.0044491776238,0.049916283123,0.999999989716,3.0264745057e-06,-0.000137866718812,3.93821950667e-05,1793248846668071936
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,882,784,816,652.435056992,630.564943008,653,0.452193945233,0.00445139795251,0.0499140785186,0.999999989464,3.18808862475e-06,-0.000139843054274,3.87966576915e-05,1793248846684738304
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,882,784,816,652,630.859958891,653,0.452220402173,0.00445267587425,0.0499122226565,0.999999989205,3.18149942176e-06,-0.000141787291597,3.84335912939e-05,1793248846701404928
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681.301317011,664,633,882,784,816,652,630.301317011,653,0.452249015274,0.00444974996678,0.0499101422443,0.999999988507,2.43770737675e-06,-0.000146460048802,3.90997134939e-05,1793248846734737920
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681.890947939,664,633,882,784,816,652,630.890947939,653,0.452256563604,0.00444892408203,0.0499080982996,0.999999987984,1.88293793486e-06,-0.00014992196774,3.93816129438e-05,1793248846751404288
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766.049421429,745,715,682,664,633,881.049421429,784.049421429,816.950578571,652,630.950578571,652.950578571,0.452264178388,0.00445414058175,0.0499053468423,0.999999987494,7.17732980917e-06,-0.000153315874241,3.81510961555e-05,1793248846784738304
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+228,3.800000000,POSE1_TO_POSE2_PRESS,767,745,715,682,664,632.801904987,882,785,816,652,630,652.198095013,0.452267761585,0.00445410066643,0.0499029427588,0.999999986893,8.59333039304e-06,-0.000157045764998,3.84360491178e-05,1793248846818072064
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,745,715,682,664,632.230020121,882,785,816,652,630,652.769979879,0.452268037365,0.00445453807492,0.0499016109851,0.999999986615,9.47932328436e-06,-0.0001587504583,3.84540764445e-05,1793248846834738432
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766.089083115,745,715,682,664,632.910916885,882,784.089083115,816,652.910916885,630.910916885,653,0.45226847199,0.00445668500457,0.0499001757368,0.999999986334,9.50641480111e-06,-0.000160715486778,3.7589072501e-05,1793248846868071936
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784.509489741,816.509489741,652.490510259,631,653,0.452270391208,0.00445711570672,0.0499014598683,0.999999986571,1.10803300463e-05,-0.000159161442828,3.74493803786e-05,1793248846884738048
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784.892017836,816.892017836,652,631,653,0.452271504021,0.00445725648978,0.0499020666422,0.999999986643,1.22788392995e-05,-0.000158618441744,3.74583534493e-05,1793248846901404672
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664,633,882,784.316685707,816.316685707,652,631,653,0.452267750781,0.00445678601772,0.0498982612596,0.999999985728,1.04258799412e-05,-0.000164338654118,3.77851582827e-05,1793248846918071552
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.258234042,745,715,682,664,633,882,784,816,652.258234042,630.741765958,653,0.452266343304,0.00445691103793,0.0498967127016,0.999999985349,9.96516931619e-06,-0.000166649293384,3.78261408584e-05,1793248846934738176
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.832648952,745,715,682,664,633,882,784,816,652.832648952,630.167351048,653,0.45226780797,0.00445776517675,0.0498979273911,0.999999985656,1.12091229761e-05,-0.0001647852639,3.75171636955e-05,1793248846951405056
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.580749478,745,715,681.580749478,664.419250522,633,882,784,816,652.580749478,630,653,0.452267886971,0.00445710428076,0.0498974521786,0.999999985575,1.07000567761e-05,-0.000165238842019,3.78444341634e-05,1793248846968071936
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.010577865,664.989422135,633,882,784,816,652.010577865,630.010577865,653.010577865,0.452267421495,0.00445587505684,0.0498963112827,0.999999985338,9.54464848118e-06,-0.000166605402196,3.84107126742e-05,1793248846984738560
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.58670302,664.41329698,633,882,784,816,652.58670302,630.58670302,653.58670302,0.452268303122,0.00445756124593,0.0498967243418,0.999999985458,1.23646340678e-05,-0.000165842619726,3.77705813375e-05,1793248847001404928
+240,4.000000000,HOLD_POSE2,766,745,715,682,664,633,882,784,816,653,631,653,0.452270526057,0.00445472224917,0.0498972946713,0.999999985425,9.50305337566e-06,-0.000166160058098,3.80791381507e-05,1793248847042383872
+241,4.016666667,HOLD_POSE2,766,745,715,681.407035699,664,633,882,784.592964301,816,653,630.407035699,653,0.4522703865,0.00445676577164,0.0498977619336,0.999999985624,9.75595303329e-06,-0.000165058839483,3.75804247357e-05,1793248847059050240
+242,4.033333333,HOLD_POSE2,766,745,715,681,664,633,882,785,816,652.818725177,630,653,0.452269918537,0.00445798193823,0.0498977161859,0.999999985673,1.08598700806e-05,-0.000164732635293,3.7409806923e-05,1793248847075716352
+243,4.050000000,HOLD_POSE2,766,745,715,681,664,633,882,785,816,652.240602615,630,653,0.452268731625,0.00445738685365,0.0498965473539,0.999999985389,1.3826838647e-05,-0.000166103096297,3.79574575275e-05,1793248847092383232
+244,4.066666667,HOLD_POSE2,766.336146964,745,715,681.336146964,664,633,882,784.663853036,816,652,630.336146964,653,0.452268991878,0.00445825060238,0.0498965478271,0.99999998534,1.5133447807e-05,-0.000166322990107,3.77928719781e-05,1793248847109050112
+245,4.083333333,HOLD_POSE2,766.911917772,745,715,681.911917772,664,633,882,784.088082228,816,652,630.911917772,653,0.45227028375,0.00446015428691,0.0498973818447,0.999999985463,1.52564622736e-05,-0.000165722696945,3.71205657171e-05,1793248847125716736
+246,4.100000000,HOLD_POSE2,766.502511305,745,715,682,664,633,882,784,816,652,630.502511305,653,0.452270025424,0.00445996590508,0.0498970674598,0.999999985405,1.46897638424e-05,-0.000166112268414,3.71491844837e-05,1793248847142382848
+247,4.116666667,HOLD_POSE2,766.08366494,744.91633506,715,681.91633506,664.08366494,633,882,784,816,652.08366494,630,653,0.452269697332,0.00445934792349,0.0498967378873,0.999999985345,1.39906048606e-05,-0.00016650323288,3.72857553773e-05,1793248847159049472
+248,4.133333333,HOLD_POSE2,766.662941823,744.337058177,715,681.337058177,664.662941823,633,882,784,816,652.662941823,630,653,0.452270614515,0.00445842339706,0.0498975470253,0.999999985464,1.32447050576e-05,-0.000165843391101,3.73118889212e-05,1793248847175716096
+249,4.150000000,HOLD_POSE2,766.758717749,744.241282251,715,681.241282251,664.758717749,632.758717749,882,784,816,653,630.241282251,653,0.452270987094,0.00445858250587,0.049897749189,0.999999985525,1.36956635943e-05,-0.000165429566176,3.73434012177e-05,1793248847192382720
+250,4.166666667,HOLD_POSE2,766.181680489,744.818319511,715,681.818319511,664.181680489,632.181680489,882,784,816,653,630.818319511,653,0.452270601834,0.0044602495415,0.0498971067208,0.999999985505,1.58121039284e-05,-0.000165358084729,3.73823982863e-05,1793248847209049344
+251,4.183333333,HOLD_POSE2,766.393331451,745,715,681.606668549,664,632,882,784,816,653,631,653,0.452269809455,0.00446010883216,0.0498963433002,0.999999985289,1.6023197329e-05,-0.00016663556218,3.73831993212e-05,1793248847225716224
+252,4.200000000,HOLD_POSE2,766.967412736,745,715,681.032587264,664,632,882,784,816,653,631,653,0.452268829992,0.00445913739965,0.0498955242977,0.999999984982,1.53587160291e-05,-0.000168532934362,3.73664479195e-05,1793248847242383360
+253,4.216666667,HOLD_POSE2,767,745,715,681.556698117,664,632.556698117,882,784,816,652.443301883,631,653,0.452268886612,0.00445987810397,0.0498951890058,0.999999984886,1.63507595819e-05,-0.000168963403468,3.75713259556e-05,1793248847259049984
+254,4.233333333,HOLD_POSE2,766.855761337,745,715,681.855761337,664,633,882,784,816,652.144238663,631,653,0.452269012248,0.00446065404433,0.0498949385639,0.999999984835,1.75398737005e-05,-0.000169139409573,3.76059682384e-05,1793248847275716352
+255,4.250000000,HOLD_POSE2,766.276247308,745,715,681.276247308,664,633,882,784,816,652.723752692,631,653,0.452269157996,0.00446122537926,0.0498948563315,0.999999984882,1.90228572919e-05,-0.000168813913904,3.708663281e-05,1793248847292382720
+256,4.266666667,POSE2_TO_POSE3_RETREAT,767,745,715,682,664,633,882,784,816,652,630,653,0.452270519991,0.00445977912183,0.0498959632202,0.999999985209,1.33079296882e-05,-0.000167397368964,3.71885171372e-05,1793248847329649920
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,744.756322846,715,682,664,633,881.243677154,784.756322846,816,652,630,653,0.452270907555,0.00445976583968,0.0498965486402,0.999999985257,1.38357706974e-05,-0.000167135423968,3.68932507379e-05,1793248847379650816
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.930068101,816,652,630,653,0.452270233246,0.00445937366998,0.049895603115,0.999999985054,1.45285470414e-05,-0.000168240540252,3.70978587925e-05,1793248847446316544
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.244419545,816,652,630.244419545,653,0.452267987742,0.00446055847381,0.0498942401682,0.999999984885,1.45919129015e-05,-0.000169299143668,3.68121455665e-05,1793248847479649792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.823170445,816,652,630.823170445,653,0.452261038053,0.00446077169345,0.0498918135841,0.99999998397,1.65076684467e-05,-0.000174439883535,3.6846636735e-05,1793248847496316160
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.024228495,816,652,630.024228495,653,0.452209694757,0.00446322081521,0.0498690121687,0.999999976368,1.64203184987e-05,-0.000213774151025,3.59909883914e-05,1793248847529649920
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.305426581,882,784,816,652,631,653,0.451943628622,0.0044662310957,0.0497988210249,0.999999944557,2.35129207645e-05,-0.000330400146884,3.41770514389e-05,1793248847596316672
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.207526834,664,633,882,784,816,652.207526834,630.207526834,653,0.451431808335,0.00447288494365,0.0498006309593,0.999999948997,3.5933266541e-05,-0.000315849769775,3.08884471011e-05,1793248847679650048
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.413726277,745,715,681.413726277,664.413726277,633,882,784.586273723,815.413726277,652.413726277,631,653,0.44858047441,0.00450912623963,0.049798320459,0.999999953302,9.67731367111e-05,-0.000289492027968,1.49965502294e-05,1793248847862983424
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,665,633,881.767216103,785,814,653,631,653,0.444684892062,0.004554518826,0.0498129730543,0.999999947042,0.000165246641708,-0.00028036307996,-2.52566877628e-06,1793248847996316160
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.72937411,745,715,681.27062589,664,633.27062589,880.27062589,785,811,652.27062589,630,652,0.424580193693,0.00458918368562,0.0497967506314,0.999999947995,0.000107252852125,-0.000302313781962,-3.3351750772e-05,1793248848412983552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.315227556,664.315227556,633.315227556,880,785.315227556,811,652.315227556,630,652,0.423719096623,0.0045878718294,0.0498171801918,0.99999995742,0.000121693424578,-0.000263110655045,-3.35169857415e-05,1793248848429650688
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.895305189,664.895305189,633.895305189,880,785.895305189,811,652.895305189,630,652,0.422831312326,0.00458669737805,0.0498291463362,0.999999960292,0.00013387497502,-0.000245733959214,-3.3280230676e-05,1793248848446317312
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.957199758,681,664.042800242,634,880,785.042800242,811,653,630,652.042800242,0.42099661773,0.00458464398967,0.0497805584851,0.999999936138,0.0001077058656,-0.000339074446954,-3.39317603893e-05,1793248848479650048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.37890938,681,664.62109062,634,880,785.62109062,811,653,630,652.62109062,0.420115008084,0.00458401810283,0.049797103448,0.999999941871,0.000103944912055,-0.000322977698791,-3.37332393103e-05,1793248848496316672
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664.206297993,634,880,785.206297993,811,653,630,653,0.41836059713,0.00458970439558,0.0497839574525,0.999999924884,0.000121254932413,-0.000366609590511,-3.35641146619e-05,1793248848529649920
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,744.528012336,715,681,663.528012336,634,880.528012336,785.528012336,811,653,630,653,0.415960853245,0.00458813991981,0.0497947499971,0.999999940765,0.000106222636024,-0.000325357568865,-3.64451480078e-05,1793248848579650560
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,634,879.564591648,786,810.435408352,653,629.564591648,653,0.412139260585,0.00459036156952,0.0497789147151,0.999999928246,0.000119585702841,-0.000357461856847,-3.77839981387e-05,1793248848662983168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.989592975,663.010407025,634,879.010407025,786,811,653,629,652.989592975,0.411465413223,0.00459252644957,0.0498068646766,0.999999939166,0.000125960469225,-0.000323118722296,-3.73685835187e-05,1793248848679649792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.402212818,663.597787182,634,879.597787182,786,811,653,629,652.402212818,0.410774306684,0.00459290534597,0.0498049934593,0.999999939316,0.000118101929168,-0.000325631793476,-3.72011229525e-05,1793248848696316672
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,715.069364208,680,664,634,880,786,810.930635792,653,629.069364208,652.930635792,0.407232887488,0.00458218102047,0.0498260598488,0.999999949861,0.000102719359797,-0.000297343141099,-3.62485290233e-05,1793248848796316672
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,715.176910805,680,664,634,879.176910805,786,810,653,629.176910805,652,0.405674870591,0.00458894278508,0.0497672209677,0.999999914828,0.000104439096185,-0.000397363624296,-3.92333709172e-05,1793248848846317312
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.600123188,745,715,680,664,634,879,786,810,653,629,652,0.405239685059,0.00459176401608,0.0497665119214,0.999999913935,0.000107939530773,-0.000398606826505,-3.98991402004e-05,1793248848862983936
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.024372096,745,715,680,664,634,879,786,810,653,629,652,0.404827652923,0.00459481806256,0.0497736539241,0.999999917367,0.000112941757895,-0.000388444188738,-4.02660251676e-05,1793248848879650560
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.12793248,745,715,679.87206752,664,634,878.87206752,786,810,653,629.87206752,653,0.404156057629,0.00459635176655,0.04982997624,0.99999994662,0.000119107690889,-0.000301612108998,-4.00509966008e-05,1793248848912984064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.716303582,745,715,679.283696418,664,634,878.283696418,786,810,653,629.283696418,653,0.403837445267,0.00459812790937,0.0498526001621,0.999999955656,0.000122247048373,-0.000268554563492,-4.02748675336e-05,1793248848929649920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.299892368,664,634,878.299892368,786,810,653,629,653,0.403526472653,0.00459915907684,0.0498576703306,0.999999956282,0.00012527638165,-0.000264749510496,-4.06150052316e-05,1793248848946316288
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.541983978,664,634,879,786,810,653,629,653,0.402926235007,0.00460110133199,0.0498311670287,0.999999940597,0.000131272224095,-0.00031593875556,-4.19006737463e-05,1793248848979650048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,634,879.036664146,786,810,653,629,652.963335854,0.40263569658,0.00460274153392,0.0498151846277,0.99999993057,0.000136189066691,-0.0003442910322,-4.21561117366e-05,1793248848996316928
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,634,879.610902169,786,810,653,629,652.389097831,0.402401831866,0.0045999952076,0.0498034517163,0.999999918937,0.000167649794956,-0.000364651698135,-3.23752223793e-05,1793248849012983808
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,715.18996933,679.18996933,664.18996933,634.18996933,879.81003067,786,810,653.18996933,629,652,0.402187541536,0.00459363504809,0.049797724054,0.999999915927,0.000168862362875,-0.000372784722681,-2.57379532929e-05,1793248849029650432
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,715.779185521,679.779185521,664.779185521,634.779185521,879.220814479,786,810,653.779185521,629,652,0.402014389516,0.00457967991786,0.049804617256,0.999999930907,0.000106504227766,-0.000355219662404,-2.57074389093e-05,1793248849046316544
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,715.058529949,680,664.058529949,634.058529949,879,786,810,653.058529949,629,652.941470051,0.401721435489,0.00455546584794,0.0498201966564,0.999999945946,5.93499307846e-05,-0.000322373803317,-2.57133585189e-05,1793248849079650048
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d806b6a9f71d250c32d486e1d2ac4c35a78ca27
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97060a08faadb36ab4408c06e654df6b8ad01a97
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f05f4540f14760e103d3645b9a61ce0eefc85cef9b22679b4c6f95c48326018
+size 25402971
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..520ff2db9416a17f67df3294072cdad79f50644f
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,401 @@
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+12,0.200000000,BASELINE,767,745,715.030100891,679,664.969899109,634,879,786,810,653,629,652.969899109,0.400989151553,0.00456585488267,0.0498522969938,0.99999996454,8.00826415745e-05,-0.000252065282695,-3.11422338137e-05,1793248850028364288
+13,0.216666667,BASELINE,767,745,715,679,664.45792636,634,879,786.54207364,810,653,629,652.45792636,0.400987010338,0.0045667758519,0.0498508693005,0.999999963893,8.07988600784e-05,-0.000254358065214,-3.14191445814e-05,1793248850045030656
+14,0.233333333,BASELINE,767,745,715.117770188,679,664,634,879,786.882229812,810,653,629,652,0.400985563658,0.00456757819025,0.0498498294935,0.999999963432,8.14302960466e-05,-0.0002559374396,-3.16422936512e-05,1793248850061697024
+15,0.250000000,BASELINE,767,745,715.709086453,679,664,634,879,786.290913547,810,653,629,652,0.40098755163,0.00456726226959,0.0498508656122,0.999999963967,8.14849500914e-05,-0.000253833652017,-3.15320572389e-05,1793248850078363648
+16,0.266666667,BASELINE,767,745,715.705616774,679.294383226,664,634,878.705616774,786,810,653,629,652,0.400989316418,0.00456672086436,0.0498520330612,0.999999964597,8.07762856898e-05,-0.000251571372691,-3.15028732113e-05,1793248850095030272
+17,0.283333333,BASELINE,767,745,715.126149384,679.873850616,664,634,878.126149384,786,810,653,629,652,0.400990865071,0.00456596109723,0.0498533276921,0.999999965316,7.93284147591e-05,-0.000249155608227,-3.15521812692e-05,1793248850111696896
+18,0.300000000,BASELINE,767,745,715.450846899,679.549153101,664,634,878.450846899,786,810,653,629,652,0.400989058735,0.00456653820175,0.0498524425338,0.999999964827,7.9713482389e-05,-0.00025098139468,-3.16151015891e-05,1793248850128363520
+19,0.316666667,BASELINE,767,745,716,679.027608162,664,634,879,786,810,653,629,652.027608162,0.400986507616,0.00456742414493,0.0498510619228,0.999999964052,8.05288422522e-05,-0.000253788615515,-3.16671073166e-05,1793248850145030144
+20,0.333333333,BASELINE,767,745,716,679.613523134,664,634,879,786,810,653,629,652.613523134,0.400987775371,0.00456703230538,0.04985192883,0.999999964431,7.97308874444e-05,-0.000252573478258,-3.14217890561e-05,1793248850161696768
+21,0.350000000,BASELINE,766.802703902,745,715.802703902,679.802703902,664,634,878.802703902,786,810,653,629.197296098,653,0.400988432108,0.00456730373169,0.0498523202007,0.999999964602,7.98336664628e-05,-0.000251868415591,-3.13828172675e-05,1793248850178363392
+22,0.366666667,BASELINE,766.223081848,745,715.223081848,679.223081848,664,634,878.223081848,786,810,653,629.776918152,653,0.400987904798,0.00456886045337,0.0498517900632,0.99999996437,8.16819130454e-05,-0.000252151790025,-3.17437095341e-05,1793248850195029760
+23,0.383333333,BASELINE,766.354288667,745,715,679,664,634,878.354288667,785.645711333,810,653,629.645711333,652.645711333,0.400987144514,0.00456942481057,0.0498511822687,0.999999963967,8.22195527955e-05,-0.000253562513624,-3.18116839788e-05,1793248850211696384
+24,0.400000000,BASELINE,766.930250484,745,715,679,664,634,878.930250484,785.069749516,810,653,629.069749516,652.069749516,0.400986238461,0.00456936826022,0.0498505258852,0.999999963455,8.19371655211e-05,-0.000255678602858,-3.16963841334e-05,1793248850228363008
+25,0.416666667,BASELINE,767,745,715.505244593,679,664,634.505244593,879,785.505244593,810,653,629,652,0.400987708889,0.00456786558163,0.0498511059852,0.999999963953,8.05825361622e-05,-0.000254188768302,-3.14251306911e-05,1793248850245029888
+26,0.433333333,BASELINE,766.917736473,745,715.917736473,679.082263527,664,635,878.917736473,786,810,653,629,652,0.400989168692,0.00456641185069,0.0498517999882,0.999999964502,7.92544848647e-05,-0.000252474995364,-3.11733522421e-05,1793248850261696512
+27,0.450000000,BASELINE,766.327387802,745,715.327387802,679.672612198,664,635,878.327387802,786,810,653,629,652,0.400988540447,0.00456649111307,0.0498521452257,0.999999964529,7.90030823634e-05,-0.000252446806921,-3.11745762786e-05,1793248850278363136
+28,0.466666667,BASELINE,766.258061136,745,715.258061136,679.741938864,664,634.741938864,878.258061136,786,810,653,629,652,0.400988096689,0.0045666067859,0.0498521542591,0.999999964549,7.8936632075e-05,-0.000252390553596,-3.113738261e-05,1793248850295030016
+29,0.483333333,BASELINE,766.837409845,745,715.837409845,679.162590155,664,634.162590155,878.837409845,786,810,653,629,652,0.400987882618,0.00456676778993,0.0498517447167,0.999999964562,7.91004483514e-05,-0.000252299359338,-3.10523586818e-05,1793248850311696640
+30,0.500000000,BASELINE,767,745,715.586431422,679,664,634,879,786.413568578,810,653,629,652.413568578,0.400986061301,0.00456674234828,0.0498508672711,0.99999996404,7.90367393859e-05,-0.000254361565209,-3.12055907175e-05,1793248850328363264
+31,0.516666667,BASELINE,767,745,715.01151721,679,664,634,879,786.98848279,810,653,629,652.98848279,0.400983612949,0.00456664416851,0.0498498072824,0.999999963302,7.88842659246e-05,-0.000257263877726,-3.14517736266e-05,1793248850345029888
+32,0.533333333,BASELINE,767,745,715,679,664,634,878.435147345,786.435147345,810,653,629,652.435147345,0.400987436009,0.00456564756022,0.0498517389195,0.999999964589,7.80394365705e-05,-0.000252512779502,-3.11290714152e-05,1793248850361696512
+33,0.550000000,BASELINE,767,745,715,679,664,634,878.289255387,786,810,653,629,652,0.400990054006,0.0045651678206,0.0498531630588,0.999999965413,7.80822654054e-05,-0.000249237935617,-3.09292460661e-05,1793248850378363136
+34,0.566666667,BASELINE,767,745,715,679,664,634,879.469602118,786,810,653,629,652,0.400988564692,0.00456633694606,0.04985283538,0.999999964744,8.09032502478e-05,-0.000250992878443,-3.11437859839e-05,1793248850395029760
+35,0.583333333,BASELINE,767,745,715,679,664,634,879.680993767,786,810,653,629,652.319006233,0.400987793006,0.00456624541253,0.0498521501747,0.999999964436,8.07902189245e-05,-0.000252247184469,-3.11778794764e-05,1793248850411696384
+36,0.600000000,BASELINE,767,745,715,679,664,634,879.101658939,786,810,653,629,652.898341061,0.40098760695,0.00456512510428,0.0498511732058,0.999999964425,7.82828512807e-05,-0.000253092940439,-3.10647176732e-05,1793248850428363264
+37,0.616666667,BASELINE,767,745,715.473438013,679,664,634,879,786,810,653,629,652.526561987,0.400988402815,0.00456599745023,0.0498515965612,0.999999964606,7.96998947379e-05,-0.000251927820708,-3.1118798087e-05,1793248850445029888
+38,0.633333333,BASELINE,767,745,715.951208789,679.048791211,664,634,879,786,809.951208789,653.048791211,629,652,0.400989346494,0.00456707512277,0.0498522674685,0.999999964836,8.14062877425e-05,-0.000250454735277,-3.12015853753e-05,1793248850461696512
+39,0.650000000,BASELINE,767,745,715.363052337,679.636947663,664,634,879,786,809.363052337,653.636947663,629,652,0.400989614096,0.00456573461297,0.0498523805096,0.999999965215,7.70786267606e-05,-0.000250308070465,-3.12082554829e-05,1793248850478363136
+40,0.666666667,BASELINE,766.778478387,745,715.221521613,679.778478387,664,634,879,786,809,653.778478387,629,652,0.400989505158,0.0045650136016,0.049852498878,0.999999965323,7.53780941169e-05,-0.00025039970508,-3.11841590924e-05,1793248850495029760
+41,0.683333333,BASELINE,766.199682401,745,715.800317599,679.199682401,664,634,879,786,809,653.199682401,629,652,0.400988788931,0.00456529172946,0.0498526258385,0.999999965011,7.791464551e-05,-0.000250875673662,-3.11104418947e-05,1793248850511696128
+42,0.700000000,BASELINE,766,745,715.621670645,679,664,634,878.621670645,786,809.378329355,653,629,652.378329355,0.400988233571,0.00456576027955,0.0498520711501,0.999999964807,7.86063133087e-05,-0.000251453680932,-3.12839988784e-05,1793248850528363776
+43,0.716666667,BASELINE,766,745,715.044071968,679,664,634,878.044071968,786,809.955928032,653,629,652.955928032,0.40098776294,0.00456632912667,0.0498511574313,0.99999996466,7.83262649896e-05,-0.000252085432842,-3.15877973e-05,1793248850545031680
+44,0.733333333,BASELINE,766,745,715,679,664,634,878.530267255,786,809.469732745,653.530267255,629,653,0.400988162614,0.00456641915703,0.0498519322447,0.999999964802,7.84055442308e-05,-0.000251528448325,-3.13381557237e-05,1793248850561697536
+45,0.750000000,BASELINE,766.107218142,745,715.107218142,679.107218142,664,634.107218142,879,786,809.107218142,653.892781858,629,652.892781858,0.400988269655,0.00456636794476,0.0498524796123,0.999999964873,7.84548773523e-05,-0.000251255458842,-3.1128690726e-05,1793248850578363392
+46,0.766666667,BASELINE,766.697138893,745,715.697138893,679.697138893,664,634.697138893,879,786,809.697138893,653.302861107,629,652.302861107,0.400986735587,0.00456585891799,0.0498513750518,0.99999996452,7.82357598896e-05,-0.000252703114892,-3.13059235143e-05,1793248850595030528
+47,0.783333333,BASELINE,767,745,716,679.718256606,664,635,879.281743394,786,809.718256606,653,629,652,0.400986950424,0.00456617580725,0.0498515705777,0.999999964591,7.89167480871e-05,-0.000252196889911,-3.14208741862e-05,1793248850611697408
+48,0.800000000,BASELINE,767,745,716,679.13926092,664,635,879.86073908,786,809.13926092,653,629,652,0.400989010437,0.004567364076,0.0498531377548,0.999999965103,8.05473892937e-05,-0.000249629230393,-3.14701143711e-05,1793248850628364288
+49,0.816666667,BASELINE,766.562826721,745,715.562826721,679.437173279,664,634.562826721,879.125653443,786,809.437173279,653,629,652,0.400990469735,0.0045670250741,0.0498537490668,0.999999965554,8.04570209508e-05,-0.000247863834458,-3.13472327482e-05,1793248850645031168
+50,0.833333333,BASELINE,766.013056684,745,715.013056684,680,664,634,878.013056684,786.013056684,810,653,629,652,0.400991664982,0.00456619142901,0.0498540358172,0.999999965966,7.97828890885e-05,-0.000246438952785,-3.11670644554e-05,1793248850661697792
+51,0.850000000,BASELINE,766.600395587,745,715.600395587,680,664,634,878.600395587,786.600395587,810,653,629,652,0.40098961382,0.00456487539929,0.0498533617121,0.999999965573,7.74051825851e-05,-0.000248816156389,-3.08647571798e-05,1793248850678363648
+52,0.866666667,BASELINE,766.814971915,745,715.814971915,679.814971915,664,634,879,786.814971915,810,653,629,652,0.400988039075,0.00456416479417,0.0498527626191,0.999999965193,7.60299768623e-05,-0.000250785278859,-3.06488924903e-05,1793248850695030016
+53,0.883333333,BASELINE,766.236100201,745,715.236100201,679.236100201,664,634,879,786.236100201,810,653,629,652,0.400987478415,0.00456474287249,0.0498523231939,0.99999996486,7.67886556991e-05,-0.000251885775461,-3.0617026167e-05,1793248850711696896
+54,0.900000000,BASELINE,766.341733302,745.341733302,715.341733302,679,664,634,879,786,810,653,629,652,0.400987374158,0.00456497072501,0.0498520117254,0.999999964784,7.69299375352e-05,-0.000252139866686,-3.06584417587e-05,1793248850728363776
+55,0.916666667,BASELINE,766.918851666,745.918851666,715.918851666,679,664,634,879,786,810,653,629,652,0.400987584271,0.00456495734281,0.0498517883931,0.999999964886,7.66459577999e-05,-0.000251810955916,-3.0750333755e-05,1793248850745030656
+56,0.933333333,BASELINE,766.504363267,745.504363267,716,679,664,634,879,786,810,653,629,652,0.400987379032,0.00456644783522,0.0498518242343,0.999999964697,7.88775184169e-05,-0.000251814958424,-3.12003467827e-05,1793248850761697280
+57,0.950000000,BASELINE,766,745,716,679,664,634.073740706,879.073740706,786,810,653,629,652,0.400987189103,0.00456801484411,0.0498519183977,0.999999964501,8.11952775482e-05,-0.000251800462044,-3.16382709585e-05,1793248850778364160
+58,0.966666667,BASELINE,766,745,716,679,664,634.661416559,879.661416559,786,810,653,629,652,0.400987579516,0.00456840024082,0.0498521234973,0.999999964631,8.12452843121e-05,-0.00025127741151,-3.15835706244e-05,1793248850795030272
+59,0.983333333,BASELINE,766.245559082,745,716,679,664,635,879.754440918,786,809.754440918,653,629,652,0.400988229618,0.00456840087421,0.0498524109499,0.999999964801,8.08125033957e-05,-0.000250743351397,-3.15396999908e-05,1793248850811696640
+60,1.000000000,BASELINE,766.824898945,745,716,679,664,635,879.175101055,786,809.175101055,653,629,652,0.400989232704,0.00456787851089,0.0498528103424,0.999999965027,7.97234842904e-05,-0.000250194326236,-3.15105498223e-05,1793248850828363264
+61,1.016666667,BASELINE,767,745,715.597752521,679.402247479,664,634.597752521,879,786,809.402247479,653,629.402247479,652,0.400988776772,0.0045678271779,0.0498523816688,0.999999964895,8.08707992996e-05,-0.000250359118061,-3.14596822878e-05,1793248850845029888
+62,1.033333333,BASELINE,767,745,715.02126659,679.97873341,664,634.02126659,879,786,809.97873341,653,629.97873341,652,0.400987688847,0.00456797987753,0.0498515943082,0.999999964605,8.29868100532e-05,-0.00025083310854,-3.139940761e-05,1793248850861696512
+63,1.050000000,BASELINE,767,745,715.550672406,679.449327594,664,634,879.550672406,786,810,653,630,652,0.400988513991,0.00456819797008,0.0498522723094,0.999999964812,8.13548979089e-05,-0.000250529526258,-3.14881119837e-05,1793248850878363648
+64,1.066666667,BASELINE,766.872846043,745,716,679,664,634,879.872846043,786,810,653,629.872846043,652,0.400989383173,0.00456824093214,0.0498529177133,0.999999965095,7.96449981325e-05,-0.000249933786734,-3.16124941023e-05,1793248850895031040
+65,1.083333333,BASELINE,766.279054829,745,716,679,664,634,879.279054829,786,810,653,629.279054829,652,0.400990145053,0.00456763199768,0.0498532375086,0.999999965592,7.81757283147e-05,-0.000248375171887,-3.18468670446e-05,1793248850911697920
+66,1.100000000,BASELINE,766.306373926,745,715.693626074,679.306373926,664,634,879,786,810,653,629,652.306373926,0.400990712168,0.00456720287002,0.0498538749031,0.999999965861,7.80215767357e-05,-0.000247364487827,-3.16565279991e-05,1793248850928364544
+67,1.116666667,BASELINE,766.884388238,745,715.115611762,679.884388238,664,634,879,786,810,653,629,652.884388238,0.4009911066,0.00456693316456,0.0498547938904,0.999999965929,7.90334488353e-05,-0.000246839615856,-3.10896264494e-05,1793248850945030400
+68,1.133333333,BASELINE,767,745.46131511,715.46131511,679.53868489,664,634,879,786,809.53868489,653,629,652.53868489,0.400990996852,0.00456687842412,0.0498546344822,0.999999966016,7.88962770397e-05,-0.000246523324117,-3.11509101517e-05,1793248850961696768
+69,1.150000000,BASELINE,766.962433786,745.962433786,715.962433786,679,663.962433786,634.037566214,878.962433786,786,809,653,629,652.037566214,0.400990529461,0.00456692839654,0.0498540701557,0.999999966008,7.85924047505e-05,-0.000246627668052,-3.13488547694e-05,1793248850978363648
+70,1.166666667,BASELINE,766.391913179,745.391913179,715.391913179,679,663.391913179,634.608086821,878.391913179,786,809,653,629,652.608086821,0.400986776563,0.00456770143319,0.0498515864102,0.99999996457,7.99993246849e-05,-0.000251959742147,-3.12573757586e-05,1793248850995030272
+71,1.183333333,BASELINE,766,745,715,679,663.186328688,634.813671312,878.186328688,786,809.186328688,653,629,652.813671312,0.400985157321,0.00456837393362,0.0498508780641,0.999999963878,8.15474367054e-05,-0.000254206530604,-3.12031815686e-05,1793248851011696896
+72,1.200000000,BASELINE,766,745,715,679,663.781513207,634.218486793,878.781513207,786,809.781513207,653,629,652.218486793,0.400988219901,0.00456882583035,0.0498540654267,0.999999964863,8.34053628465e-05,-0.000249683364071,-3.12308004022e-05,1793248851028363520
+73,1.216666667,BASELINE,766.365105914,745,715,679,664,634,879,786,809.634894086,653,629,652.365105914,0.400988479503,0.00456895996078,0.0498541116256,0.999999964965,8.33558612738e-05,-0.000249277699153,-3.13439663176e-05,1793248851045030656
+74,1.233333333,BASELINE,766.94197527,745,715,679,664,634,879,786,809.05802473,653,629,652.94197527,0.400987113362,0.00456890978498,0.0498523359321,0.999999964559,8.22000410064e-05,-0.000251260208132,-3.150675001e-05,1793248851061697536
+75,1.250000000,BASELINE,766.480739738,745,715,679,664,634,879,786,809.519260262,653,629,653,0.40098725814,0.0045675257919,0.049852241863,0.999999964659,8.07767812055e-05,-0.000251370695622,-3.1147929405e-05,1793248851078363648
+76,1.266666667,BASELINE,766.098303497,745,715,679,664,634,878.901696503,786,810,653,629,653,0.400987675381,0.00456626201975,0.0498525486092,0.999999964881,7.92505975294e-05,-0.000251008041273,-3.08547887203e-05,1793248851095030016
+77,1.283333333,BASELINE,766.685866195,745,715,679,664,634,878.314133805,786,810,653,629,653,0.400988607697,0.00456633899771,0.0498539142264,0.999999965438,7.73610166912e-05,-0.000249332520505,-3.11788655232e-05,1793248851111696896
+78,1.300000000,BASELINE,766.730305439,745,715.269694561,679,664,634.269694561,878.269694561,786,810,653,629,652.730305439,0.400988866249,0.00456630753959,0.0498543925705,0.999999965568,7.71575928159e-05,-0.000248860019704,-3.12882407987e-05,1793248851128363520
+79,1.316666667,BASELINE,766.15076737,745,715.84923263,679,664,634.84923263,878.84923263,786,810,653,629,652.15076737,0.400988350736,0.00456615150271,0.0498538515546,0.99999996521,7.88913412107e-05,-0.00024976963042,-3.11509522917e-05,1793248851145030400
+80,1.333333333,BASELINE,766,745,715.573155208,679,664,634.573155208,879,786,810,653,629,652,0.400989427262,0.00456669738186,0.0498542300003,0.999999965403,7.95594377223e-05,-0.000248803843708,-3.10084144421e-05,1793248851161697280
+81,1.350000000,BASELINE,766,745,715.003758961,679.003758961,664,634,879,786,810,653,629.003758961,652,0.400991050926,0.00456747561866,0.0498549244455,0.999999965785,7.98354115065e-05,-0.000247192546445,-3.08642263907e-05,1793248851178364160
+82,1.366666667,BASELINE,766,745,715.577512992,679.577512992,664,634,879,786,810,653,629.577512992,652,0.400990753834,0.00456606193999,0.049854510736,0.99999996585,7.74712849375e-05,-0.000247693546718,-3.07497015449e-05,1793248851195030784
+83,1.383333333,BASELINE,766,745,715.844105821,679.844105821,664,634,878.844105821,786,809.844105821,653,630,652.155894179,0.400990159788,0.00456557473372,0.049854050534,0.999999965754,7.6493142764e-05,-0.000248390674338,-3.07190273224e-05,1793248851211697408
+84,1.400000000,BASELINE,766,745,715.252800905,679.252800905,664,634,878.252800905,786,809.252800905,653,630,652.747199095,0.400988736353,0.00456767515437,0.0498534604788,0.999999965212,7.93860392988e-05,-0.000249635583606,-3.09225469472e-05,1793248851228363520
+85,1.416666667,BASELINE,766,745.331130266,715,679.331130266,664,634,878.331130266,786,809.331130266,653,629.668869734,652.668869734,0.400988806615,0.00456852188367,0.0498533176617,0.999999965123,8.03911491648e-05,-0.000249655926242,-3.10477154419e-05,1793248851245030144
+86,1.433333333,BASELINE,766,745.909554555,715,679.909554555,664,634,878.909554555,786,809.909554555,653,629.090445445,652.090445445,0.400989992397,0.00456843233365,0.0498535088502,0.999999965376,7.99864258987e-05,-0.00024876174047,-3.11143698948e-05,1793248851261696768
+87,1.450000000,BASELINE,766.483064678,745.516935322,715.483064678,680,664,634,879,785.516935322,809.516935322,653,628.516935322,652,0.400988362959,0.00456682437931,0.0498527699088,0.999999965106,7.85126641074e-05,-0.000250333130399,-3.09278261947e-05,1793248851278363392
+88,1.466666667,BASELINE,766.942630356,745,715.942630356,679.942630356,664,634,879,785.057369644,809,653,628.057369644,652,0.400986504351,0.00456526993492,0.0498519882819,0.999999964771,7.71745059309e-05,-0.000252101834313,-3.07578909951e-05,1793248851295030016
+89,1.483333333,BASELINE,766.3524853,745,715.3524853,679.3524853,664,634,879,785.6475147,809,653,628.6475147,652,0.400987363249,0.00456682599805,0.0498524112485,0.999999964783,7.89357580731e-05,-0.000251459027638,-3.11780152693e-05,1793248851311697152
+90,1.500000000,BASELINE,766,745,715,679.233376329,664,634,879,786,809.233376329,653,629,652,0.40098870054,0.00456759291057,0.0498532290469,0.999999965134,7.96397633282e-05,-0.000249806321309,-3.14114937563e-05,1793248851328364032
+91,1.516666667,BASELINE,766,745,715,679.812884938,664,634,879,786,809.812884938,653,629,652,0.400990747359,0.00456718939362,0.0498546324403,0.999999965986,7.87757119077e-05,-0.000246655781599,-3.13681483656e-05,1793248851345030656
+92,1.533333333,BASELINE,766.390309913,745,715,679.609690087,664,634,879,786,809.609690087,653,628.609690087,652,0.400991356791,0.00456633823005,0.0498548732048,0.999999966128,7.84596077126e-05,-0.000246242504991,-3.08746032092e-05,1793248851361697280
+93,1.550000000,BASELINE,766.966741348,745,715,679.033258652,664,634,879,786,809.033258652,653,628.033258652,652,0.400991280797,0.00456527360359,0.0498545595632,0.999999965934,7.84047952188e-05,-0.000247134507715,-3.01663777084e-05,1793248851378363648
+94,1.566666667,BASELINE,766.45928676,745,715.54071324,679,663.45928676,634,878.45928676,786,809.54071324,652.45928676,628.54071324,652,0.400988679395,0.00456570994682,0.0498531257712,0.999999965126,7.90291743948e-05,-0.000250146936682,-3.04721685705e-05,1793248851395030272
+95,1.583333333,BASELINE,766.118069467,745,715.881930533,679,663.118069467,634,878.118069467,786,810,652.118069467,628.881930533,652,0.40098666322,0.00456605886587,0.0498521265562,0.999999964564,7.93745181944e-05,-0.000252230883605,-3.08346274995e-05,1793248851411696896
+96,1.600000000,BASELINE,766.709601058,745,715.290398942,679,663.709601058,634,878.709601058,786,810,652.709601058,628.290398942,652,0.400987613903,0.00456568867014,0.0498531450437,0.99999996517,7.84341562518e-05,-0.000250070950553,-3.11753501886e-05,1793248851428363264
+97,1.616666667,BASELINE,766.706880472,745,715,679,664,634,878.706880472,786,809.706880472,653,628.293119528,652,0.400988789679,0.00456647447207,0.0498538191095,0.999999965456,7.88550131219e-05,-0.000248775027369,-3.13137682756e-05,1793248851445030144
+98,1.633333333,BASELINE,766.131089534,745,715,679,664,634,878.131089534,786,809.131089534,653,628.868910466,652,0.400990182524,0.00456837506665,0.0498541610302,0.999999965435,8.0588568807e-05,-0.000248312316922,-3.12570927999e-05,1793248851461697024
+99,1.650000000,BASELINE,766.443593501,745,715,679,663.556406499,634.443593501,878.443593501,786.443593501,809.443593501,653,629.443593501,652.443593501,0.400990282361,0.0045676305229,0.0498538845535,0.999999965355,8.08518687878e-05,-0.000248577364244,-3.10177869468e-05,1793248851478363648
+100,1.666666667,BASELINE,766.981508502,745,715.018491498,679.018491498,663.018491498,634.981508502,879,786.981508502,810,653,629.981508502,653,0.400989992184,0.00456615209785,0.0498534425469,0.999999965262,8.06652095363e-05,-0.000249046171499,-3.07376580756e-05,1793248851495030272
+101,1.683333333,BASELINE,766.389823373,745,715.610176627,679.610176627,663.610176627,634.389823373,879,786.389823373,810,653,629.389823373,653,0.400989427376,0.00456609507952,0.0498535201189,0.999999965281,7.99653600903e-05,-0.000249181157426,-3.08609004029e-05,1793248851511696640
+102,1.700000000,BASELINE,766,745,716,679.802427863,664,634,879,786,810,653,629,652.802427863,0.400988596444,0.00456649602124,0.0498532691003,0.999999965215,7.94458984707e-05,-0.000249593270646,-3.1012326092e-05,1793248851528363008
+103,1.716666667,BASELINE,766,745,716,679.223316276,664,634,879,786,810,653,629,652.223316276,0.400987251586,0.00456778134793,0.0498523835272,0.999999964985,7.92747910727e-05,-0.00025054055544,-3.12181777833e-05,1793248851545029632
+104,1.733333333,BASELINE,766.326189615,745,715.673810385,679,664,634,879,786,810,653,629,652,0.400987297401,0.00456702027155,0.0498522829669,0.999999964996,7.82675023221e-05,-0.000250833857381,-3.10650355658e-05,1793248851561696512
+105,1.750000000,BASELINE,766.857113432,745,715.142886568,679,664,634,879,786,810,653,629,652,0.400988216077,0.00456497476232,0.049852675123,0.999999965156,7.67353810251e-05,-0.00025071668449,-3.0686569423e-05,1793248851578363136
+106,1.766666667,BASELINE,767,745,715.456919775,679.456919775,664.456919775,634,879,786,810,653,629,652.456919775,0.400988250927,0.00456435095099,0.0498531528473,0.999999965369,7.56605684867e-05,-0.00025020299271,-3.06086616809e-05,1793248851595030016
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634,879,786,809,653,629,652,0.400991156984,0.00456642187445,0.0498555301933,0.999999966105,7.68498973027e-05,-0.000246834591095,-3.09259694999e-05,1793248851637599488
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.420897911,745,715,679,664,634,878.420897911,786,809.579102089,653,629,652.579102089,0.400988148593,0.00456521442091,0.0498536399336,0.999999965458,7.59914567752e-05,-0.000249739425235,-3.06646074511e-05,1793248851654266368
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.157325178,745,715.157325178,679,664,634.157325178,878.157325178,786,810,653,629,653,0.400986727916,0.0045650132943,0.0498525966093,0.999999965119,7.61938689676e-05,-0.000251033838556,-3.06346025473e-05,1793248851670932992
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.733209838,745,715.733209838,679,664,634.733209838,878.733209838,786,810,653,629,653,0.400989531308,0.00456748947365,0.0498538065336,0.999999965612,7.92186516111e-05,-0.00024804377047,-3.12201171595e-05,1793248851687599616
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,715.693072649,679,664,634.693072649,878.693072649,786.306927351,809.693072649,653,629,653,0.400989971672,0.00456827115819,0.0498540015431,0.999999965567,8.05656153747e-05,-0.000247761913592,-3.14434594123e-05,1793248851704266496
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,715.121225711,679,664,634.121225711,878.121225711,786.878774289,809.121225711,653,629,653,0.400988372425,0.00456759026563,0.0498533205444,0.999999965067,8.04643955869e-05,-0.000249817607444,-3.13541981693e-05,1793248851720933376
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.531155926,745,715.468844074,679,664.468844074,634,878,786.531155926,809.468844074,653,629,653,0.400988447372,0.00456797982619,0.0498535130145,0.999999965134,8.06350363867e-05,-0.000249516293143,-3.11842740387e-05,1793248851737600000
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.938310618,679,664.938310618,634,878.061689382,786,810,653,629,652.938310618,0.400988904479,0.00456831169097,0.0498539555558,0.99999996536,8.05779938363e-05,-0.000248649199497,-3.10003571652e-05,1793248851754266624
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.363166858,679,664.363166858,634,878.636833142,786,810,653,629,652.363166858,0.400988793679,0.00456576648367,0.0498545237069,0.999999965641,7.80171678616e-05,-0.000248350588791,-3.08805882897e-05,1793248851770933248
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.212306882,745,715.212306882,679.212306882,664,634,879,786,810,653,629,652,0.400992654222,0.00456467146447,0.0498563088926,0.999999966478,7.65117414183e-05,-0.000245446175068,-3.07728107681e-05,1793248851787599872
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.788345897,745,715.788345897,679.788345897,664,634,879,786,810,653,629,652,0.401003318617,0.00456606096233,0.0498601791475,0.999999968239,7.68144653948e-05,-0.000238077401666,-3.06855772965e-05,1793248851804266496
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715.636100641,679.636100641,664,634,879,786,810,653,629,652.363899359,0.401030529018,0.00456667855258,0.0498696213234,0.999999972622,7.73875416896e-05,-0.000218691704261,-3.06681869183e-05,1793248851820932864
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715.060829159,679.060829159,664,634,879,786,810,653,629,652.939170841,0.401067350221,0.00456684777793,0.0498822999681,0.999999977983,7.81176529916e-05,-0.000192325936753,-3.06913651023e-05,1793248851837599488
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715.529890142,679,664,634.529890142,879,786.529890142,810,653,629,652.470109858,0.401131168943,0.00456435208575,0.0499016698175,0.999999985113,7.75631109584e-05,-0.000151182539397,-3.0035362882e-05,1793248851854266112
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.88104228,745,715.88104228,679,664,634.88104228,879,786.88104228,810,653,629,652,0.401199694271,0.00456249198024,0.0499203572253,0.999999990027,7.6923350438e-05,-0.000114772367394,-2.92648049669e-05,1793248851870932736
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.30533001,745,715.30533001,679,664,634.30533001,879,786.30533001,810,653,629,652,0.40127403414,0.00456428219557,0.0499333864366,0.999999991339,7.65396274371e-05,-0.000103245245522,-2.83627493052e-05,1793248851887599360
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.269134336,679,664,634,879.269134336,786,809.730865664,653,629,652,0.401356074559,0.00456374378387,0.0499429601359,0.999999992643,7.48637110909e-05,-9.14138556644e-05,-2.74306844254e-05,1793248851904265984
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.842189424,679,664,634,879.842189424,786,809.157810576,653,629,652,0.401446810841,0.00456057576304,0.0499486316872,0.999999993938,7.17285815738e-05,-7.92388709673e-05,-2.64647316008e-05,1793248851920932608
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.431819049,745.431819049,716,679.431819049,664,634,879.136361902,786,809.431819049,652.568180951,629,652.431819049,0.401548426849,0.00455963330887,0.0499496533602,0.999999994076,7.08687969783e-05,-7.85895743144e-05,-2.54737571947e-05,1793248851937599232
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.973161277,745.973161277,716,680,664,634,878.026838723,786,810,652.026838723,628.973161277,653,0.401655636162,0.00455945041413,0.0499488990392,0.999999993815,7.07350309406e-05,-8.22666065212e-05,-2.4476086176e-05,1793248851954265856
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.396754238,745.396754238,716,680,664,634,878.603245762,786,810,652.603245762,628.396754238,653,0.401792711717,0.00455750139335,0.0499479636553,0.999999993828,6.77609573407e-05,-8.48394797006e-05,-2.35360085634e-05,1793248851970932736
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.179420508,715.820579492,679.820579492,664,634,879,786,810,653,628.179420508,652.820579492,0.401939049995,0.00455587694127,0.0499476413647,0.999999993866,6.45879981405e-05,-8.71312829416e-05,-2.24746271753e-05,1793248851987599104
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.755082171,715.244917829,679.244917829,664,634,879,786,810,653,628.755082171,652.244917829,0.402105844513,0.00455496928306,0.0499486730602,0.999999993974,6.09758105051e-05,-8.88023570414e-05,-2.11453526339e-05,1793248852004265728
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.329948883,745.670051117,715,679,664,634,878.670051117,786,809.670051117,653,629,652,0.402289477332,0.00455356064248,0.0499468215696,0.999999993778,5.72955032795e-05,-9.36512288816e-05,-1.97720506381e-05,1793248852020932352
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.904226988,745.095773012,715,679,664,634,878.095773012,786,809.095773012,653,629,652,0.402485579034,0.00455178102122,0.0499428350618,0.999999993311,5.35647526894e-05,-0.000100853280097,-1.8366145896e-05,1793248852037599232
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.506917164,745,715,679,664,634,878.493082836,786,809.493082836,653,629,652.493082836,0.40271043883,0.00455002243468,0.0499431634641,0.999999993239,5.0915236712e-05,-0.000103264375232,-1.63172077565e-05,1793248852054265856
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.917309391,664.082690609,634,879,786,810,653,629,652.917309391,0.402949706732,0.00454801001132,0.0499447802711,0.999999993393,4.81152803231e-05,-0.000103437553151,-1.41543445267e-05,1793248852070932480
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.340639578,664.659360422,634,879,786,810,653,629,652.340639578,0.403240661221,0.00454445606016,0.0499489346014,0.999999994392,4.3123825244e-05,-9.59701789338e-05,-1.20797635811e-05,1793248852087599360
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.23576985,664.76423015,634,878.76423015,786,810,652.76423015,629,652,0.403551171051,0.004541145315,0.0499571396373,0.999999995955,3.86733560104e-05,-8.06022342378e-05,-9.916645936e-06,1793248852104266240
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.811803454,664.188196546,634,878.188196546,786,810,652.188196546,629,652,0.403889903189,0.00453818556569,0.0499711906634,0.999999997909,3.50036394569e-05,-5.3832162903e-05,-7.62575198018e-06,1793248852120932864
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.396557831,745,715,679.396557831,664,634,878.396557831,786,810,652.396557831,629,652,0.404243653387,0.00453456822304,0.0499806801118,0.999999998858,3.0770391185e-05,-3.62200294469e-05,-5.00133311971e-06,1793248852137599488
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.985543914,745,715,679.985543914,664,634,878.985543914,786,810,652.985543914,629,652,0.404604691033,0.00453063178569,0.0499879560708,0.999999999387,2.62636912967e-05,-2.30517529749e-05,-2.21507257417e-06,1793248852154266112
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,879,786,810,653,629,652.564522252,0.405021470494,0.00452763334978,0.0499921986139,0.999999999676,2.35045475541e-05,-9.80648239268e-06,1.74566553819e-07,1793248852170933248
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634.143066701,879,786,810.143066701,653,629,653,0.405441130249,0.00452402380316,0.0499904925922,0.999999999749,2.01555739121e-05,-9.3487920498e-06,2.78139553712e-06,1793248852187600128
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634.721057521,879,786,810.721057521,653,629,653,0.405865282272,0.00451848472569,0.0499709349072,0.99999999873,1.48798391965e-05,-4.77713580338e-05,6.07882143217e-06,1793248852204266752
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.706949521,745,715,680,664,635,879,786,810.706949521,653,629,652.706949521,0.406305748035,0.00451415518864,0.049952245425,0.999999996438,1.04026787215e-05,-8.32614524015e-05,9.15482600431e-06,1793248852220933120
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.140551107,745,715,680,664,635,879,786,810.140551107,653,629,652.140551107,0.406761430772,0.00451095387085,0.0499343657717,0.999999993176,6.67040166679e-06,-0.000116016237264,1.20242963648e-05,1793248852237599744
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.450535974,745,715.450535974,680,664,634.549464026,879,786,810.450535974,653,629,652.450535974,0.407265013088,0.00450539336425,0.0499257826722,0.999999991435,-9.02585130569e-07,-0.000129973746696,1.5346425264e-05,1793248852254266368
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,715.952068889,679.952068889,664,634.047931111,879,786.047931111,810.952068889,653,629,653,0.407792799565,0.00449918013085,0.0499230585463,0.999999991026,-9.57881801209e-06,-0.000132299586664,1.87906141133e-05,1793248852270932736
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,715.37499137,679.37499137,664,634.62500863,879,786.62500863,810.37499137,653,629,653,0.408413263641,0.00449435706597,0.049951142337,0.999999996834,-1.64403248504e-05,-7.47059887525e-05,2.19329768946e-05,1793248852287599616
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,715,679.201927278,664.201927278,634.798072722,879.403854555,786.798072722,810.201927278,653,629,653,0.409046501541,0.00448794742114,0.0499767487301,0.999999999057,-2.32777838599e-05,-2.59863633952e-05,2.58457002062e-05,1793248852304266496
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,715,679.778551088,664.778551088,634.221448912,880.557102176,786.221448912,810.778551088,653,629,653,0.409703442531,0.00447859371671,0.0499977580589,0.999999999042,-3.00706193462e-05,6.26670253962e-06,3.1187905482e-05,1793248852320933120
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.637955091,745,715,680,664.637955091,634,880.275910182,786,811,653,628.637955091,653,0.410330752509,0.00447051337905,0.0499993911246,0.999999998869,3.1467008889e-05,1.26615636557e-06,3.56360171699e-05,1793248852337600000
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.050177892,745,715,680,664.050177892,634,879.100355784,786,811,653,628.050177892,653,0.410939587748,0.0044632269764,0.0499889432346,0.999999989661,0.00013560816977,-2.6961739317e-05,3.95266676824e-05,1793248852354266880
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.529664195,680,664,634,880.05932839,786,811,653,629.05932839,653,0.411575339813,0.00445910586381,0.0499561096915,0.999999985812,0.00013398651062,-9.25901876573e-05,4.30298570463e-05,1793248852370933248
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.892042107,679.892042107,664,634,880.892042107,786,811,653,629.892042107,653,0.412240127471,0.00445467648853,0.0499317983226,0.999999982143,0.000120853346235,-0.000137711331808,4.63138760532e-05,1793248852387600128
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.317241527,679.317241527,664,634,880.317241527,786,811,653,629.317241527,653,0.413019609566,0.00444763652682,0.0499533746694,0.999999990621,0.000100628658767,-7.90571383909e-05,4.88065215909e-05,1793248852404266240
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.259108249,745,715,679.259108249,664.259108249,634,880.259108249,786.259108249,811,653,629,653,0.413805401654,0.00443718375977,0.049971599055,0.999999997736,3.35859643698e-05,-4.18562509554e-05,4.05937677335e-05,1793248852420932864
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.837366284,745,715,679.837366284,664.837366284,634,880.837366284,786.837366284,811,653,629,653,0.414598966017,0.00442252735837,0.0499856947531,0.999999995181,-9.11235845319e-05,-3.10799020171e-05,1.91949190928e-05,1793248852437599488
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.576839252,745,715,680,664.576839252,634,881,786.576839252,811.423160748,653,629,653,0.415349992375,0.0044267729438,0.0499649045333,0.999999992084,-0.000104210905146,-6.84355404339e-05,1.70149751747e-05,1793248852454266112
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.988287931,664,634,881,786,811.988287931,653,629.011712069,653,0.416086216689,0.00443878052155,0.0499312511021,0.999999989502,-7.30286520251e-05,-0.000123161239656,2.22301637396e-05,1793248852470932736
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.409045701,664,634,881,786,811.409045701,653,629.590954299,653,0.416911752515,0.00446850631515,0.0499357642109,0.999999993966,-1.31686848146e-05,-0.000106947395579,2.1377540665e-05,1793248852487599872
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.168959119,664.337918238,634,881,786,811.168959119,652.831040881,629.831040881,653,0.417751224186,0.0044869225919,0.0499471611854,0.999999996138,2.6804103494e-05,-8.09010281475e-05,2.14464788656e-05,1793248852504266752
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.74398995,665.4879799,634,881,786,811.74398995,652.25601005,629.25601005,653,0.418624188836,0.00447815788437,0.0499751026536,0.999999999051,1.89805878916e-05,-3.1223445485e-05,2.37302723385e-05,1793248852520933632
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.325917759,665.348164482,634,881,786,811.674082241,652.325917759,629.325917759,653,0.419467454876,0.004470648555,0.0499755940294,0.99999999899,4.51195224155e-06,-3.69692999548e-05,2.51560730596e-05,1793248852537600000
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.913380275,664.17323945,634,881,786,811.086619725,652.913380275,629.913380275,653,0.420286888129,0.00446414665067,0.0499540570622,0.999999995747,-1.5289305328e-05,-8.7191743335e-05,2.58933456395e-05,1793248852554266368
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.494107244,715,681,664.494107244,634,881.494107244,786,811.494107244,652.505892756,630,653,0.421208761301,0.0044613058331,0.0499675566663,0.999999998539,-1.99407990226e-05,-4.34743977096e-05,2.51953327364e-05,1793248852570932992
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.926386093,715,680.926386093,665,634,881.926386093,786,812.073613907,652.073613907,630,653,0.422142907894,0.00445975237295,0.049985789477,0.999999999437,-2.04585551709e-05,1.04008616205e-05,2.44688340503e-05,1793248852587599872
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.347260199,715,680.347260199,665,634,881.347260199,786,812.652739801,652.652739801,630,653,0.423039674148,0.00446269121521,0.0499949145097,0.999999999373,-1.05821925625e-05,2.24640119286e-05,2.52513332606e-05,1793248852604266496
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,634,881,786,813,653,630,653,0.423931667776,0.00446700781454,0.0499928860906,0.999999999512,-7.93969262853e-07,1.75760200881e-05,2.58085617212e-05,1793248852620933632
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,634,881,786,813,653,630,653,0.424816513679,0.00447338785158,0.0499741533869,0.999999999541,8.86225116202e-06,-1.26993325044e-05,2.60284071112e-05,1793248852637600512
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680.385927614,665,634,881,786,813,652.614072386,630,653,0.425731781171,0.00447347847657,0.0499812489424,0.99999999957,7.36241560137e-06,-6.82918287704e-06,2.75530162801e-05,1793248852654267392
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.974966867,665,634,881,786,813,652.025033133,630,653,0.42666305933,0.00447025901725,0.0500019377737,0.999999999394,-8.79316673025e-09,1.80641531581e-05,2.97643156317e-05,1793248852670933760
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444955927,745,715,680.444955927,665,634,881.555044073,785.444955927,813,652,630,653,0.427530595997,0.00446373502586,0.0499870030731,0.999999998916,-1.34308707974e-05,-3.11304928384e-05,3.19113786169e-05,1793248852687599872
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.134010427,664.865989573,634,881.865989573,785,813.134010427,652,630,653,0.428401542149,0.00445896709728,0.049968890097,0.999999996452,-1.6926659841e-05,-7.5575758364e-05,3.31228816211e-05,1793248852704266240
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.71062165,664.28937835,634,881.28937835,785,813.71062165,652,630,653,0.429293092761,0.00446048338947,0.0499455021842,0.999999995055,1.32484407925e-05,-9.34745078303e-05,3.12538954109e-05,1793248852720932864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.285963959,745,715,681,664.285963959,634,881,785,814,652.285963959,630,653,0.430200423745,0.00446194548419,0.0499406386196,0.99999999545,1.95233746441e-05,-8.82587875771e-05,3.04906082336e-05,1793248852737599488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.860027843,745,715,681,664.860027843,634,881,785,814,652.860027843,630,653,0.431123652916,0.00446335297652,0.0499544377694,0.999999997738,1.71962113776e-06,-5.975594643e-05,3.084127906e-05,1793248852754266112
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785,814,652.553148095,630,653,0.432005602872,0.00446476934666,0.0499453323874,0.999999996426,-9.91919782741e-06,-7.78421872022e-05,3.14656680716e-05,1793248852770932992
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.96294036,633.96294036,881.03705964,785,814.03705964,652,630,653,0.432876023781,0.00446581510001,0.0499309327748,0.999999993594,-1.93385013664e-05,-0.000106779498589,3.21793490121e-05,1793248852787599616
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664.383430542,633.383430542,881.616569458,785,814.616569458,652,630,653,0.433772517939,0.00446139415067,0.0499471439679,0.99999999635,-2.53671909692e-05,-7.46575792494e-05,3.29081344122e-05,1793248852804266240
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.805341962,745,715,681.194658038,664.194658038,633.194658038,882,785,814.805341962,652,630,653,0.434653290065,0.0044593177849,0.0499640190274,0.999999998142,-2.02564480785e-05,-4.68038685917e-05,3.33911154037e-05,1793248852820932864
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.230032493,745,715,681.769967507,664.769967507,633.769967507,882,785,814.230032493,652,630,653,0.43550331811,0.0044618262231,0.0499821922721,0.999999999048,6.63731885128e-06,-2.72965826315e-05,3.33934290173e-05,1793248852837599488
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.352057512,745,715,681.647942488,664.647942488,634,881.647942488,785,814.352057512,652,630,653,0.436314608214,0.00446326639876,0.0499711410129,0.999999997627,8.00561381873e-06,-5.92076865266e-05,3.43120454e-05,1793248852854265856
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.93866485,745,715,681.06133515,664.06133515,634,881.06133515,785,814.93866485,652,630,653,0.437100090049,0.00446399487011,0.0499406196318,0.999999991469,-7.63182295855e-06,-0.000125375053606,3.58411262948e-05,1793248852870932480
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481269175,744.481269175,715,681,664.518730825,633.481269175,881.518730825,785,815,652.518730825,630,653,0.437953401172,0.00446268669057,0.0499618698734,0.999999996762,-2.09941399553e-05,-6.96739243295e-05,3.43750468787e-05,1793248852887599104
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.097680601,744,715,681,665,633,882,785,815,653,630,652.902319399,0.438798711529,0.00446102207962,0.0499843746403,0.999999998997,-2.73787265951e-05,-1.29401173424e-05,3.30088635695e-05,1793248852904265728
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.674900466,744,715,681,665,633,882,785,815,653,630,652.325099534,0.439565861181,0.00445877515656,0.04998336033,0.999999999206,-8.12038217674e-07,-2.09972339232e-05,3.38500597485e-05,1793248852920932608
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.251873377,715,681.251873377,665,633,882,785,815.251873377,652.748126623,630,652.251873377,0.440309590984,0.00445613432363,0.0499735421068,0.999999998556,1.27273199339e-05,-3.91685871498e-05,3.45364925002e-05,1793248852937599488
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,744.828527807,715,681.828527807,665,633,882,785,815.828527807,652.171472193,630,652.828527807,0.441023121729,0.0044529855592,0.0499523715758,0.999999996865,9.46843371783e-06,-7.03818596947e-05,3.50233636895e-05,1793248852954266112
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681.586943072,665,633.413056928,882,784.586943072,815.586943072,652,630,653,0.441748688616,0.00445277105957,0.0499566667959,0.999999997559,3.25709701266e-06,-5.9682928864e-05,3.61869157514e-05,1793248852970932736
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633.999096033,881.999096033,784.000903967,815.000903967,652.000903967,630,653,0.442479272466,0.0044538060521,0.0499717430172,0.999999998795,-4.18330931088e-06,-3.124805126e-05,3.76359493291e-05,1793248852987599360
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633.420631477,881.420631477,784.579368523,815.579368523,652.579368523,630,653,0.443160809484,0.00445977218494,0.0499893445556,0.999999999251,1.41104091491e-06,-3.58244543469e-06,3.85173781044e-05,1793248853004265728
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.157284197,681.157284197,665,633.157284197,881.157284197,785,816,652.842715803,630,653,0.443814640329,0.00446486858307,0.0499937803927,0.999999999183,7.57821501279e-06,1.265865239e-06,3.96763282183e-05,1793248853020932608
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.733737203,681.733737203,665,633.733737203,881.733737203,785,816,652.266262797,630,653,0.444394633243,0.00446764710397,0.0499631291021,0.999999997523,1.5271989357e-05,-5.46948418354e-05,4.15748842231e-05,1793248853037599232
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715.690839109,681.690839109,665,633.690839109,881.690839109,784.690839109,816,652,630,653,0.444974915372,0.00446792528598,0.0499429504254,0.999999995518,1.90777832069e-05,-8.23711071114e-05,4.26007603265e-05,1793248853054266112
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715.116299009,681.116299009,665,633.116299009,881.116299009,784.116299009,816,652,630,653,0.445555445724,0.00446605721331,0.0499317612899,0.999999995212,1.95461907513e-05,-8.57684159238e-05,4.28775406718e-05,1793248853070932736
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744.528130997,715,681,665,633,881.471869003,784.471869003,816,652,630.471869003,653,0.446151683408,0.00445913083183,0.0499509962092,0.999999998003,1.34617127668e-05,-4.3428026365e-05,4.38949586944e-05,1793248853087599360
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.061900421,715,681,665,633,882,785,816,652,630.938099579,653,0.446740076344,0.00445154112026,0.0499747541358,0.999999998955,6.20092016378e-06,3.77141344621e-06,4.51319514426e-05,1793248853104265984
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.638662975,715,681,665,633,882,785,816,652,630.361337025,653,0.447230062442,0.00444911197348,0.049971908707,0.999999998895,2.98888612511e-06,-5.16387418021e-06,4.66318229608e-05,1793248853120932608
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.429275578,665,633.214637789,882,785,816,652,630,653,0.447696138843,0.00444639391929,0.0499592167847,0.999999998526,-5.8282614992e-07,-2.60030620757e-05,4.7658277454e-05,1793248853137599488
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,682.578582509,665,633.789291255,882,785,816,652,630,653,0.448122111049,0.00444319127597,0.0499300091685,0.99999999661,-4.75783263164e-06,-6.68088669474e-05,4.78906611802e-05,1793248853154266112
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,682.27089463,665,633.635447315,882,784.635447315,816,652.364552685,630.364552685,653,0.448536320112,0.00444071589406,0.0499154907762,0.999999995043,-8.54367799611e-06,-8.67051959505e-05,4.81960308007e-05,1793248853170932736
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.11966769,665,633.059833845,882,784.059833845,816,652.940166155,630.940166155,653,0.448943718848,0.00443866156583,0.0499094768285,0.999999994284,-1.21042157192e-05,-9.44958152433e-05,4.85436562584e-05,1793248853187599360
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715.52991627,681.52991627,664.47008373,633,882,784,816,653,630.47008373,653,0.449341059087,0.0044370984986,0.049924493074,0.999999995828,-3.49814039385e-05,-7.38267898188e-05,4.08539638394e-05,1793248853204265728
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.118837536,745,715.881162464,682,664.118837536,633,881.881162464,784,816,652.881162464,630,653,0.449729038559,0.00443484821938,0.0499421981689,0.999999996909,-5.16141621911e-05,-4.96584880119e-05,3.24318136468e-05,1793248853220932352
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.698191959,745,715.301808041,682,664.698191959,633,881.301808041,784,816,652.301808041,630,653,0.450085265244,0.00442971402464,0.0499608689952,0.999999998762,-3.53649022807e-05,-2.47237868404e-05,2.47844034564e-05,1793248853237598976
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.725201285,745,715,682,665,633,881.274798715,784,816,652,630,653,0.450412272413,0.00443329307905,0.0499732010791,0.99999999949,-2.22541549417e-05,-8.38444426521e-06,2.1304428144e-05,1793248853254265856
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.151582417,745,715,682,665,633,881.848417583,784,816,652,630,653,0.450707505828,0.0044463470487,0.0499786403205,0.99999999967,-1.25562732044e-05,-1.39182221043e-06,2.23561831187e-05,1793248853270932480
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.433105723,745,715,681.566894277,664.566894277,633,882,784,816,652,630,653,0.450961276057,0.00446112924639,0.0499772831628,0.999999999716,8.93227482379e-07,-7.93277561183e-06,2.24388135585e-05,1793248853287599104
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.97857597,745,715,681.02142403,664,633,882,784,816,652.02142403,630.02142403,653,0.451198909581,0.00447576828345,0.0499733625125,0.99999999945,1.48983730787e-05,-1.95312590558e-05,2.22716458892e-05,1793248853304265984
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.3992563,745,715,681.6007437,664,633,882,784,816,652.6007437,630.6007437,653,0.451404137951,0.00447051522571,0.0499662535316,0.999999999004,8.28400981777e-06,-3.62516586643e-05,2.46637895693e-05,1793248853320932608
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,744.820754822,715,682,664,633,882,784,816,652.820754822,631,653,0.451593542241,0.00446658343338,0.0499560344913,0.999999998032,2.96005014133e-06,-5.6755125328e-05,2.6573576291e-05,1793248853337598976
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,744.24406761,715,682,664,633,882,784,816,652.24406761,631,653,0.451747859619,0.00446558129609,0.0499389194876,0.999999995956,4.97315471777e-07,-8.56468202784e-05,2.74138280294e-05,1793248853354265600
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,744.329783748,715,682,664.329783748,633,882,784,816,652,631,653,0.451886676268,0.00446512285273,0.0499254005391,0.999999993322,-1.2130399737e-06,-0.000112076974231,2.81746285929e-05,1793248853370932480
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,744.901554288,715,682,664.901554288,633,882,784,816,652,631,653,0.452014118899,0.0044650633578,0.0499145202813,0.999999990237,-2.37131923979e-06,-0.000136700915994,2.88771300233e-05,1793248853387599360
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.491082055,745.491082055,715,682,664.508917945,633,882,784.491082055,816,652,630.508917945,653,0.452132907465,0.00446533958465,0.04991207575,0.999999989504,-7.00620849813e-07,-0.000141871164936,2.93861910131e-05,1793248853404265984
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.917679972,745.917679972,715,682,664,632.917679972,882.082320028,784.917679972,816,652,630.082320028,653,0.452247652708,0.00446577849905,0.0499118435922,0.99999998943,1.46222171909e-06,-0.000142299328418,2.98218287741e-05,1793248853420932608
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.338413121,745.338413121,715,682,664,632.338413121,882.661586879,784.338413121,816,652,630.661586879,653,0.452348855205,0.00446677799739,0.0499143753475,0.999999989949,3.04403733894e-06,-0.000138526156591,3.00571063699e-05,1793248853437599232
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681.760836375,664,632,882.760836375,784,816,652,631,653,0.452437713516,0.00446752894261,0.0499157104134,0.999999990269,3.78161744234e-06,-0.000136124536234,3.03034713104e-05,1793248853454265856
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681.185634357,664,632,882.185634357,784,816,652,631,653,0.452509227544,0.00446793065659,0.0499153640631,0.999999990327,3.33299889436e-06,-0.000135650023345,3.05654145825e-05,1793248853470932480
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,882,784,816,652,630.602327213,653,0.452565055433,0.00446772711265,0.04991325244,0.999999989818,2.7624657624e-06,-0.000139263510276,3.10195926476e-05,1793248853487599360
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,882,784,816,652,630.015157882,653,0.45261340866,0.004467235155,0.0499102996402,0.999999989012,2.13383866984e-06,-0.000144824985267,3.15653732228e-05,1793248853504265984
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,882,784,816,652,630.564159899,653,0.452642896154,0.00447035164166,0.049904115921,0.999999987481,6.25533587845e-06,-0.000155094974847,3.07348265658e-05,1793248853520932608
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632.143189402,882.143189402,784,816,652,630.856810598,653,0.452670693157,0.00447269473752,0.0498984641673,0.999999986065,9.42565612229e-06,-0.000163917287021,3.02176920835e-05,1793248853537599232
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632.72197477,882.72197477,784,816,652,630.27802523,653,0.452694868348,0.00447239421472,0.0498946911605,0.999999985379,9.31948028799e-06,-0.000167956054101,3.0764938122e-05,1793248853554265856
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,744.703540067,715,681.296459933,664,632.703540067,882.703540067,784,816,652,630,653,0.452714360379,0.00447208288784,0.0498931873898,0.99999998512,9.9496861963e-06,-0.000169417146265,3.0970628784e-05,1793248853570932992
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,744.133029986,715,681.866970014,664,632.133029986,882.133029986,784,816,652,630,653,0.452729523258,0.00447176157355,0.0498937813204,0.999999985265,1.12606098013e-05,-0.000168495413711,3.08605827391e-05,1793248853587600384
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,744,715.454306154,682,664,632,882,784,816,652,630,653,0.452737030158,0.00447151725326,0.0498923056227,0.999999984837,9.90835141624e-06,-0.000171090710122,3.09060561958e-05,1793248853604267008
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,744.045720543,715.954279457,682,664,632,882,784,816,652,630,653,0.452742257531,0.00447147826702,0.0498903779842,0.99999998428,8.03173789452e-06,-0.000174403301343,3.09639034347e-05,1793248853620933632
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,744.625018461,715.374981539,682,664,632,882,784,816,652,630,653,0.452748051171,0.00447356237907,0.0498905206359,0.999999984417,9.48669232431e-06,-0.0001736059079,3.06142556195e-05,1793248853637600768
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664,632.203458789,882,784,816,652,630,653,0.452751885285,0.00447473040931,0.0498900791517,0.999999984313,1.07995850675e-05,-0.000174155313045,3.0444191291e-05,1793248853654267648
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664,632.780325151,882,784,816,652,630,653,0.452752123082,0.00447421715603,0.0498885656042,0.999999983766,1.18517521503e-05,-0.000177176495403,3.06037162529e-05,1793248853670934016
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.354429833,745,715,682,664,633,882,784,816,652,630,653,0.45275164686,0.00447553030851,0.0498874088035,0.999999983288,1.31929661261e-05,-0.000179786105759,3.04392643562e-05,1793248853687600384
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.926836047,745,715,682,664,633,882,784,816,652,630,653,0.452750731512,0.00447796671104,0.0498864714044,0.999999982852,1.47119455598e-05,-0.000182142596859,3.00755648274e-05,1793248853704266752
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.483286534,745,715,681.483286534,664,632.483286534,882,784.516713466,816,652,630,653,0.452750575082,0.00447706397825,0.0498850353643,0.999999982552,1.49095459314e-05,-0.000183720286401,3.0328518456e-05,1793248853720933376
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,882,784.893255124,816,652,630.106744876,652.893255124,0.45275082888,0.00447617778635,0.0498839486607,0.999999982357,1.50089077081e-05,-0.000184731866988,3.0583694537e-05,1793248853737600000
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,632,882,784.313878708,816,652,630.686121292,652.313878708,0.452752406599,0.00447753151622,0.0498847322619,0.999999982535,1.55307116992e-05,-0.000183742246477,3.04485795851e-05,1793248853754266624
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.262322003,664,632.262322003,882,784.262322003,816,652,630.737677997,652,0.452753739585,0.00447854450512,0.0498856000035,0.999999982749,1.55334708306e-05,-0.000182628679761,3.01306726405e-05,1793248853770933248
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.834768382,664,632.834768382,882,784.834768382,816,652,630.165231618,652,0.452754783243,0.00447915466073,0.0498865672181,0.999999983003,1.49226007421e-05,-0.000181368580261,2.95966638942e-05,1793248853787599616
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.591178912,664,633,882,784.591178912,816.408821088,652.408821088,630.408821088,652.408821088,0.452753912922,0.00448048572491,0.0498860077531,0.999999982753,1.71238468199e-05,-0.000182580316727,2.94047937075e-05,1793248853804266496
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.016474456,664,633,882,784.016474456,816.983525544,652.983525544,630.983525544,652.983525544,0.452752265984,0.00448210930511,0.0498848288221,0.999999982285,2.04661380332e-05,-0.000184795026171,2.93517497971e-05,1793248853820933632
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,882,784.577362378,816.422637622,652.422637622,630.422637622,653,0.452751982716,0.00448252025785,0.0498842322218,0.9999999821,2.08162823204e-05,-0.000185798454514,2.90922141911e-05,1793248853837600512
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.166729592,745.166729592,715,681.166729592,664,632.833270408,882,785,816,652.166729592,630.166729592,653,0.452751760383,0.00448248749898,0.0498835804667,0.99999998196,2.03451342415e-05,-0.000186633508111,2.88688645555e-05,1793248853854267136
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.743709625,745.743709625,715,681.743709625,664,632.256290375,882,785,816,652.743709625,630.743709625,653,0.452751588959,0.00448145101159,0.0498827507128,0.999999981912,1.80704145091e-05,-0.000187142221969,2.8749547848e-05,1793248853870934016
+242,4.033333333,HOLD_POSE2,766,745,715,682,664,633,881,784,816,652,631,653,0.452752131509,0.0044779859114,0.04988371811,0.999999982001,1.76562921009e-05,-0.000186454787637,3.03512452533e-05,1793248853907292672
+243,4.050000000,HOLD_POSE2,766,745,715,681.410953216,664,632.410953216,881.589046784,784,816,652,630.410953216,652.410953216,0.452751680754,0.00447988065725,0.0498830657507,0.999999981871,1.90454929361e-05,-0.000187056830023,3.00782183341e-05,1793248853923959040
+244,4.066666667,HOLD_POSE2,766,744.824665225,715,681,664,632,882,784.175334775,816,652.175334775,630,652.175334775,0.45275165508,0.00448155897647,0.0498826786695,0.999999981816,2.04119085421e-05,-0.000187275291331,2.96672824751e-05,1793248853940625408
+245,4.083333333,HOLD_POSE2,766,744.24474307,715,681,664,632,882,784.75525693,816,652.75525693,630,652.75525693,0.452752610286,0.00448273788866,0.0498829037207,0.999999981934,2.17257471971e-05,-0.000186608634195,2.89381198035e-05,1793248853957292032
+246,4.100000000,HOLD_POSE2,766.331445803,744.331445803,715,681.331445803,664,632,882,784.668554197,816,652.668554197,630,652.668554197,0.452752930687,0.00448282133891,0.0498826913819,0.999999981886,2.16032823025e-05,-0.000186897800467,2.88158039014e-05,1793248853973958912
+247,4.116666667,HOLD_POSE2,766.904908651,744.904908651,715,681.904908651,664,632,882,784.095091349,816,652.095091349,630,652.095091349,0.452752787563,0.00448210489826,0.0498821596671,0.999999981716,2.04320487636e-05,-0.00018788489553,2.91365989829e-05,1793248853990625536
+248,4.133333333,HOLD_POSE2,767,745,715,682,663.519960572,632.480039428,882.480039428,784.480039428,816,652,630,652.480039428,0.452752023321,0.00448280592939,0.04988141441,0.999999981511,2.07399701303e-05,-0.000188947959077,2.908689486e-05,1793248854007292160
+249,4.150000000,HOLD_POSE2,767,745,715,682,663.057107678,632.942892322,882.942892322,784.942892322,816,652.057107678,630,653,0.452751377078,0.00448377317323,0.0498807770973,0.999999981354,2.13265838243e-05,-0.000189740530191,2.89234414139e-05,1793248854023958528
+250,4.166666667,HOLD_POSE2,767,745,715,682,663.649220787,632.350779213,882.350779213,784.350779213,816,652.649220787,630,653,0.452752992982,0.00448459469899,0.0498815487175,0.999999981715,2.17695230793e-05,-0.00018785755739,2.83843074597e-05,1793248854040625152
+251,4.183333333,HOLD_POSE2,766.764853759,745,715,682,664,632,882.235146241,784,816,652.764853759,630,653,0.452754007376,0.00448438099581,0.049882173417,0.999999981952,2.16739935514e-05,-0.000186617470116,2.82809741685e-05,1793248854057291776
+252,4.200000000,HOLD_POSE2,766.187922126,745,715,682,664,632,882.812077874,784,816,652.187922126,630,653,0.452754147478,0.00448266258581,0.049882584567,0.999999982013,2.07957988482e-05,-0.000186311818025,2.88110778042e-05,1793248854073958144
+253,4.216666667,HOLD_POSE2,766,744.61197989,715,682,664,632,882.61197989,784.38802011,816,652.38802011,630,653,0.452753326947,0.00448140265537,0.0498820788118,0.999999981741,1.88670833785e-05,-0.000187928322136,2.90703690426e-05,1793248854090625024
+254,4.233333333,HOLD_POSE2,766,744.036515559,715,682,664,632,882.036515559,784.963484441,816,652.963484441,630,653,0.452752042354,0.00448036420645,0.0498811301193,0.999999981299,1.64308837063e-05,-0.000190473378787,2.91988366482e-05,1793248854107291904
+255,4.250000000,HOLD_POSE2,766.55185032,744.55185032,715,682,664,632.55185032,882,784.44814968,816,652.44814968,630,653,0.452752417511,0.00448159171165,0.0498821902293,0.999999981491,2.00987780955e-05,-0.000189092842522,2.93040736824e-05,1793248854123958528
+256,4.266666667,HOLD_POSE2,767,745,715,682,664,632.861358271,882,784,816,652,630,653,0.452752709685,0.00448256233668,0.0498827244789,0.999999981624,2.27009013459e-05,-0.000188089548937,2.93198486865e-05,1793248854140625152
+257,4.283333333,HOLD_POSE2,767,745,715,682,664,632.28234426,882,784,816,652,630,653,0.452752381087,0.00448222937587,0.0498811561123,0.999999981481,2.06041376981e-05,-0.000189129318502,2.90564619135e-05,1793248854157291776
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632,882,784,816,652,631,653,0.452752536655,0.00447990055665,0.0498817275027,0.999999981786,1.57185418059e-05,-0.000187927788466,2.93842550059e-05,1793248854194593280
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664.581667046,632,882,784.581667046,816,652,630.418332954,653,0.452754214277,0.00448212617818,0.0498821558994,0.999999981935,1.88663539949e-05,-0.000186922268809,2.88737634745e-05,1793248854211260416
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766.165269725,745,715,681.165269725,664.834730275,632,881.834730275,784.834730275,816.165269725,652,630.165269725,653,0.452754925895,0.00448368838517,0.0498823300663,0.999999981936,2.06510508834e-05,-0.000186785919144,2.84975894586e-05,1793248854227927552
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766.753830089,745,715,681.753830089,664.246169911,632,881.246169911,784.246169911,816.753830089,652,630.753830089,653,0.452753163376,0.00448355144803,0.0498818530971,0.999999981578,1.89445225165e-05,-0.000188875697026,2.84654308341e-05,1793248854244594176
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,745,715,682,664,632.334642157,881.334642157,784,817,652,631,653,0.452752718991,0.00448328338944,0.0498819994941,0.999999981468,1.91059758291e-05,-0.0001893933063,2.88031136417e-05,1793248854261260800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,682,664,632.909883365,881.909883365,784,817,652,631,653,0.45275322231,0.00448292105795,0.0498825940753,0.999999981536,2.06104597341e-05,-0.000188780566899,2.94067028702e-05,1793248854277927680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766.510078779,745,715,681.510078779,664,632.510078779,882,784.489921221,816.510078779,652,631,653,0.452752676502,0.00448339760802,0.0498817888642,0.999999981459,2.10203455569e-05,-0.000189196049521,2.90833205474e-05,1793248854294594048
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632,882,784.928621589,816,652,631,653,0.452751914535,0.00448393339125,0.0498808117469,0.999999981362,2.12365307106e-05,-0.00018975130595,2.8638447635e-05,1793248854311260672
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632,882,784.343360875,816,652,631,653,0.452750999407,0.00448377373129,0.0498804690333,0.999999981322,2.15220579264e-05,-0.000189937747561,2.85586094978e-05,1793248854327927296
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.239445746,664,632.239445746,882,784,816,652.239445746,631,653,0.452745606972,0.00448401437709,0.0498779500895,0.999999980573,2.28428364888e-05,-0.000193699409492,2.84959862225e-05,1793248854344593664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.818768895,664,632.818768895,882,784,816,652.818768895,631,653,0.452733859295,0.00448482323044,0.0498723421308,0.999999978756,2.56330858503e-05,-0.000202535860213,2.84577983103e-05,1793248854361260288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.60404052,882,784,816.39595948,652.60404052,630.60404052,653,0.452707220438,0.00448453780687,0.0498611796814,0.999999974621,2.39795045558e-05,-0.000222220094269,2.83004616481e-05,1793248854377927168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.027820732,882,784,816.972179268,652.027820732,630.027820732,653,0.45267380238,0.00448375421447,0.049847488553,0.999999968934,2.03028723426e-05,-0.000246842775621,2.80888825741e-05,1793248854394594048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664.549258069,632,882,784,816.450741931,652.549258069,630.549258069,653,0.452611024239,0.00448587337846,0.0498244465348,0.999999957956,2.42053995702e-05,-0.000287618980203,2.78724619615e-05,1793248854411260672
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.128778987,745,715,682,664.871221013,632.128778987,882,784.128778987,816,652.871221013,631,653,0.452544747026,0.00448794087991,0.0498026852133,0.999999946695,2.7723668814e-05,-0.000324170394162,2.74751185506e-05,1793248854427927296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.716854564,745,715,682,664.283145436,632.716854564,882,784.716854564,816,652.283145436,631,653,0.452471302413,0.00448929891782,0.0497871834465,0.999999940512,2.8500137072e-05,-0.000342731176593,2.64333811636e-05,1793248854444593920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.698556099,745,715.301443901,681.698556099,664,632.698556099,882,785,816,652,631,653,0.452391882069,0.00448915958812,0.0497780703919,0.999999935928,2.85487047725e-05,-0.000355890655221,2.59075045712e-05,1793248854461260544
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.117203976,745,715.882796024,681.117203976,664,632.117203976,882,785,816,652,631,653,0.452306912916,0.00448762986528,0.0497748896295,0.999999933015,2.79213743608e-05,-0.000364034707571,2.58606348449e-05,1793248854477926912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.541543206,681.458456794,664,632.458456794,882,784.541543206,816,652,631,653,0.452208483325,0.00448967429534,0.0497760458846,0.999999933097,3.1108503019e-05,-0.000363577809914,2.54746968159e-05,1793248854494593280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.032607764,816,652,630.967392236,653,0.452105240672,0.00449251356513,0.0497783868172,0.99999993401,3.5161227216e-05,-0.000360720400867,2.50055051033e-05,1793248854511259904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.605554918,816,652,630.394445082,653,0.451978564944,0.00449356840891,0.0497822111615,0.999999936307,3.75964790761e-05,-0.000354074063004,2.45755177166e-05,1793248854527926784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.815527317,816,652,630,653,0.451841557404,0.00449444140874,0.0497856556253,0.999999938346,4.05891601797e-05,-0.00034795968603,2.4162639372e-05,1793248854544593664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,882,784.223416065,816,652,630,653,0.451681719158,0.00449491257867,0.0497882606472,0.999999939881,4.48136204071e-05,-0.000343020810695,2.37875677969e-05,1793248854561260544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664.361401327,633,882,784,816,652,630.361401327,653,0.4515065914,0.00449735897158,0.0497906119351,0.999999942515,4.85978716094e-05,-0.000334820847038,2.24469517433e-05,1793248854577927424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664.941798957,633,882,784,816,652,630.941798957,653,0.451322198727,0.00450100227913,0.0497928094694,0.999999945734,5.21153722607e-05,-0.000324644779775,2.05212501667e-05,1793248854594594048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.485976343,665,633,881.485976343,784,815.485976343,652,630.485976343,652.485976343,0.451115096035,0.00450279387767,0.0498038164913,0.999999952233,5.61483712468e-05,-0.000303304128305,1.97048724565e-05,1793248854611260416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,665,633,881,784,815.087892396,652,630,652,0.45090001565,0.00450455520118,0.0498157154668,0.999999958546,6.07455408321e-05,-0.00028081557364,1.89629602178e-05,1793248854627927296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,665,633,881,784,815.676311192,652,630,652,0.450653918285,0.00450731940649,0.0498271024795,0.999999964003,6.82283405113e-05,-0.000258876199111,1.79410167704e-05,1793248854644593664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.261224527,664.738775473,633,881.261224527,784.261224527,815.738775473,652,630.261224527,652.261224527,0.450374505146,0.00451154251769,0.0498324596823,0.999999966517,7.66363276263e-05,-0.000246620438702,1.6460339596e-05,1793248854661260288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.841851656,664.158148344,633,881.841851656,784.841851656,815.158148344,652,630.841851656,652.841851656,0.450054356395,0.00451754945179,0.0498304441579,0.999999965874,8.61755529432e-05,-0.000246204959709,1.44187628413e-05,1793248854677926912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.42048239,745,715,682,664.42048239,633,881.57951761,785,815.42048239,652,630.57951761,653,0.4497032724,0.00452409160432,0.0498243732402,0.999999963112,9.51955679838e-05,-0.00025410870084,1.19618529529e-05,1793248854694593792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.998365792,745,715,682,664.998365792,633,881.001634208,785,815.998365792,652,630.001634208,653,0.449340608287,0.00453083410737,0.0498167842493,0.9999999594,0.000104021224542,-0.000265126611982,9.34946964081e-06,1793248854711260672
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,745,715.570966436,682,665,633,881.570966436,784.429033564,815.429033564,652,630.570966436,653,0.448934193979,0.00453362951904,0.0498054937132,0.999999954227,0.000110788349449,-0.000281449795343,7.58779318027e-06,1793248854727931648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.851690374,745,715.851690374,681.851690374,664.851690374,633,881.851690374,784,815,652,631,653,0.448519141201,0.00453709692225,0.0497940714629,0.999999949104,0.000118057106572,-0.000296348942524,5.56663011242e-06,1793248854744600320
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.260128486,745,715.260128486,681.260128486,664.260128486,633,881.260128486,784,815,652,631,653,0.448078641556,0.00454260615742,0.0497822869344,0.999999944843,0.000126842535953,-0.000306947110701,2.76273061218e-06,1793248854761262336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.324082502,681.324082502,664.324082502,633,881,784,815,652,631,653,0.447599604015,0.00454887882182,0.0497698340151,0.999999938189,0.000135987604633,-0.000324237857857,6.42310558769e-08,1793248854777927168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.902524131,681.902524131,664.902524131,633,881,784,815,652,631,653,0.447090319605,0.00455575067126,0.0497568565018,0.999999929295,0.000145414940412,-0.000346781338098,-2.55154468687e-06,1793248854794594048
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.521440785,682,665.478559215,633,881.478559215,784.478559215,815,652,631,653,0.446570836215,0.00456154161952,0.049752555249,0.999999925455,0.000150783019915,-0.000355420429232,-5.46408595975e-06,1793248854811260672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,665.889650398,633,881.944825199,785,815,652,630.944825199,653,0.446049339707,0.00456715513671,0.0497525941916,0.99999992395,0.000155894536899,-0.000357389559485,-8.32701851616e-06,1793248854827927296
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,633,881.806250469,784.193749531,814.193749531,652,630,653,0.444361034837,0.00458640401695,0.0498140130999,0.999999941993,0.000189979122505,-0.000282342139701,-1.43414055604e-05,1793248854877927424
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,715.50286452,679,664,634.50286452,879.49713548,786.49713548,810,653,629,652.49713548,0.400990667325,0.00457775822365,0.0498488873556,0.999999962088,9.77913500111e-05,-0.000255499777467,-3.13009247744e-05,1793248856477926912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,664,634.924089678,879,786,810,653,629,652,0.400991327623,0.0045775555446,0.0498493936116,0.99999996258,9.72400711627e-05,-0.000253785471044,-3.12641807481e-05,1793248856494593280
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0026705788f2d23cc95d9e4df9364f56f4261d4f
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,401 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.583245538657,0.00992787653169,1.04004254051,0.553817361926,0.0186023211065,1.03966591776
+398,6.633333333,pose2_to_pose3_retreat,0.583245493493,0.0099279706481,1.04004240191,0.553817315839,0.0186024122492,1.03966578304
+399,6.650000000,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817210518,0.0186024725418,1.03966577711
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e17920ba678b0846b58218a29cf656303b63ab2e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2c3ae09ca39284de3f93e24888f4c12e458149f639c0af21297d848e015e16
+size 25401025
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6509a32af9abd5787d325288d0c97e38ab0f955
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
+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,767,746,716,679,664,634,879,787,809,654,630,652,0.400991328622,0.00457532370543,0.0498506100493,0.99999996323,9.3806143092e-05,-0.000252544797138,-3.10033741701e-05,1793248856693359360
+1,0.016666667,BASELINE,767,745.424436702,716,679.575563298,664,634,879.575563298,786.424436702,809,653.424436702,630,652,0.40099151459,0.00457720241315,0.0498506738081,0.999999963259,9.46029621808e-05,-0.000252059843013,-3.16074015694e-05,1793248856710025728
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+3,0.050000000,BASELINE,766.253281487,745.746718513,715.253281487,679.253281487,664,634.746718513,879.253281487,786,809.746718513,653,629.253281487,652,0.400992060019,0.004578412275,0.0498503522407,0.999999963368,9.53074305732e-05,-0.000251320213435,-3.19085135339e-05,1793248856743358976
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+6,0.100000000,BASELINE,767,745,715.517965221,679.482034779,664,634,879,786,810,653,629,652,0.400990481141,0.00457568039045,0.049851013256,0.999999963701,9.29314712994e-05,-0.000250920955628,-3.16237813185e-05,1793248856793359360
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+9,0.150000000,BASELINE,766.212226469,745,715,679.787773531,664.787773531,634.212226469,879,786.787773531,810,653.787773531,629,652.212226469,0.400990374417,0.00457681079667,0.0498499653541,0.999999962967,9.61797953139e-05,-0.000252637946315,-3.14480175244e-05,1793248856843359232
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+12,0.200000000,BASELINE,767,745,715.965388945,679.965388945,664,634.034611055,879,786,810,653,629,652.034611055,0.40099110209,0.00457661940911,0.0498511253426,0.99999996332,9.65200178089e-05,-0.000251120583707,-3.13292521598e-05,1793248856893359360
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+15,0.250000000,BASELINE,767,745,715,679.294699464,663.705300536,634,879,786,810,653,629,652.294699464,0.400989799109,0.00457620055221,0.0498505401386,0.999999963442,9.26773917039e-05,-0.000252001985196,-3.19640186909e-05,1793248856943359232
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+21,0.350000000,BASELINE,767,745,715.821206584,679,663.821206584,634,878,786,810,653,629,652,0.400989601193,0.0045764081813,0.0498496277945,0.999999963271,9.33407659058e-05,-0.000252455134503,-3.18238971643e-05,1793248857043358464
+22,0.366666667,BASELINE,767,745,715.228786829,679,663.228786829,634,878,786,810,653,629,652,0.400991114361,0.00457586452275,0.0498508848576,0.999999963825,9.28843666711e-05,-0.000250446961933,-3.15970966064e-05,1793248857060025088
+23,0.383333333,BASELINE,767,745,715,679,663.35344435,634,878.35344435,786,810,653,629,652.35344435,0.400991562603,0.00457627304143,0.049851310917,0.999999963993,9.29066921052e-05,-0.000249756320668,-3.17015269402e-05,1793248857076692224
+24,0.400000000,BASELINE,767,745,715,679,663.929265242,634,878.929265242,786,810,653,629,652.929265242,0.400991340826,0.00457728064129,0.0498512141338,0.999999963918,9.32302166413e-05,-0.000249894630233,-3.20143577553e-05,1793248857093359616
+25,0.416666667,BASELINE,766.495693112,745,715.504306888,679,664,634,879,786,810,653,629,653,0.400991123512,0.00457657994904,0.0498508380758,0.999999963718,9.3723399617e-05,-0.00025053027404,-3.18489844818e-05,1793248857110025984
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+27,0.450000000,BASELINE,766.630190698,745,716,679,664,634,879,786,810,653,629,652.369809302,0.400988988485,0.00457591716383,0.0498496328337,0.99999996307,9.36645975029e-05,-0.000253149876286,-3.16589736098e-05,1793248857143358464
+28,0.466666667,BASELINE,767,745,715.794291635,679,664,634,879.205708365,786,810,653,629,652.205708365,0.400988230466,0.00457601711349,0.0498493087413,0.999999962886,9.36362187049e-05,-0.00025387767269,-3.17192221838e-05,1793248857160025344
+29,0.483333333,BASELINE,767,745,715.175249055,679,664,634,879.824750945,786,810,653,629,652.824750945,0.400989389738,0.0045760572424,0.0498498297065,0.99999996315,9.44417275871e-05,-0.00025251564286,-3.18823227022e-05,1793248857176692480
+30,0.500000000,BASELINE,767,745,715.413462548,679,664,634.413462548,879.586537452,786,810,653,629,653,0.400991114323,0.00457545642525,0.0498509213626,0.9999999638,9.28219675704e-05,-0.000250559397952,-3.17016697255e-05,1793248857193359616
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+33,0.550000000,BASELINE,767,745,715,679,664,634,879.279681789,786,810,653,629,652.860159106,0.400989398222,0.00457690832368,0.04985105993,0.99999996331,9.54296680669e-05,-0.000251541532662,-3.16371658418e-05,1793248857243358720
+34,0.566666667,BASELINE,767,745,715,679,664,634,880.46351917,786,810,653,629,652.268240415,0.400990325087,0.00457515144674,0.0498507188083,0.999999963503,9.43117494955e-05,-0.000251233431781,-3.13357323113e-05,1793248857260025344
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+38,0.633333333,BASELINE,767,745,716,679,664,634,878,786,810,652.953083903,629,652.953083903,0.40098998463,0.00457685975058,0.0498514975829,0.999999963826,9.28706159899e-05,-0.000250420467763,-3.18192861163e-05,1793248857326692864
+39,0.650000000,BASELINE,767,745,716,679,664,634,878,786,810,652.365932796,629,652.365932796,0.400990921839,0.00457710273431,0.049851891965,0.999999963846,9.40986067614e-05,-0.000249900871599,-3.16819728555e-05,1793248857343359488
+40,0.666666667,BASELINE,767,745,715.790113734,678.790113734,664,634,878.209886266,786,810,652.209886266,629,652.209886266,0.400991019021,0.0045771131602,0.0498518176042,0.99999996373,9.52040713871e-05,-0.000249962160152,-3.15556228894e-05,1793248857360025856
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+42,0.700000000,BASELINE,767,745,715.351143511,678.351143511,664,634,878.648856489,786,810,653,629,653,0.400989902844,0.00457677265048,0.049850915157,0.999999963345,9.64743968215e-05,-0.000251026217185,-3.14396562852e-05,1793248857393359104
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+48,0.800000000,BASELINE,767,745,715.142008474,679,664,634,879,785.857991526,810,653,629,652.857991526,0.400989878184,0.00457687946654,0.0498519569156,0.999999963637,9.59642066618e-05,-0.000250027207205,-3.16734801693e-05,1793248857493359360
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+50,0.833333333,BASELINE,767,745,716,679,663.987579315,634,879.97515863,786,810,653.012420685,629,652,0.400991514633,0.00457639651696,0.0498516379411,0.999999963971,9.25898525809e-05,-0.000249967156565,-3.16454821475e-05,1793248857526692096
+51,0.850000000,BASELINE,767,745,716,679,663.414021311,634,878.828042622,786,810,653.585978689,629,652,0.400991216003,0.00457577853902,0.0498518046563,0.999999964086,9.28473794629e-05,-0.000249417643929,-3.15920804878e-05,1793248857543358720
+52,0.866666667,BASELINE,767,745,715.835680909,679.164319091,663.164319091,634,878.164319091,786,810,653.835680909,629,652.164319091,0.400991297016,0.00457553462459,0.0498519619932,0.999999964173,9.33132017981e-05,-0.000248911147956,-3.14708364233e-05,1793248857560025344
+53,0.883333333,BASELINE,767,745,715.24492951,679.75507049,663.75507049,634,878.75507049,786,810,653.24492951,629,652.75507049,0.400992363258,0.00457626146023,0.0498520949918,0.999999964186,9.43195815779e-05,-0.000248516286605,-3.11735313033e-05,1793248857576692224
+54,0.900000000,BASELINE,766.65984118,745,715,679.65984118,663.65984118,634,879,786,810,653,629,652.65984118,0.400992553072,0.00457642020984,0.0498520384414,0.999999964279,9.42962137314e-05,-0.000248122767232,-3.13749321591e-05,1793248857593359360
+55,0.916666667,BASELINE,766.078763764,745,715,679.078763764,663.078763764,634,879,786,810,653,629,652.078763764,0.400992122154,0.00457617661063,0.0498518476421,0.99999996443,9.3543523717e-05,-0.000247730198333,-3.19295431667e-05,1793248857610026496
+56,0.933333333,BASELINE,766.495311203,745,715.495311203,679,663.495311203,634,879,786,810,653,629,652.495311203,0.400990745407,0.00457627538143,0.0498515574565,0.999999963957,9.43468448027e-05,-0.000249342627349,-3.18322633489e-05,1793248857626693120
+57,0.950000000,BASELINE,766.931332108,745,716,679.068667892,664,634,879,786,810,653,629,653,0.400989533842,0.00457627247629,0.0498513018696,0.999999963535,9.48279290637e-05,-0.000250871091226,-3.1656841928e-05,1793248857643359488
+58,0.966666667,BASELINE,766.355169371,745,716,679.644830629,664,634,879,786,810,653,629,653,0.400990639143,0.00457512137057,0.0498514171622,0.999999964233,9.11243065578e-05,-0.000249455500412,-3.16593571075e-05,1793248857660025856
+59,0.983333333,BASELINE,766,745,716,679.773514135,664,634,879,786,810,653,629,653,0.400991394334,0.00457459484661,0.0498514729132,0.999999964576,8.97465786099e-05,-0.000248576654415,-3.16826640731e-05,1793248857676692224
+60,1.000000000,BASELINE,766,745,716,679.183031543,664,634,879,786,810,653,629,653,0.400991586844,0.00457507211898,0.0498514329719,0.999999964363,9.21069112176e-05,-0.000248560437564,-3.17393865556e-05,1793248857693358848
+61,1.016666667,BASELINE,766.400417948,745,716,679,664,634,878.599582052,786,810,653,629,652.599582052,0.40099172337,0.00457600047084,0.0498517686882,0.999999964429,9.2329363857e-05,-0.000248216645327,-3.17000007801e-05,1793248857710025472
+62,1.033333333,BASELINE,766.980708057,745,716,679,664,634,878.019291943,786,810,653,629,652.019291943,0.400991834748,0.00457713145255,0.049852273154,0.999999964622,9.15914570818e-05,-0.000247725702614,-3.16174421112e-05,1793248857726692096
+63,1.050000000,BASELINE,767,745,716,679.554069417,664,634,878.554069417,786,810,653,629,652,0.400990606494,0.00457760051094,0.0498511996824,0.999999963887,9.36952363194e-05,-0.000249874284713,-3.17866524322e-05,1793248857743358720
+64,1.066666667,BASELINE,767,745,716,679.869487951,664,634,879,786,810,653,629,652.130512049,0.400989660925,0.0045776918783,0.0498505187598,0.999999963351,9.53018695752e-05,-0.000251391247836,-3.19093833443e-05,1793248857760025600
+65,1.083333333,BASELINE,767,745,716,679.281407201,664,634,879,786,810,653,629,652.718592799,0.400989867945,0.0045765388844,0.0498514043379,0.999999963653,9.48229267553e-05,-0.000250375552814,-3.1838805313e-05,1793248857776692480
+66,1.100000000,BASELINE,767,745,715.697113968,679,664,634,879,786,810,653,629,652.697113968,0.400990550063,0.00457605902825,0.0498518048588,0.999999963984,9.41220239924e-05,-0.00024932068885,-3.1812157077e-05,1793248857793359104
+67,1.116666667,BASELINE,767,745,715.116296237,679,664,634,879,786,810,653,629,652.116296237,0.400991668137,0.0045761968511,0.0498517602856,0.99999996434,9.32174482652e-05,-0.00024822988307,-3.18258193291e-05,1793248857810025728
+68,1.133333333,BASELINE,767,745,715.45962735,679,664,634,879,786.45962735,810,653,629,652.45962735,0.400990922201,0.00457711210923,0.0498516356649,0.99999996407,9.33746540802e-05,-0.000249253206034,-3.18450480042e-05,1793248857826692352
+69,1.150000000,BASELINE,767,745,715.965751907,679,663.965751907,634.034248093,879,786.965751907,809.965751907,653,629,652.965751907,0.400989878008,0.00457815550777,0.0498515421421,0.999999963688,9.37743288053e-05,-0.000250628025223,-3.18651155908e-05,1793248857843358976
+70,1.166666667,BASELINE,767,745,715.39235285,679,663.39235285,634.60764715,879,786.39235285,809.39235285,653,629,652.39235285,0.400991485037,0.00457815209101,0.0498522536651,0.999999964041,9.38063272573e-05,-0.000249203968404,-3.18764510723e-05,1793248857860025344
+71,1.183333333,BASELINE,767,745,715.186667897,679,663,634.813332103,879,786,809.186667897,653,629.186667897,652,0.400992722415,0.00457794210913,0.0498528656441,0.99999996442,9.37867678404e-05,-0.000247679510142,-3.1905773123e-05,1793248857876692224
+72,1.200000000,BASELINE,767,745,715.777871756,679,663,634.222128244,879,786,809.777871756,653,629.777871756,652,0.400993158709,0.00457728447117,0.049853261897,0.999999964861,9.36554751726e-05,-0.000245937467356,-3.19740746371e-05,1793248857893359104
+73,1.216666667,BASELINE,766.63891579,745,715.63891579,679,663.36108421,634,879,786,810,653,629.63891579,652,0.400992387428,0.00457683753968,0.0498529468557,0.999999964604,9.38783393765e-05,-0.000246916806956,-3.17840802996e-05,1793248857910025728
+74,1.233333333,BASELINE,766.060513,745,715.060513,679,663.939487,634,879,786,810,653,629.060513,652,0.400990889366,0.00457651742196,0.0498522037218,0.999999963925,9.43143529495e-05,-0.00024953401102,-3.14386305641e-05,1793248857926692352
+75,1.250000000,BASELINE,766,745,715,679,664,634,879,786,809.484032087,653,629,652,0.400990479116,0.00457588966946,0.0498518899744,0.999999963894,9.24100736028e-05,-0.000250357886501,-3.15314195816e-05,1793248857943358976
+76,1.266666667,BASELINE,766.092051972,745,715,679,664,634,879,786,809.092051972,653,628.907948028,652.092051972,0.400990022808,0.00457533427233,0.0498515673614,0.999999963914,9.05989431664e-05,-0.000250921261774,-3.16507030018e-05,1793248857960025344
+77,1.283333333,BASELINE,766.667231758,745,715,679,664,634,879,786,809.667231758,653,628.332768242,652.667231758,0.40098865766,0.00457534728508,0.0498509348953,0.99999996383,9.07118914127e-05,-0.000251217187043,-3.16402886905e-05,1793248857976691968
+78,1.300000000,BASELINE,767,745,715,679,664,634,879,786,810,653,628.250392375,653,0.400988052553,0.0045757137786,0.0498506563863,0.99999996376,9.09883154252e-05,-0.000251384653294,-3.17398718626e-05,1793248857993358592
+79,1.316666667,BASELINE,767,745,715,679,664,634,879,786,810,653,628.844508558,653,0.400988490787,0.00457656550955,0.0498508637687,0.999999963708,9.14891492685e-05,-0.000251375778593,-3.19904530596e-05,1793248858010025216
+80,1.333333333,BASELINE,766.57593541,745,715,679,664,634,879,786,810,653,629,653,0.400990739886,0.0045759765116,0.0498515882878,0.999999964264,9.11722165511e-05,-0.000249294547222,-3.18167773856e-05,1793248858026692096
+81,1.350000000,BASELINE,766.001540871,745,715,679,664,634,879,786,810,653,629,653,0.400993630934,0.00457487677853,0.0498524961308,0.999999965027,9.05653874541e-05,-0.000246478670037,-3.14927036184e-05,1793248858043358976
+82,1.366666667,BASELINE,766,745.573620768,715,679,664,634,879,786,810,653,629,652.426379232,0.400991875725,0.00457554828128,0.04985206744,0.999999964449,9.13275027063e-05,-0.000248520713005,-3.15986497231e-05,1793248858060026112
+83,1.383333333,BASELINE,766,745.846582253,715,679.153417747,664,634,879,786,810,653,629,652,0.400990953266,0.00457579299143,0.0498518546929,0.999999964141,9.18248682715e-05,-0.000249562819425,-3.16839963515e-05,1793248858076692736
+84,1.400000000,BASELINE,766,745.253507323,715,679.746492677,664,634,879,786,810,653,629,652,0.400992453079,0.00457480096682,0.0498522710891,0.999999964628,9.15529748292e-05,-0.000247701909843,-3.17069952775e-05,1793248858093359104
+85,1.416666667,BASELINE,766.330215107,745.330215107,715,679.669784893,664,634,879,786,810,653,629,652.330215107,0.400992870095,0.00457532590914,0.0498527253218,0.999999964832,9.2176392924e-05,-0.000246638249229,-3.17803592251e-05,1793248858110025472
+86,1.433333333,BASELINE,766.906955307,745.906955307,715,679.093044693,664,634,879,786,810,653,629,652.906955307,0.40099247874,0.004576983357,0.0498532078017,0.999999964824,9.34682140137e-05,-0.000246169782198,-3.18913236366e-05,1793248858126692096
+87,1.450000000,BASELINE,767,745.517184945,715.482815055,679,664,634,879,786,810,653,629,653,0.40099253191,0.00457595241979,0.0498531970919,0.99999996486,9.23027070927e-05,-0.000246491265936,-3.16428135588e-05,1793248858143358720
+88,1.466666667,BASELINE,767,745,715.941586708,679.058413292,664,634,879,786,809.941586708,653,628.941586708,653,0.400992586963,0.00457462489646,0.0498531236732,0.999999964905,9.07517306169e-05,-0.000246919221706,-3.13800308622e-05,1793248858160025088
+89,1.483333333,BASELINE,767,745,715.366803012,679.633196988,664,634,879,786,809.366803012,653,628.366803012,653,0.400991902762,0.00457524708812,0.0498533345663,0.999999964962,8.99718385016e-05,-0.000246945096328,-3.16023548791e-05,1793248858176691968
+90,1.500000000,BASELINE,767,745,715,679.78519729,663.78519729,634,879,786,809.21480271,653,628.21480271,652.78519729,0.400990963474,0.00457547732549,0.0498530049174,0.999999964793,8.99394466095e-05,-0.000247625830512,-3.1726247031e-05,1793248858193358848
+91,1.516666667,BASELINE,767,745,715,679.191560031,663.191560031,634,879,786,809.808439969,653,628.808439969,652.191560031,0.400989574305,0.00457501629672,0.0498517219473,0.999999964222,9.12253757304e-05,-0.000249461500896,-3.16765408325e-05,1793248858210025472
+92,1.533333333,BASELINE,767,745,715,679,663.389769149,634,879,786,810,653,629,652.389769149,0.400989762971,0.00457572564698,0.0498515358675,0.999999964098,9.24509155702e-05,-0.000249506650489,-3.16676806975e-05,1793248858226692352
+93,1.550000000,BASELINE,767,745,715,679,663.965234493,634,879,786,810,653,629,652.965234493,0.400990703359,0.0045769925963,0.0498518723748,0.999999964188,9.36476844944e-05,-0.000248698749413,-3.16782806887e-05,1793248858243358976
+94,1.566666667,BASELINE,766.459668946,745,715,679,664,634,879.540331054,786,810,653,629,653,0.400990259451,0.00457698230784,0.0498513885927,0.999999964007,9.41909372076e-05,-0.000249204907962,-3.17904857343e-05,1793248858260025600
+95,1.583333333,BASELINE,766,744.88198411,715,679,664.11801589,634,880,786,810,653,629,652.88198411,0.400990091343,0.00457697500112,0.0498512321439,0.999999963964,9.43440719537e-05,-0.000249305878457,-3.19030278774e-05,1793248858276691968
+96,1.600000000,BASELINE,766,744.29389521,715,679,664.70610479,634,880,786,810,653,629,652.29389521,0.400991376306,0.00457730667735,0.0498525895866,0.999999964536,9.31106834479e-05,-0.000247456394605,-3.19908912525e-05,1793248858293358592
+97,1.616666667,BASELINE,766,744.29147839,715,679,664.41704322,634,879.70852161,786,810,653,629,652,0.400992265148,0.00457705282471,0.049853364,0.999999964927,9.2395357531e-05,-0.000246156138604,-3.18806827197e-05,1793248858310025472
+98,1.633333333,BASELINE,766,744.874139411,715,679,663.251721178,634,879.125860589,786,810,653,629,652,0.400992758272,0.00457621403731,0.0498535559758,0.99999996514,9.2197568607e-05,-0.000245404553271,-3.15726032545e-05,1793248858326692608
+99,1.650000000,BASELINE,766.449384886,745,715,679,663.898769773,634,879,786,809.550615114,653,629,652,0.400992928459,0.00457443906532,0.0498533462729,0.999999965325,8.97555322894e-05,-0.000245583527158,-3.13370639768e-05,1793248858343359232
+100,1.666666667,BASELINE,767,745,715.022720222,679,664.977279778,634,879,786,809.022720222,653,629,652.022720222,0.4009929725,0.00457256019282,0.0498530148698,0.999999965467,8.69461685922e-05,-0.000246039819064,-3.11435145601e-05,1793248858360025856
+101,1.683333333,BASELINE,767,745,715.59929889,679,664.40070111,634,879,786,809.59929889,653,629,652.59929889,0.400992110463,0.0045744364795,0.0498524146554,0.999999964925,9.02560529984e-05,-0.000247006191461,-3.14863425597e-05,1793248858376692736
+102,1.700000000,BASELINE,767,745,715.82037089,679.17962911,664,634.17962911,879,786,810,653,629,653,0.40099129272,0.00457584300589,0.0498521665266,0.999999964503,9.27331154903e-05,-0.000247766523869,-3.17166190563e-05,1793248858393359104
+103,1.716666667,BASELINE,767,745,715.231493604,679.768506396,664,634.768506396,879,786,810,653,629,653,0.400990575894,0.00457617927933,0.0498527205528,0.999999964378,9.33127631883e-05,-0.000248057436193,-3.16904699345e-05,1793248858410025472
+104,1.733333333,BASELINE,767,745,715,679.647845986,664,635,879.352154014,786,810,653,629,653,0.400991145566,0.00457592358932,0.049852786879,0.999999964587,9.24001835833e-05,-0.000247548430591,-3.17490914378e-05,1793248858426692096
+105,1.750000000,BASELINE,767,745,715,679.067585803,664,635,879.932414197,786,810,653,629,653,0.400992548562,0.0045752844577,0.0498525372999,0.999999965009,9.05210205539e-05,-0.000246521281801,-3.1862622727e-05,1793248858443358976
+106,1.766666667,BASELINE,766.492983364,745,715,679,664,634.492983364,879.492983364,786,810,653,629,652.492983364,0.400992024086,0.00457488488527,0.0498524505101,0.999999964807,9.17405539186e-05,-0.0002469097141,-3.17019193823e-05,1793248858460025600
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,664,634,878,786,810,653,629,652,0.400994559501,0.00457457485597,0.0498548096812,0.999999965632,9.09530014057e-05,-0.000243891142471,-3.13024517846e-05,1793248858503410432
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.406507608,715.593492392,679,664,634.593492392,878.593492392,786.593492392,810,653,629,652.593492392,0.400992257135,0.00457423190519,0.0498531947657,0.999999965083,8.98975907364e-05,-0.000246493236302,-3.15139372231e-05,1793248858520077056
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,715.818110918,679,664,634.818110918,879,786.818110918,810,653.181889082,629,653,0.400990934804,0.00457467196945,0.0498523074985,0.999999964759,9.00149489024e-05,-0.000247723684229,-3.18226919648e-05,1793248858536743680
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,715.240792247,679,664,634.240792247,879,786.240792247,810,653.759207753,629,653,0.400991743082,0.00457681432008,0.0498530021491,0.999999964931,9.26819238936e-05,-0.000245972153903,-3.23429116699e-05,1793248858553409792
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634,878.664986995,786,810,653.664986995,629,653,0.40099217464,0.00457712587784,0.0498530413009,0.999999964946,9.31236015195e-05,-0.000245743704992,-3.2347310436e-05,1793248858570075904
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634,878.090264663,786,810,653.090264663,629,653,0.400992336647,0.00457612746208,0.0498526114285,0.999999964852,9.19730287648e-05,-0.000246605055133,-3.19826277095e-05,1793248858586742272
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,715.497103932,679,663.502896068,634,878,786,810,653,629,652.502896068,0.400990777842,0.00457589922361,0.049851551207,0.999999964249,9.2869216436e-05,-0.000248721328073,-3.18546814925e-05,1793248858603408896
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663.08517774,634,878.08517774,786,810,653,629,652,0.400989653002,0.00457573181273,0.049850769218,0.999999963765,9.37503305505e-05,-0.000250347965261,-3.17205526954e-05,1793248858620075520
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663.663688965,634,878.663688965,786,810,653,629,652,0.400992898603,0.00457508557736,0.0498522789324,0.999999964549,9.23354074259e-05,-0.000247784490993,-3.12951445302e-05,1793248858636742912
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715.758748091,679,664,634,879,786,810,653,629,652.241251909,0.401002453239,0.00457475990376,0.0498560040188,0.999999966383,9.11472318945e-05,-0.000240734604391,-3.120096626e-05,1793248858653409792
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715.182501945,679,664,634,879,786,810,653,629,652.817498055,0.401020768389,0.00457487935146,0.049862805296,0.999999969559,9.02739105036e-05,-0.000227455037654,-3.15667226433e-05,1793248858670076416
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715.392396878,679,664,634,879,786,810,653,629,653,0.401059210004,0.00457508702002,0.0498765390131,0.999999975326,9.09623513514e-05,-0.000200222694674,-3.13923856729e-05,1793248858686742528
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715.966671263,679,664,634,879,786,810,653,629,653,0.401106980317,0.0045753355793,0.0498934859442,0.999999981389,9.23746750203e-05,-0.000166523183325,-3.09677132987e-05,1793248858703408640
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715.442784984,679,664,634,879,786,810,653,629,652.442784984,0.401178669555,0.00457441331296,0.049913039599,0.999999986389,9.21367419904e-05,-0.000133531009031,-3.00487828422e-05,1793248858720075520
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.145560878,715.145560878,679,664,634,879,786,810,653,629,652,0.401253889451,0.00457323779269,0.0499302037656,0.999999989892,9.07620136044e-05,-0.000105504972741,-2.90910371442e-05,1793248858736741888
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.724381301,715.724381301,679,664,634,879,786,810,653,629,652,0.401335231891,0.00457152318033,0.0499397776254,0.999999991637,8.63062685074e-05,-9.21308401607e-05,-2.81083989094e-05,1793248858753408512
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.698767498,679,664,634.301232502,879,786,810,653,629,652,0.401423632607,0.00457008923622,0.0499453957249,0.999999992578,8.36029664835e-05,-8.43776174902e-05,-2.7102838512e-05,1793248858770075392
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715.12370641,679,664,634.87629359,879,786,810,653,629,652,0.401518449483,0.00456891042734,0.0499474179294,0.999999992917,8.24926834371e-05,-8.17339565263e-05,-2.60764413042e-05,1793248858786742272
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.538793725,715,679,664,634.538793725,879,786,810,653,629,652.461206275,0.401626375654,0.00456784915378,0.0499459880574,0.999999992703,8.13307193997e-05,-8.57238075713e-05,-2.51105804731e-05,1793248858803409152
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,715,679.048350478,664,634,879,786,810,652.951649522,629,652.951649522,0.40174169495,0.00456680363432,0.0499441887631,0.999999992401,8.00000521399e-05,-9.06405639685e-05,-2.41469717748e-05,1793248858820075520
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,715,679.630323147,664,634,879,786,810,652.369676853,629,652.369676853,0.401898954859,0.00456557645595,0.0499487544218,0.999999993099,7.69638126715e-05,-8.57216113785e-05,-2.30251037863e-05,1793248858836742144
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,879,786,810,652.209557048,629,652.209557048,0.402062866075,0.0045645560078,0.0499511519548,0.999999993444,7.45686208193e-05,-8.4102118e-05,-2.18918138396e-05,1793248858853408768
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,879,786,810,652.784021792,629,652.784021792,0.402238359387,0.00456389554507,0.0499497740677,0.999999993207,7.32897038805e-05,-8.82280680605e-05,-2.07386346275e-05,1793248858870075392
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,715.355059489,680,663.644940511,634,879,786,810,653,629.355059489,652.644940511,0.402435613995,0.00456110653446,0.0499487741098,0.999999993235,6.92601473862e-05,-9.14826699715e-05,-1.90679582642e-05,1793248858886741760
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,715.92403254,680,663.07596746,634,879,786,810,653,629.92403254,652.07596746,0.402645979202,0.00455703513233,0.0499480018436,0.999999993395,6.35734062023e-05,-9.42123090184e-05,-1.70855040104e-05,1793248858903408640
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.480699837,745,715.480699837,679.480699837,663.519300163,634,879,786,810,653,629.480699837,652.519300163,0.402892439802,0.00455529618651,0.0499490996315,0.999999993527,6.05406907697e-05,-9.51473990446e-05,-1.50837263856e-05,1793248858920075264
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.114241643,679.114241643,664,634,879,786,810,653,629,653,0.403156704732,0.00455364489237,0.0499519695809,0.999999993983,5.7969406821e-05,-9.22152330959e-05,-1.30355808262e-05,1793248858936741632
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.691442131,679.691442131,664,634,879,786,810,653,629,653,0.40347058138,0.00455089231302,0.049960853387,0.999999995603,5.56107600461e-05,-7.47317915446e-05,-1.08115971661e-05,1793248858953408512
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.265325378,745,715.734674622,679.734674622,664,634,879,786,810,653,629,653,0.403798044984,0.00454756635312,0.0499692272963,0.999999996949,5.14952827471e-05,-5.81191254783e-05,-8.48198383686e-06,1793248858970075648
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.835398469,745,715.164601531,679.164601531,664,634,879,786,810,653,629,653,0.404141114288,0.00454358181933,0.0499770155475,0.99999999805,4.5361943272e-05,-4.2506616725e-05,-6.03104640136e-06,1793248858986743040
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.582520861,745,715.417479139,679,664,634,879,786,810,653,629,652.582520861,0.404509477108,0.00453989467832,0.0499861085234,0.999999998895,4.01959832045e-05,-2.41020364938e-05,-3.68599167198e-06,1793248859003409664
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.004424071,745,715.995575929,679,664,634,879,786,810,653,629,652,0.404888467404,0.00453632032261,0.0499956356103,0.99999999936,3.54385364811e-05,-4.74233430917e-06,-1.3761160586e-06,1793248859020075520
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.590027625,745,715.409972375,679,664,634,879,786,810,653,629,652,0.405314692381,0.00453170269083,0.0499926114488,0.999999999423,3.275731895e-05,-8.80828490481e-06,1.95896714539e-06,1793248859036742144
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.172955278,715.172955278,679,664,634,879,786,810,653,629,652.172955278,0.405743000631,0.00452742224677,0.0499833371364,0.999999999209,2.95512131201e-05,-2.609260221e-05,5.24545459955e-06,1793248859053409024
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.749636544,715.749636544,679,664,634,879,786,810,653,629,652.749636544,0.406176171766,0.00452392889379,0.0499594732238,0.999999996894,2.51198715361e-05,-7.42322836004e-05,8.41850551008e-06,1793248859070075904
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.675245644,715.675245644,679.324754356,664,634,879,786,810,653,629,653,0.406637642682,0.00451933289005,0.0499402779842,0.999999993857,1.90456099278e-05,-0.000108596580181,1.14144306061e-05,1793248859086742272
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.101327311,715.101327311,679.898672689,664,634,879,786,810,653,629,653,0.407120826319,0.00451389089005,0.0499246647268,0.999999991066,1.1710836725e-05,-0.000132391879286,1.42744583388e-05,1793248859103409152
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.515507144,745,715,679.515507144,664,634,879.484492856,786,810.484492856,652.515507144,629,653,0.40766901315,0.00450865200077,0.0499340605501,0.999999993872,4.38463871522e-06,-0.000109287933096,1.7101174196e-05,1793248859120075776
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.071741164,664,634,880,786,811,652.071741164,629,652.928258836,0.40823919835,0.00450325317211,0.0499503860218,0.999999997025,-3.14143212909e-06,-7.44006712925e-05,2.00939017815e-05,1793248859136742656
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.651039706,664,634,880,786,811,652.651039706,629,652.348960294,0.40886641527,0.00449641469594,0.0499778013186,0.999999999259,-1.2094582891e-05,-2.72899021767e-05,2.4311668394e-05,1793248859153409024
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.229028428,786.229028428,811,653,629,652.229028428,0.409501798763,0.00448970424548,0.0499971180952,0.999999999393,-1.95591723197e-05,3.22892736513e-06,2.86575404018e-05,1793248859170075648
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.805032748,786.805032748,811,653,629,652.805032748,0.4101495545,0.00448318775317,0.0500041656889,0.999999999105,-2.47686049673e-05,8.61112317384e-06,3.31974906823e-05,1793248859186742272
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.377481261,715,680,664,634,881,786.622518739,811,653,629,653,0.410771513096,0.0044776464851,0.0499880629898,0.999999997277,5.69330813249e-05,-2.8648622421e-05,3.72136002715e-05,1793248859203409152
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.948110337,715,680,664,634,881,786.051889663,811,653,629,653,0.411380271913,0.00447260421535,0.0499601148587,0.999999978549,0.000183105034867,-8.77271934963e-05,4.0961672815e-05,1793248859220076288
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.458403833,715,679.458403833,664,634,880.458403833,786,811,653,629,653,0.412067475745,0.00446572489684,0.0499475419044,0.999999978299,0.000177007804399,-0.000100658345455,4.40169694828e-05,1793248859236742656
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.266074608,664.133037304,634,880.133037304,786,811,653,629,653,0.412784208793,0.00445879125977,0.0499448933606,0.999999984568,0.000141307123238,-9.52902250883e-05,4.26227789337e-05,1793248859253409024
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680.420050762,664.710025381,634,880.710025381,786,811,653,629,653,0.413573296507,0.00445228957729,0.0499702306594,0.999999997367,5.09706824292e-05,-4.42609468719e-05,2.66117236295e-05,1793248859270075392
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680.713911389,665,634,880.713911389,786,811,652.713911389,629,653,0.414357204003,0.00444264343946,0.0499796840507,0.999999999087,-2.69831298409e-05,-2.82339011954e-05,1.73245727813e-05,1793248859286742016
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680.138782479,665,634,880.138782479,786,811,652.138782479,629,653,0.415135877929,0.00442982040291,0.0499730896573,0.999999994487,-9.24265677573e-05,-4.75702138092e-05,1.48306977374e-05,1793248859303408384
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.552969405,634,880.447030595,786,811.447030595,652.447030595,629,653,0.415894408869,0.00445170182296,0.0499488669662,0.999999993401,-7.37291298194e-05,-8.68894364285e-05,1.45859735291e-05,1793248859320075008
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.964383009,786,812,653,629,653,0.41665342394,0.00448310030594,0.0499225995408,0.9999999915,-2.80072791468e-05,-0.000126431218871,1.51746549842e-05,1793248859336741888
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.38532967,786,812,653,629,653,0.417517576906,0.00449129343917,0.0499506810237,0.999999996989,2.17262757607e-05,-7.23952447978e-05,1.75645244288e-05,1793248859353408512
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680.193485793,664.193485793,634,880.386971586,786,812,653,629.193485793,653,0.418377613474,0.00449218450529,0.0499719675312,0.999999998146,4.58440621047e-05,-3.4739172503e-05,2.00073912585e-05,1793248859370075392
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.77182807,664.77182807,634,881.54365614,786,812,653,629.77182807,653,0.419229462194,0.00447855125969,0.0499797383662,0.999999999125,1.90103288873e-05,-2.96638496993e-05,2.25556735195e-05,1793248859386742528
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.348481989,680.651518011,665,634,881.651518011,786,812,653,630,653,0.42009502589,0.00447114495503,0.0499719026796,0.999999998907,-1.15107932546e-06,-4.05944383747e-05,2.31817189561e-05,1793248859403409152
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.924035746,680.075964254,665,634,881.075964254,786,812,653,630,653,0.420969526265,0.0044677961418,0.0499538977426,0.999999997683,-1.69647821794e-05,-6.19545207376e-05,2.25552297794e-05,1793248859420075264
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.48975766,680.51024234,665,633.48975766,881,786,812,652.48975766,630,653,0.421891636601,0.00446356803302,0.0499795516398,0.999999999589,-1.45815122514e-05,-7.67290426721e-06,2.34753523867e-05,1793248859436741888
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680.904987482,665,633.095012518,881,785.904987482,812,652.095012518,629.904987482,652.904987482,0.422810586317,0.00446127246216,0.0500050478743,0.999999998712,-8.09726234472e-06,4.37058418057e-05,2.44864504616e-05,1793248859453408512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680.335480318,665,633.664519682,881,785.335480318,812,652.664519682,629.335480318,652.335480318,0.423677598514,0.00446929573039,0.0499966040509,0.999999999412,5.04935820179e-06,2.31484512702e-05,2.47774503592e-05,1793248859470075136
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680.240525808,665,634,881,785.240525808,812.240525808,652.759474192,629.240525808,652.240525808,0.424568866005,0.00447594802548,0.0499895255752,0.999999999554,1.34137104358e-05,9.78997157922e-06,2.4825182404e-05,1793248859486741760
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680.825848363,665,634,881,785.825848363,812.825848363,652.174151637,629.825848363,652.825848363,0.425494903891,0.00448063501462,0.0499844043413,0.999999999565,1.49226233147e-05,6.75121739421e-06,2.45241870062e-05,1793248859503408640
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785.595463649,813.404536351,652,630,653,0.426429724296,0.00447786936432,0.0499942747414,0.99999999958,5.2495481421e-06,1.07572921528e-05,2.63809237911e-05,1793248859520075264
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785.019585769,813.980414231,652,630,653,0.427368264486,0.00447194714542,0.0500104948541,0.999999999376,-9.15966249102e-06,1.77472071181e-05,2.91515688898e-05,1793248859536742144
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,785,814,652,630,653.570015722,0.428198072761,0.00446831850677,0.0499720273885,0.999999997892,-5.18356795621e-06,-5.75756150441e-05,2.95638293792e-05,1793248859553408768
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,784.842821642,813.842821642,652.157178358,630,653.842821642,0.429057482873,0.0044656893248,0.0499445255085,0.999999994049,6.67608692315e-07,-0.000105022164634,2.95408352493e-05,1793248859570075648
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,784.263506784,813.263506784,652.736493216,630,653.263506784,0.430006676542,0.00446552752409,0.0499516452271,0.999999997106,9.81624779327e-06,-6.98176264958e-05,2.85718749289e-05,1793248859586742272
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.687202077,745,715,681,665,633.687202077,881,784.312797923,813.312797923,652.687202077,630,653,0.430923480692,0.00446929063568,0.0499538926536,0.999999997864,1.0868675887e-05,-5.7873629088e-05,2.837223484e-05,1793248859603408896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113409034,745,715,681,665,633.113409034,881,784.886590966,813.886590966,652.113409034,630,653,0.431813259339,0.0044763286506,0.0499520746934,0.999999997437,5.16571482145e-06,-6.53379708073e-05,2.88145070931e-05,1793248859620075520
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.47177874,745,715,681,665,633,881.47177874,785,814,652,630,653,0.432694798205,0.00447457045868,0.0499425039967,0.999999996477,-6.66439525402e-06,-7.82137751433e-05,2.97289118699e-05,1793248859636742656
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.94109702,744.94109702,715,681,665,633,882,785,814.05890298,652,630,653,0.433577222874,0.00447079388707,0.0499353901681,0.9999999957,-1.51996413583e-05,-8.61832525626e-05,3.06869141048e-05,1793248859653409792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.361665495,744.361665495,715,681,665,633,882,785,814.638334505,652,630,653,0.434485411875,0.00446832909318,0.0499668645968,0.999999998583,1.87200721037e-05,-3.90151562856e-05,3.1002412219e-05,1793248859670076672
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.217164419,744.217164419,715,681,665,633,881.782835581,785,814.782835581,652,630,653,0.435357486556,0.00446711707632,0.0499832357035,0.999999998747,3.27228066765e-05,-2.09681183075e-05,3.15367239145e-05,1793248859686743296
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.794995268,744.794995268,715,681,665,633,881.205004732,785,814.205004732,652,630,653,0.43616958276,0.0044679856698,0.0499745232347,0.999999998066,1.36474498338e-05,-5.12852949248e-05,3.24344411322e-05,1793248859703409408
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.629244973,715,681,664.629244973,633,881.370755027,785,814.370755027,652,630,653,0.436986888445,0.00446966968549,0.0499628638034,0.999999996823,-1.48593023389e-06,-7.29003513071e-05,3.22098035784e-05,1793248859720076032
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.054624074,715,681,664.054624074,633,881.945375926,785,814.945375926,652,630,653,0.437807058603,0.00447180207472,0.049949583936,0.999999995378,-1.44517470791e-05,-8.97303990444e-05,3.13680203706e-05,1793248859736742144
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.519690596,744.519690596,715.519690596,681,664.519690596,633,881.480309404,785,815,652.519690596,630.519690596,653,0.438659525835,0.00446778493298,0.0499697946618,0.99999999815,-2.10721938202e-05,-4.73780612883e-05,3.17997326955e-05,1793248859753408768
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.902998238,745,715.902998238,681,665,633.097001762,881.097001762,785,815,652.902998238,630.902998238,653,0.439494853871,0.00446376028243,0.0499864449834,0.999999999189,-2.05291569144e-05,-1.22423007085e-05,3.24085827843e-05,1793248859770075136
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.310207166,745,715.310207166,681,665,633.689792834,881.689792834,785,815,652.310207166,630.310207166,653,0.440225240503,0.00446299899388,0.0499669161784,0.999999998313,1.3220539091e-05,-4.57670310309e-05,3.32390569559e-05,1793248859786741760
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.725092492,633.725092492,882,785,815.274907508,652,630,653,0.440956573575,0.00446216381023,0.0499559014515,0.999999997114,2.46728092675e-05,-6.32507793532e-05,3.41104819615e-05,1793248859803408896
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664.148404641,633.148404641,882,785,815.851595359,652,630,653,0.441688945556,0.00446124750811,0.0499542330745,0.999999997326,1.16480273172e-05,-6.31255010689e-05,3.50268608426e-05,1793248859820076032
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.436151574,633,881.563848426,785,816,652,630.436151574,653,0.442428754556,0.00446178863203,0.0499733309471,0.999999999005,5.03633440095e-06,-2.62592994846e-05,3.5695672786e-05,1793248859836742656
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.023104965,785,816,652,630.976895035,652.976895035,0.443166781125,0.00446285981142,0.049998189734,0.999999999132,1.07782053769e-06,2.03243922495e-05,3.6349627446e-05,1793248859853409024
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.602134123,785,816,652,630.397865877,652.397865877,0.443799914682,0.0044645335196,0.0499885257822,0.999999999207,7.4889518992e-06,-5.60231152886e-06,3.87101502713e-05,1793248859870075904
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,744.818836628,715,681.181163372,664.818836628,633,882,785,815.818836628,652,630.181163372,652.181163372,0.444421972368,0.00446617668015,0.0499725783781,0.999999998412,1.34212785417e-05,-3.68725503043e-05,4.04591203757e-05,1793248859886742784
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,744.239807068,715,681.760192932,664.239807068,633,882,785,815.239807068,652,630.760192932,652.760192932,0.445019705643,0.00446775275315,0.0499428314211,0.999999995807,1.83020681973e-05,-7.98781237362e-05,4.0865015085e-05,1793248859903409152
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.336484665,715,681.663515335,664.336484665,633,882,784.663515335,815.336484665,652,630.663515335,653,0.445626533208,0.00446684564351,0.0499399868903,0.999999996425,1.8301791448e-05,-7.15269746304e-05,4.12200537755e-05,1793248859920076032
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.910840908,715,681.089159092,664.910840908,633,882,784.089159092,815.910840908,652,630.089159092,653,0.446239789775,0.00446418309397,0.0499561605312,0.999999998666,1.48509352633e-05,-2.68701428919e-05,4.15391406977e-05,1793248859936742400
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,882,784.496507753,816,652,630,653,0.446811248111,0.00446239690267,0.0499709067413,0.999999998996,1.33765057895e-05,1.29708911764e-06,4.27391160473e-05,1793248859953409280
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.916970226,715,681.083029774,665,633,882,785,816,652,630.083029774,653,0.447359559727,0.0044608242697,0.0499791066285,0.99999999883,1.25046783546e-05,1.585420604e-05,4.39567073491e-05,1793248859970076672
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.337758247,715,681.662241753,665,633,882,785,816,652,630.662241753,653,0.447815447574,0.0044595654943,0.0499497534931,0.999999998394,1.30635953709e-05,-3.28143496028e-05,4.43122386587e-05,1793248859986743296
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,744.240837769,715,682,665,633,882,784.759162231,816,652,630.759162231,653,0.448264575592,0.0044569759101,0.0499260323494,0.999999996426,1.08987827286e-05,-7.08876445674e-05,4.47726671806e-05,1793248860003409664
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,744.818572095,715,682,665,633,882,784.181427905,816,652,630.181427905,653,0.448704247566,0.00445252472057,0.0499101895348,0.999999994527,4.92387357057e-06,-9.41397268667e-05,4.53798315163e-05,1793248860020075776
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.608956699,665,633.391043301,882.391043301,784,816,652,630.391043301,653,0.449132426038,0.00444772659593,0.04991625871,0.99999999532,-1.06951727511e-06,-8.49145116115e-05,4.63442437932e-05,1793248860036742400
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.038894884,665,633.961105116,882.961105116,784,816,652,630.961105116,653,0.449555342855,0.00444276964499,0.0499323591307,0.999999996999,-7.07136950691e-06,-6.08212835677e-05,4.74722032023e-05,1793248860053409024
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.554013813,665.554013813,633.445986187,882.445986187,784.554013813,816,652,630.445986187,652.445986187,0.449952571958,0.0044398726199,0.0499514946115,0.999999995907,-7.65970101823e-05,-3.89925918485e-05,2.82621368681e-05,1793248860070075392
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.855357325,665.855357325,633.144642675,882,785,816,652,630.144642675,652.144642675,0.450335176246,0.0044364104629,0.0499690169655,0.999999992901,-0.000117045483719,-1.78593812618e-05,1.34308278917e-05,1793248860086742272
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.276592056,665.276592056,633.723407944,882,785,816,652,630.723407944,652.723407944,0.450679532018,0.00443079943006,0.0499810307446,0.999999998284,-5.6262448955e-05,1.68414247183e-06,1.62114569961e-05,1793248860103409408
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,744.69985493,715,681.30014507,665,633.69985493,882,784.69985493,816,652,630.69985493,653,0.450988365547,0.00442984570652,0.049985769159,0.999999999469,-2.6116364839e-05,5.70213983378e-06,1.86176247563e-05,1793248860120076032
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,744.124974286,715,681.875025714,665,633.124974286,882,784.124974286,816,652,630.124974286,653,0.451264684034,0.004433155017,0.0499838481211,0.999999999488,-2.40135911254e-05,-4.49103992964e-06,2.06810319672e-05,1793248860136742400
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,744.460118179,715,682,664.539881821,633,882,784,816,652,630.460118179,653,0.451490468672,0.00444622624641,0.0499692261342,0.999999999182,-1.16624861838e-05,-3.1971931467e-05,2.18439674499e-05,1793248860153409024
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,744.95267722,715,681.95267722,664,633,882,784,816,652,630.95267722,653,0.451700113015,0.00446217169341,0.0499508700612,0.99999999763,3.53216021909e-06,-6.49360199694e-05,2.25979463844e-05,1793248860170075392
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,744.373613213,715,681.373613213,664,633,882,784,816,652,630.373613213,653,0.451886126166,0.00447994382257,0.0499301988648,0.999999994022,1.86905822684e-05,-0.00010555263983,2.15672934885e-05,1793248860186742016
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,744.204780127,715,681.204780127,664,633,882,784,816,652,630,653,0.452063814418,0.00448874481099,0.0499140429779,0.999999990118,2.55824940044e-05,-0.000136507857085,2.18059315219e-05,1793248860203408640
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,744.781953791,715,681.781953791,664,633,882,784,816,652,630,653,0.452226363786,0.00448123173962,0.0499060982029,0.999999988317,1.74417197464e-05,-0.0001498937682,2.43527807131e-05,1793248860220075264
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664,632.642877148,882,784,816,652,630,653,0.45237811766,0.00447836587785,0.0499028637588,0.999999987647,1.40529036618e-05,-0.000154445866247,2.56118292657e-05,1793248860236742400
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,664,632.068925138,882,784,816,652,630,653,0.452523317005,0.00447832159495,0.0499024892181,0.999999987766,1.35492650698e-05,-0.000153634466045,2.60889826269e-05,1793248860253409536
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,682,664.518726841,632,882,784.518726841,816,652,630.518726841,653,0.452647400803,0.00448046196773,0.0499063314991,0.999999988439,1.42742031586e-05,-0.000149143963909,2.59802744178e-05,1793248860270076160
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.106359603,745,715,682,664.893640397,632,882.106359603,784.893640397,816,652,630.893640397,653,0.452763113474,0.00448205429028,0.0499091130717,0.999999988944,1.43366301287e-05,-0.000145729398942,2.58733181066e-05,1793248860286742528
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.685594223,745,715,682,664.314405777,632,882.685594223,784.314405777,816,652,630.314405777,653,0.452854420665,0.00447988437104,0.0499046200421,0.999999988451,1.07080531477e-05,-0.000149330864728,2.61296410381e-05,1793248860303409152
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,745,715,681.736613678,664,632,882.473227355,784,816,652,630,653,0.452932301083,0.00447966221859,0.0498999851285,0.999999987518,1.13421376687e-05,-0.000155359183475,2.6429251585e-05,1793248860320076032
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,745,715,681.160534179,664,632,881.321068358,784,816,652,630,653,0.45299424118,0.00448175246192,0.0498951817701,0.999999986004,1.70368692592e-05,-0.000164268670439,2.67802533257e-05,1793248860336742656
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.585787345,745,715,681.414212655,664,632,881,784,816,652,630,652.585787345,0.45304436455,0.0044817318033,0.0498907080775,0.999999984856,1.7363751299e-05,-0.000171023267152,2.71736027623e-05,1793248860353408768
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.011555362,745,715,681.988444638,664,632,881,784,816,652,630,652.011555362,0.45308992286,0.00448089565746,0.049886361742,0.999999983843,1.56169165506e-05,-0.000176945382836,2.75833120237e-05,1793248860370075392
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681.420801526,663.420801526,632,881.579198474,784,816,652,630,652.579198474,0.453126512422,0.00448242401624,0.0498863295731,0.999999983871,1.8336285948e-05,-0.000176548559729,2.74198999004e-05,1793248860386742784
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681.166949592,663,632.166949592,882,784,816,652,630.166949592,653,0.453159760145,0.00448421145645,0.0498863601862,0.999999983956,2.08332916681e-05,-0.000175841620613,2.70696880351e-05,1793248860403410176
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681.746442283,663,632.746442283,882,784,816,652,630.746442283,653,0.453185205098,0.00448651911213,0.0498863270073,0.999999984142,2.25541765662e-05,-0.000174689031033,2.62869661874e-05,1793248860420076288
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663,633,881.675569426,784,816.324430574,652,631,653,0.453202566881,0.00448614337776,0.0498851564399,0.999999983894,2.28375965905e-05,-0.000176047104806,2.64187925614e-05,1793248860436742656
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682,663,633,881.098751405,784,816.901248595,652,631,653,0.453213640446,0.00448368012779,0.0498831010528,0.999999983302,2.20027557024e-05,-0.000179358323332,2.72620822866e-05,1793248860453409024
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,682,663.484975083,633,881.484975083,784,816.515024917,652,630.515024917,653,0.45321979352,0.00448391375859,0.0498807814663,0.999999982583,2.1903465378e-05,-0.000183330757928,2.72918236621e-05,1793248860470075392
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663.930602482,632.930602482,882,784,816,652,630.069397518,653,0.45322465735,0.0044846411467,0.0498785169908,0.999999981855,2.2070655601e-05,-0.000187251003129,2.72023484175e-05,1793248860486742016
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,682,663.351548922,632.351548922,882,784,816,652,630.648451078,653,0.453227517384,0.0044849035017,0.0498770580439,0.999999981347,2.30790448779e-05,-0.000189784900393,2.74715051127e-05,1793248860503408640
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.227093272,745,715,682,663,632.227093272,882,784,816,652,631,653,0.453230174506,0.00448531667962,0.0498765115181,0.999999981045,2.45853797224e-05,-0.000191169516301,2.75772827854e-05,1793248860520075520
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,745,715,681.044497946,663.955502054,632.044497946,882,784,816,652,631,652.044497946,0.453234615981,0.00448692282946,0.049876607748,0.999999980861,2.58880333749e-05,-0.000192025350352,2.70957921797e-05,1793248860570075904
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,745,715,681,664,632,882,784,816,652,630.456648766,652.543351234,0.453233788881,0.00448709394174,0.0498755685873,0.999999980528,2.60908996613e-05,-0.000193754608934,2.68662325253e-05,1793248860586742528
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.8699291,745,715,681.1300709,664,632,882,784,816,652,630.1300709,653,0.453232859609,0.00448731438577,0.0498744683474,0.999999980179,2.65836851518e-05,-0.000195504741284,2.67186029445e-05,1793248860603409152
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.290936834,745,715,681.709063166,664,632,882,784,816,652,630.709063166,653,0.453232045132,0.00448778479457,0.0498732739682,0.999999979837,2.77150821741e-05,-0.000197066219833,2.68705323463e-05,1793248860620075776
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.287510344,745,715,682.287510344,664,632,882,784,816.287510344,652,631,653,0.453233094451,0.00448788800622,0.0498734027967,0.999999979925,2.79330656213e-05,-0.000196574046176,2.69726766596e-05,1793248860636742400
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.865407051,745,715,682.865407051,664,632,882,784,816.865407051,652,631,653,0.453236026209,0.00448762034763,0.0498748680693,0.999999980445,2.72284985868e-05,-0.000194007677444,2.70245378933e-05,1793248860653409024
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,745,715,682.560716615,664,632,882,784,816.560716615,652,631,653,0.453235359395,0.00448880891425,0.0498737138415,0.999999980154,2.8416963277e-05,-0.00019538073738,2.66792022889e-05,1793248860670075648
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,745,715,682,664,632,882,784,816,652,631,653,0.453233657072,0.00449042961272,0.0498718304803,0.999999979625,3.01850251278e-05,-0.000197866463858,2.6220535686e-05,1793248860686742528
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,745,715,682,664,632,882,784,816,652,631,653,0.453234634913,0.00449158077895,0.0498730553443,0.999999979848,3.21807505103e-05,-0.000196435477014,2.61029869938e-05,1793248860703409408
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.809068814,745,715,682,664,632,882,784,816,652,631,653,0.453235748929,0.00449215874358,0.0498740799952,0.999999980077,3.38350496519e-05,-0.000194986877587,2.60936642663e-05,1793248860720076288
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.229619152,745,715,682,664,632,882,784,816,652,631,653,0.453237140043,0.00449157032239,0.0498746972403,0.999999980327,3.47945936397e-05,-0.000193502439087,2.630456637e-05,1793248860736742400
+242,4.033333333,HOLD_POSE2,767,745,715,681,664,632,883,784,817,652,631,653,0.453231095649,0.00448543604624,0.0498707558701,0.999999979193,2.7258384424e-05,-0.000200314645503,2.72791655629e-05,1793248860772392704
+243,4.050000000,HOLD_POSE2,766.412203875,745,715,681.587796125,663.412203875,632,882.412203875,784,816.412203875,652.587796125,631,653,0.453233841596,0.00448850143629,0.0498717801069,0.999999979521,2.87778662392e-05,-0.000198557009755,2.65346099861e-05,1793248860789058816
+244,4.066666667,HOLD_POSE2,766,745,715,681.826949941,663.173050059,632,882,784,816.173050059,653,631,653,0.453235704249,0.00449038690421,0.0498723778492,0.999999979709,2.99701260394e-05,-0.00019749568971,2.60605347532e-05,1793248860805725184
+245,4.083333333,HOLD_POSE2,766,745,715,681.247663701,663.752336299,632,882,784,816.752336299,653,631,653,0.453235493365,0.00448950249755,0.0498719743931,0.999999979579,3.03942302584e-05,-0.000198068975121,2.62214138025e-05,1793248860822391808
+246,4.100000000,HOLD_POSE2,766,745,715,681.331238905,663.668761095,632,882.331238905,784,816.668761095,652.668761095,630.668761095,653,0.453234977854,0.00448936690289,0.0498714870231,0.99999997941,3.12306635212e-05,-0.000198771128826,2.63493048416e-05,1793248860839058432
+247,4.116666667,HOLD_POSE2,766,745,715,681.90985497,663.09014503,632,882.90985497,784,816.09014503,652.09014503,630.09014503,653,0.453234234841,0.00448979053904,0.0498709369843,0.999999979212,3.23750339783e-05,-0.000199569524427,2.64525596339e-05,1793248860855725312
+248,4.133333333,HOLD_POSE2,766.484652685,745,715,682,663.484652685,632,882.515347315,784,816.484652685,652,630.484652685,653,0.453234562419,0.00448984216423,0.0498710591306,0.999999979235,3.23614048533e-05,-0.000199456455665,2.64598998228e-05,1793248860872392192
+249,4.150000000,HOLD_POSE2,766.939781181,745,715,682,664,632,882,784,816.939781181,652,630.939781181,653,0.453234940116,0.00448986430809,0.0498712016688,0.99999997925,3.21264317307e-05,-0.000199415377434,2.64675296359e-05,1793248860889058816
+250,4.166666667,HOLD_POSE2,766.351292445,745,715,682,664,632,882,784,816.351292445,652,630.351292445,653,0.453234024278,0.00449023008442,0.0498704348774,0.999999978842,3.18244311796e-05,-0.000201481428592,2.66329786891e-05,1793248860905725184
+251,4.183333333,HOLD_POSE2,766,745,715,681.766398713,664,632,882,784,816,652,630.233601287,653,0.453233582122,0.00449054708574,0.0498701522575,0.999999978697,3.2291183233e-05,-0.000202111138413,2.67352180321e-05,1793248860922391808
+252,4.200000000,HOLD_POSE2,766,745,715,681.186829306,664,632,882,784,816,652,630.813170694,653,0.4532338415,0.00449079185028,0.0498705867052,0.999999978945,3.38964731053e-05,-0.00020061359816,2.67438425314e-05,1793248860939058176
+253,4.216666667,HOLD_POSE2,766.391056917,745,715,681,664,632,882,784,816.391056917,652.391056917,630.608943083,653,0.453233726769,0.00449103993017,0.0498703911565,0.999999978867,3.3703198315e-05,-0.000201046432919,2.66642641822e-05,1793248860955724800
+254,4.233333333,HOLD_POSE2,766.968142488,745,715,681,664,632,882,784,816.968142488,652.968142488,630.031857512,653,0.453233434072,0.00449128958721,0.049869895914,0.999999978632,3.26543332135e-05,-0.000202397561156,2.65427270895e-05,1793248860972391680
+255,4.250000000,HOLD_POSE2,766.458768516,745,715,681.541231484,663.458768516,632,882,784,816.458768516,653,630,653,0.453233036038,0.00449117969751,0.0498690344042,0.999999978558,3.31616548412e-05,-0.000202695975485,2.6429868235e-05,1793248860989058816
+256,4.266666667,HOLD_POSE2,766,745,715,682,663,632,882,784,816,652.8821992,630.1178008,653,0.45323296813,0.00449119164975,0.0498684138222,0.99999997855,3.37767541432e-05,-0.000202646834585,2.63218419579e-05,1793248861005725696
+257,4.283333333,HOLD_POSE2,766,745,715,682,663,632,882,784,816,652.290695551,630.709304449,653,0.453234252486,0.00449177803372,0.0498688481208,0.999999978772,3.44596117757e-05,-0.000201447442199,2.62312094728e-05,1793248861022391808
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632,882,784,816,652,631,653,0.453233807097,0.00449247819654,0.0498693473247,0.999999978219,3.6239826532e-05,-0.00020381403494,2.6604872637e-05,1793248861059352064
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632,882,784,816,652,630.423972313,653,0.453233604385,0.00449282714732,0.0498691284231,0.999999978332,3.57401534347e-05,-0.000203359187994,2.65258132334e-05,1793248861076018944
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632,882,784.15488868,816,652,630.15488868,653,0.45323386085,0.00449326414392,0.0498692775072,0.999999978487,3.5707756373e-05,-0.000202615363134,2.64029500595e-05,1793248861092685568
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632,882,784.741649849,816,652,630.741649849,653,0.453235397627,0.00449394663673,0.0498704526373,0.99999997876,3.69782540492e-05,-0.000201065787802,2.61579498384e-05,1793248861109351936
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.675961146,664,632,882,784.675961146,816,652,630.675961146,653,0.453236474026,0.00449342857259,0.0498713908495,0.999999979066,3.54007405439e-05,-0.000199856090334,2.59439292203e-05,1793248861126018560
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.097011613,664,632,882,784.097011613,816,652,630.097011613,653,0.453237188261,0.00449196606983,0.0498721426861,0.999999979386,3.1582790498e-05,-0.000198913763662,2.57542792483e-05,1793248861142685440
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.480937531,663.519062469,632,882,784,816,652,630.480937531,653.480937531,0.453236232076,0.0044925566583,0.0498712805842,0.999999979152,3.29580991165e-05,-0.000199821979571,2.61105490811e-05,1793248861159351808
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,882,784,816,652,630.941729615,653.941729615,0.453234674767,0.00449323931156,0.0498699930076,0.999999978779,3.48538658886e-05,-0.00020130659099,2.65168844423e-05,1793248861176018432
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,882,784,816,652,630.3680666,653.3680666,0.453230774659,0.00449108089523,0.0498678156648,0.999999978207,3.21068136719e-05,-0.00020459458582,2.63940741515e-05,1793248861192684544
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.788282123,663.211717877,632.211717877,882,784,816.211717877,652,630.211717877,653,0.453222451653,0.00449022246716,0.0498637136279,0.999999976876,3.08696050002e-05,-0.000211202588124,2.6254661005e-05,1793248861209350912
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.197538834,663.802461166,632.802461166,882,784,816.802461166,652,630.802461166,653,0.453206210608,0.00449169132785,0.0498561659307,0.999999974104,3.23353760703e-05,-0.000223754193953,2.60855248046e-05,1793248861226017792
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.385255053,664,632.614744947,882,784,816.614744947,652,630.614744947,653,0.453174053513,0.00449236783979,0.0498428157428,0.999999968556,3.45299002363e-05,-0.000247002025341,2.61804510921e-05,1793248861242684416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.964055356,664,632.035944644,882,784,816.035944644,652,630.035944644,653,0.453133900476,0.00449264629003,0.0498265504867,0.999999960979,3.70905370356e-05,-0.000275623450145,2.64080376196e-05,1793248861259351296
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632,882,784,816,652.538802402,630.538802402,653,0.453073274125,0.00449174046083,0.0498061855462,0.999999951162,3.57369771409e-05,-0.000309392436501,2.59879771762e-05,1793248861276018688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.884032508,664,632,882,784.115967492,816,652.884032508,631,653,0.453008606105,0.00449158137593,0.0497870549257,0.99999994117,3.49846500967e-05,-0.000340281951759,2.53808551816e-05,1793248861292685568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.295930078,664,632,882,784.704069922,816,652.295930078,631,653,0.452933002442,0.00449478174036,0.0497740547213,0.999999934892,3.77352735452e-05,-0.000358060721002,2.41867445845e-05,1793248861309351936
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632.287936716,882,784.712063284,816,652,631,653,0.45284960759,0.00449808479074,0.0497648429109,0.99999992956,4.16965271917e-05,-0.000372297098689,2.31431139983e-05,1793248861326018560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632.867513363,882,784.132486637,816,652,631,653,0.452758321349,0.00450149184756,0.0497594682187,0.99999992533,4.68839810548e-05,-0.000382945524333,2.22518988542e-05,1793248861342684928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.446223021,664,632.553776979,882,784.446223021,815.553776979,652,630.553776979,653,0.452653734353,0.00450259664057,0.0497589095476,0.999999924218,4.81299570121e-05,-0.000385717228568,2.16781545884e-05,1793248861359351296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.024581598,745,715,682,664,632.024581598,882,784.975418402,815.024581598,652,630,653,0.452544087483,0.00450304846665,0.049759821102,0.999999924093,4.83843884854e-05,-0.000386033906322,2.12124136302e-05,1793248861376017920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.600827131,745,715,682,664,632.600827131,882,784.399172869,815.600827131,652,630,653,0.452409340204,0.00450415706756,0.0497616996649,0.999999924806,5.25984606282e-05,-0.000383637111805,2.10592207451e-05,1793248861392684544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.81981758,745,715,682,664,632.81981758,881.81981758,784,816,652,630,653,0.452265970136,0.00450503551329,0.0497647053976,0.999999926015,5.58148888577e-05,-0.000380023270728,2.0900355348e-05,1793248861409350912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.233452083,745,715,682,664,632.233452083,881.233452083,784,816,652,630,653,0.452103161836,0.00450539512279,0.0497702520955,0.99999992836,5.67823397711e-05,-0.000373665856478,2.07287024959e-05,1793248861426018048
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.348672781,881.348672781,784,816,652,630.348672781,653,0.451918243269,0.00450774529152,0.0497726170938,0.999999929483,6.21051723912e-05,-0.000369831474722,2.00549806847e-05,1793248861442685184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632.927992527,881.927992527,784,816,652,630.927992527,653,0.45171869875,0.00451141221476,0.0497728773993,0.999999929758,7.03090890937e-05,-0.000367666077727,1.90491403554e-05,1793248861459351808
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.505033795,745,715,681.494966205,664,633,882,784,816,652,630.494966205,653,0.451498782404,0.0045137989676,0.0497798947813,0.999999934804,7.4494750513e-05,-0.000352868732406,1.8048665638e-05,1793248861476018176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,745,715,681,664,633,882,784,816,652,630.081395897,653,0.451272015942,0.00451581799639,0.0497883881099,0.999999940717,7.8072775304e-05,-0.000334934492304,1.70267926785e-05,1793248861492684544
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,745,715,681,664,633,882,784,816,652,630.655604278,653,0.451021282263,0.00451671077925,0.0498000107331,0.999999948861,8.14250356829e-05,-0.000308863424038,1.58707523304e-05,1793248861509351168
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.763641676,745,715,681.236358324,664,633,882,784,815.763641676,652,630.763641676,652.763641676,0.45075365721,0.00451930343717,0.0498143201663,0.999999957003,8.70429987047e-05,-0.000279654775684,1.4482384146e-05,1793248861526018048
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.173078377,745,715,681.826921623,664,633,882,784,815.173078377,652,630.173078377,652.173078377,0.450460718871,0.00452444351623,0.0498326560341,0.99999996511,9.60563280767e-05,-0.000245744172737,1.27458511173e-05,1793248861542684672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,744.590441754,715,682,664,633,881.590441754,784,815.409558246,652,630,652.409558246,0.450118100911,0.00452963727578,0.0498360315619,0.999999966173,0.000104453394762,-0.000237960332964,1.09180780584e-05,1793248861559351296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,744.011091339,715,682,664,633,881.011091339,784,815.988908661,652,630,652.988908661,0.449754887083,0.00453485328973,0.0498332049223,0.999999964578,0.000112594974809,-0.000241007968847,9.05247930856e-06,1793248861576018176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,744.564381196,715,682,664,633,881,784,815.435618804,652,630,653,0.449335822207,0.00453767263678,0.0498221326997,0.999999958808,0.000119438575799,-0.000260882345805,7.68308190026e-06,1793248861592685312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.860338153,664,633,881.139661847,784.139661847,815,652,630.139661847,653,0.448907865025,0.00454191527571,0.0498099461642,0.999999952774,0.00012667486843,-0.000279953910966,5.65403752473e-06,1793248861609351936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.285419737,664,633,881.714580263,784.714580263,815,652,630.714580263,653,0.448455592349,0.00455073939261,0.0497947884356,0.999999947197,0.000135213938337,-0.00029549996631,1.53901858734e-06,1793248861626018048
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,744.701952249,715,681,664,633,882,784.701952249,815.298047751,652,631,653,0.44797421864,0.00455837544042,0.0497816716453,0.999999941341,0.000144342588227,-0.000310612999857,-1.84820722959e-06,1793248861642684160
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,744.469268782,715,681.469268782,664,633,881.530731218,784.469268782,815.530731218,652,630.530731218,653,0.446928420394,0.00457075417191,0.0497593439414,0.99999992762,0.000163216065166,-0.000343609029319,-7.30966243726e-06,1793248861676017408
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664.045562761,633,881.045562761,785,814.954437239,652,630,653,0.446386134979,0.00457650297151,0.0497502026089,0.999999920493,0.00017234262031,-0.000359457893559,-1.00519852978e-05,1793248861692684032
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,665,633.200035329,881.799964671,785,814,652,630,653,0.445273587214,0.00458777835581,0.0497844003479,0.999999932353,0.000193273013799,-0.000312651173066,-1.3728552565e-05,1793248861726017536
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,715,680,663.962989158,634,879,786,810,653,629,652,0.404954029764,0.00460888959501,0.0497727017898,0.999999913533,0.000127063037457,-0.000393311592981,-4.57613796754e-05,1793248862609352448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.459544593,664,634,879,786,810,653,629.540455407,652,0.404606172665,0.00460972748242,0.0497998620086,0.999999929683,0.000131155228917,-0.000348376945332,-4.54605887009e-05,1793248862626018560
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.11723488,664,634,879,786,810,653,629.88276512,652,0.404267780602,0.0046103966511,0.0498268900275,0.999999943568,0.00013501270981,-0.000304294165423,-4.51660205397e-05,1793248862642684672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,715,679.691733188,664,634,879,786,810,653,629.308266812,652,0.403945173502,0.00461141492272,0.0498480294341,0.999999951969,0.000138200725024,-0.000273713093844,-4.52149923078e-05,1793248862659351040
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.7264322,745.2735678,715.2735678,679.7264322,664,634,879,786,810,653,629.2735678,652,0.40362494158,0.00461280492107,0.0498556157498,0.999999953724,0.000141091991553,-0.000265647167791,-4.55719497184e-05,1793248862676017664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.13610299,745.86389701,715.86389701,679.13610299,664,634,879,786,810,653,629.86389701,652,0.403307459872,0.00461462533802,0.0498475090761,0.999999948384,0.000143639655649,-0.000283651304841,-4.62855206382e-05,1793248862692684544
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.554537216,715.554537216,679.445462784,664,634,879.445462784,786,810,653,629.554537216,652.445462784,0.403009977939,0.00461539309678,0.049834849105,0.999999940422,0.000145599163607,-0.000309448638918,-4.6881830771e-05,1793248862709351168
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.024207665,745,715,680,664,634,879.975792335,786,810,653,629,652.975792335,0.402721044614,0.00461580337258,0.0498211842714,0.999999931326,0.000147218441209,-0.000336785842265,-4.74418346174e-05,1793248862726017536
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.598520485,745,715,680,664,634,879.401479515,786,810,653,629,652.401479515,0.402490193282,0.00461525768687,0.0498156882705,0.999999928445,0.000145110984743,-0.000346051213595,-4.79752378072e-05,1793248862742684672
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.177046825,715.177046825,679.822953175,664,634,879,786,810,653,629.177046825,652,0.402273967765,0.00461427750853,0.0498128458439,0.999999930621,0.000120988264147,-0.00034895187338,-4.84962380159e-05,1793248862759352064
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.765360792,715.765360792,679.234639208,664,634,879,786,810,653,629.765360792,652,0.402091717004,0.00461228803491,0.0498161674824,0.999999940947,4.57256556119e-05,-0.000337067759831,-4.89884267367e-05,1793248862776018688
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.651769777,715.651769777,679,664,634,879,786,810,653,629.651769777,652.348230223,0.401928272803,0.00460855435547,0.0498196381802,0.999999944706,4.2553713143e-05,-0.000326998600573,-4.30000283459e-05,1793248862792685056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.072512368,715.072512368,679,664,634,879,786,810,653,629.072512368,652.927487632,0.401777305464,0.00460366351331,0.0498232077693,0.999999945058,8.72090411574e-05,-0.000318133539796,-3.2712199103e-05,1793248862809351424
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,715.505016251,679,664,634,879,786,809.494983749,653,629,652.494983749,0.401656741825,0.0045923559371,0.0498304663221,0.999999948764,9.852744057e-05,-0.000303290355503,-2.79305784677e-05,1793248862826017792
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.917942712,745.082057288,715.917942712,679,664,634,879.082057288,786,809.082057288,653,629,652,0.401543461757,0.00458157444668,0.0498372594092,0.999999952494,0.000103889056857,-0.000289156435817,-2.46495119892e-05,1793248862842684416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.342346139,745.657653861,715.342346139,679,664,634,879.657653861,786,809.657653861,653,629,652,0.401447822201,0.0045794797003,0.0498380780123,0.999999954006,0.000102114653632,-0.000284433510015,-2.56547068597e-05,1793248862859351040
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.826526709,745.173473291,715,679,664,634,879.173473291,786,810,653,629,652.826526709,0.401278165447,0.00458234825874,0.0498360060869,0.999999953562,0.000102364649797,-0.000285650754585,-2.83054907701e-05,1793248862892685056
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.564782989,745.435217011,716,679,664,634,879,786,809,653,629,652,0.401122618156,0.00458428303948,0.0498393945695,0.99999995587,0.000105542582063,-0.000276080818176,-2.99950243942e-05,1793248862942685184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,715.858751803,679,664,634,879,786,809.141248197,653,629,652,0.40109131731,0.00458457853291,0.049842196129,0.999999957682,0.000105589853435,-0.000269371507381,-3.04371603089e-05,1793248862959351552
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.466006394,715.533993606,679.533993606,664,634,879,786,810,653,629,652,0.401015998785,0.00458351516006,0.0498445778444,0.999999959093,0.000108145881131,-0.00026299124235,-3.0877102789e-05,1793248863026024960
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745.379460839,715.620539161,678.379460839,664,634,879,786.620539161,810,653,629,652,0.401000315897,0.00458100075368,0.0498430171299,0.99999995911,0.000104334677108,-0.000264457683398,-3.09355894225e-05,1793248863059357184
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,716,678.200903305,664,634,878.799096695,786.799096695,810,653,629,652.200903305,0.400997139769,0.00458016739975,0.0498434834231,0.999999959538,0.000102791768416,-0.000263476315788,-3.06337138377e-05,1793248863076018432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,716,678.788491792,664,634,878.211508208,786.211508208,810,653,629,652.788491792,0.40099702174,0.00458166292212,0.0498456138784,0.999999960529,0.000103070667414,-0.000259592861722,-3.0492242798e-05,1793248863092684800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,715.629431792,679,664,634.370568208,878,786,810,653,629,652.629431792,0.400996813457,0.00458303746031,0.0498471031586,0.999999960942,0.000105114214262,-0.000257120748107,-3.09095895016e-05,1793248863109351424
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,715.050455395,679,664,634.949544605,878,786,810,653,629,652.050455395,0.400996554415,0.00458434395674,0.0498482318408,0.999999961026,0.000108150202046,-0.000255442374889,-3.16412162573e-05,1793248863126018048
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.527212096,664,634.472787904,878,786,810,653,629,652,0.400996702911,0.00458301781451,0.0498485416306,0.999999961646,0.000104911188384,-0.000254409585217,-3.12535862987e-05,1793248863142684672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,715,679.895905347,664,634,878.104094653,786,809.895905347,653,629,652,0.400996538877,0.00458183653656,0.049848653789,0.999999962081,0.000102131213764,-0.000253877006728,-3.08721560802e-05,1793248863159351296
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.322001639,664,634,878.677998361,786,809.322001639,653,629,652,0.400994788715,0.00458244337745,0.0498482268097,0.999999961503,0.000104126675782,-0.00025532386774,-3.10009525505e-05,1793248863176017920
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,715.259019376,679.259019376,664.259019376,634.259019376,879,786,809.259019376,653,629,652,0.400993609082,0.00458259069768,0.0498480690897,0.999999961322,0.000104062861844,-0.000256042120961,-3.11256231794e-05,1793248863192684544
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,715.84913839,679.84913839,664.84913839,634.84913839,879,786,809.84913839,653,629,652,0.400993158743,0.0045821506213,0.0498482555587,0.99999996165,0.000101366714124,-0.000255829008626,-3.12450198399e-05,1793248863209351168
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,716,680,664.568581705,634.568581705,879,786,810,653,629,652,0.400993741159,0.00458218446989,0.0498488239769,0.999999961859,0.000101806799049,-0.000254842616176,-3.12006506817e-05,1793248863226017536
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.98906137,745,715.98906137,679.98906137,664,634,879,786,810,653,629.01093863,652,0.400994681867,0.00458235237421,0.049849523459,0.999999962035,0.000103262112942,-0.000253573350958,-3.11013733688e-05,1793248863242684160
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.413013515,745,715.413013515,679.413013515,664,634,879,786,810,653,629.586986485,652,0.400995808277,0.00458103694787,0.0498502169916,0.999999962761,0.000101519539655,-0.000251410741911,-3.10711527735e-05,1793248863259350784
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.15895905,679.15895905,664,634,879,786,809.84104095,653,629.84104095,652,0.400996256656,0.00458005972541,0.0498506383,0.999999963181,0.000100212795092,-0.000250270018082,-3.09943916862e-05,1793248863276017664
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.720607685,679.720607685,664,634,879,786,809.279392315,653,629.279392315,652,0.400994987388,0.00457993927202,0.0498503699854,0.999999962844,0.000100010131771,-0.00025171802736,-3.07997299753e-05,1793248863292685056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.303886482,745,716,679.696113518,664,634,879,786,809.303886482,653,629,652,0.400994448973,0.00458046419321,0.049850449767,0.999999962732,0.000100515515775,-0.000251945042122,-3.09197671435e-05,1793248863309352192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.908575928,745,716,679.091424072,664,634,879,786,809.908575928,653,629,652,0.400994633995,0.0045816279404,0.0498508741127,0.999999962844,0.000101721762604,-0.000250963451635,-3.13513099727e-05,1793248863326018560
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,715.508704955,679.491295045,664,634.491295045,879,786,810,653,629,652.491295045,0.400994971361,0.00458230404046,0.0498508037031,0.999999962809,0.000102848100965,-0.000250638855761,-3.13668331464e-05,1793248863342684928
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,715.069832021,680,664,634.930167979,879,786,810,653,629,652.930167979,0.40099539609,0.00458259417123,0.0498507124046,0.999999962811,0.000103484508248,-0.000250379367318,-3.13054322458e-05,1793248863359351808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,715.646418562,680,664,634.353581438,879,786,810,653,629,652.353581438,0.400996257876,0.00458071374239,0.0498511090362,0.99999996326,0.000100668889632,-0.000249743121982,-3.12235553585e-05,1793248863376018432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.773425103,664,634.226574897,879,786,810,653.226574897,629.226574897,652,0.400996375606,0.00457954843701,0.0498513589263,0.999999963525,9.8478269775e-05,-0.000249552912131,-3.12219820683e-05,1793248863392685056
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.187608661,664,634.812391339,879,786,810,653.812391339,629.812391339,652,0.400995313613,0.00457951698182,0.0498513761529,0.99999996351,9.72786044505e-05,-0.000250069905312,-3.13477326163e-05,1793248863409351424
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9af4a6fe75e81b029731e77bcc28836ec0b3277
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
+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,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+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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+10,0.166666667,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
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+377,6.283333333,pose2_to_pose3_retreat,0.583258460163,0.00992785495438,1.0400425075,0.553830284253,0.0186023028939,1.03966588792
+378,6.300000000,pose2_to_pose3_retreat,0.583253333085,0.0099278693561,1.04004258434,0.553825157261,0.0186023175353,1.03966596349
+379,6.316666667,pose2_to_pose3_retreat,0.583250355981,0.00992787882322,1.04004264604,0.553822179636,0.0186023251387,1.03966602288
+380,6.333333333,pose2_to_pose3_retreat,0.583249141353,0.00992779783789,1.04004265705,0.553820965159,0.0186022445409,1.03966603119
+381,6.350000000,pose2_to_pose3_retreat,0.583248626669,0.0099277635213,1.04004266171,0.553820450539,0.0186022103885,1.03966603472
+382,6.366666667,pose2_to_pose3_retreat,0.58324854107,0.00992775781395,1.04004266249,0.55382036495,0.0186022047084,1.0396660353
+383,6.383333333,pose2_to_pose3_retreat,0.583248222966,0.0099277366044,1.04004266537,0.553820046886,0.0186021836004,1.03966603748
+384,6.400000000,pose2_to_pose3_retreat,0.58324775722,0.00992773254531,1.04004263609,0.553819581198,0.0186021797731,1.03966600912
+385,6.416666667,pose2_to_pose3_retreat,0.583247237149,0.00992780370743,1.04004250946,0.55381906119,0.0186022514274,1.03966588897
+386,6.433333333,pose2_to_pose3_retreat,0.583246783536,0.00992786577602,1.04004239901,0.553818607631,0.0186023139252,1.03966578417
+387,6.450000000,pose2_to_pose3_retreat,0.583246499121,0.00992790469284,1.04004232976,0.553818323252,0.0186023531112,1.03966571846
+388,6.466666667,pose2_to_pose3_retreat,0.583246342968,0.00992792605951,1.04004229173,0.553818167118,0.0186023746257,1.03966568239
+389,6.483333333,pose2_to_pose3_retreat,0.583245986566,0.00992794788313,1.04004225213,0.553817810697,0.018602396462,1.03966564464
+390,6.500000000,pose2_to_pose3_retreat,0.583245840796,0.00992789412268,1.04004234568,0.553817664772,0.0186023419517,1.03966573294
+391,6.516666667,pose2_to_pose3_retreat,0.583245784372,0.00992787331361,1.0400423819,0.55381760829,0.0186023208524,1.03966576711
+392,6.533333333,pose2_to_pose3_retreat,0.583245780556,0.00992787190622,1.04004238435,0.553817604469,0.0186023194253,1.03966576943
+393,6.550000000,pose2_to_pose3_retreat,0.583245713841,0.00992784730168,1.04004242716,0.553817537684,0.0186022944776,1.03966580984
+394,6.566666667,pose2_to_pose3_retreat,0.583245645241,0.00992782200184,1.04004247119,0.553817469012,0.0186022688249,1.03966585139
+395,6.583333333,pose2_to_pose3_retreat,0.583245558966,0.00992781053213,1.04004250993,0.5538173825,0.0186022564407,1.0396658876
+396,6.600000000,pose2_to_pose3_retreat,0.583245514504,0.00992794214443,1.04004241744,0.553817336928,0.0186023844011,1.03966579776
+397,6.616666667,pose2_to_pose3_retreat,0.583245451183,0.00992799474099,1.04004239848,0.553817273463,0.0186024365849,1.03966578061
+398,6.633333333,pose2_to_pose3_retreat,0.583245400362,0.00992802368083,1.04004239436,0.553817222667,0.0186024656648,1.03966577776
+399,6.650000000,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817210426,0.0186024726725,1.03966577707
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c155c0cbe34fd426b25de5577e57f56db13efef
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c7f1311631cf320e703d96a6576e38c5c87c95dfeee4244f4a882b2c7a5185
+size 25663743
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56515e3e8a00f2d752981ac6490b44f190c48e1c
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+44,0.733333333,BASELINE,767,745,715.47486086,678.47486086,663.47486086,634,879,786,810,653,629,652.47486086,0.400993378436,0.00457968007243,0.0498526058836,0.999999964097,9.8767495849e-05,-0.00024716146733,-3.10168027755e-05,1793248864291614464
+45,0.750000000,BASELINE,767,745,715,678.204431469,663.102215735,634,879,786,810,653,629.102215735,652.102215735,0.400993486139,0.00458095931323,0.0498525416358,0.999999963818,9.95701200544e-05,-0.000247941394576,-3.12097187778e-05,1793248864308281088
+46,0.766666667,BASELINE,767,745,715,679.356670388,663.678335194,634,879,786,810,653,629.678335194,652.678335194,0.400994891198,0.00457851131984,0.0498546906553,0.999999964774,9.70257821151e-05,-0.000245152210399,-3.06216786037e-05,1793248864324947968
+47,0.783333333,BASELINE,767,745,715,679.740220799,664,634,879,786,809.740220799,653,629.740220799,652.740220799,0.400995546801,0.00457764825179,0.0498555032364,0.999999965197,9.63645763098e-05,-0.000243691445476,-3.05579823662e-05,1793248864341614848
+48,0.800000000,BASELINE,767,745,715,679.152045771,664,634,879,786,809.152045771,653,629.152045771,652.152045771,0.400995254991,0.00457878874206,0.0498546263802,0.999999964958,9.80839022958e-05,-0.000243909980672,-3.1157127264e-05,1793248864358281728
+49,0.816666667,BASELINE,766.571799251,745,715,679,664,634,879,786,809.428200749,653,629,652.428200749,0.400995263723,0.00457820945245,0.0498542782406,0.999999964945,9.80580125719e-05,-0.000243986954633,-3.10535097088e-05,1793248864374948608
+50,0.833333333,BASELINE,766,745,715,679,664,634,879,786,809.994321468,653,629,652.994321468,0.400995364726,0.00457704049387,0.0498541071815,0.99999996501,9.73994746449e-05,-0.000244029612436,-3.07120120866e-05,1793248864391615744
+51,0.850000000,BASELINE,766,745,715,679,664,634,879,786,809.41730874,653,629,652.41730874,0.400994207605,0.00457686660121,0.0498532073253,0.999999964914,9.43039307045e-05,-0.000245585056823,-3.10869603858e-05,1793248864408281856
+52,0.866666667,BASELINE,766.159367672,745,715,679,664.159367672,634,879,786,809.159367672,653,629,652,0.400993580761,0.00457710210541,0.0498528417268,0.999999964839,9.31331421236e-05,-0.000246306583774,-3.13202515796e-05,1793248864424948224
+53,0.883333333,BASELINE,766.735165254,745,715,679,664.735165254,634,879,786,809.735165254,653,629,652,0.400994339537,0.0045784073692,0.0498538721509,0.999999964835,9.69917658534e-05,-0.000244849072952,-3.11833907948e-05,1793248864441614592
+54,0.900000000,BASELINE,766.680818287,745,715,679,664.361636575,634,879.319181713,786,810,653,629,652.319181713,0.400995072228,0.00457832001268,0.049854299978,0.999999964983,9.71780039175e-05,-0.0002441618865,-3.12253303834e-05,1793248864458281216
+55,0.916666667,BASELINE,766.089802167,745,715,679,663.179604334,634,879.910197833,786,810,653,629,652.910197833,0.400995782703,0.0045770466166,0.049854214597,0.999999965266,9.42366165423e-05,-0.000244130754842,-3.14195471669e-05,1793248864474947840
+56,0.933333333,BASELINE,766.490751981,745,715,679,663.490751981,634,879.509248019,786,810,653,629,653,0.400994682534,0.00457704292585,0.0498536713021,0.99999996498,9.46827720023e-05,-0.000245144138694,-3.13002862666e-05,1793248864491614720
+57,0.950000000,BASELINE,766.931149837,745,715,679,663.931149837,634,879,786,810,653,629,653,0.400993514096,0.00457739558383,0.0498531991208,0.999999964654,9.57814808313e-05,-0.000246064751194,-3.11460473555e-05,1793248864508281600
+58,0.966666667,BASELINE,766.357316987,745,715,679,663.357316987,634,879,786,810,653,629,653,0.400994224346,0.00457869334176,0.0498538502781,0.999999964794,9.72147134685e-05,-0.000244932310785,-3.11472091656e-05,1793248864524947968
+59,0.983333333,BASELINE,766,745,715,679,663.222351963,634,879,786,810,653,629,652.777648037,0.400994399846,0.00457944124146,0.0498539910701,0.999999964756,9.76066466953e-05,-0.000244924926142,-3.12015875677e-05,1793248864541614080
+60,1.000000000,BASELINE,766,745,715,679,663.811652342,634,879,786,810,653,629,652.188347658,0.400993692846,0.0045792817079,0.0498532896043,0.999999964425,9.62801191754e-05,-0.000246774225773,-3.13437895447e-05,1793248864558280704
+61,1.016666667,BASELINE,766.394228467,745,715,679,664,634,878.605771533,786,810,653,629,652,0.400993491465,0.00457837810914,0.04985319384,0.999999964562,9.47741388614e-05,-0.000246802014917,-3.13572183991e-05,1793248864574947072
+62,1.033333333,BASELINE,766.973645837,745,715,679,664,634,878.026354163,786,810,653,629,652,0.400993527598,0.00457712498561,0.0498533826042,0.999999964917,9.31838606405e-05,-0.000245974149029,-3.13101560445e-05,1793248864591613696
+63,1.050000000,BASELINE,766.450049835,745,715,679,664,634,878.549950165,786.549950165,810,653,629.549950165,652.549950165,0.40099329814,0.00457798048748,0.0498530418586,0.999999964412,9.66345862462e-05,-0.000246715640264,-3.11223033952e-05,1793248864608280832
+64,1.066666667,BASELINE,766.128309691,745.128309691,715,679,664,634.128309691,878.871690309,786.871690309,810,653,629.871690309,653,0.400993450988,0.00457857266262,0.0498528681345,0.999999964102,9.92593793784e-05,-0.000246953844478,-3.09518308674e-05,1793248864624947712
+65,1.083333333,BASELINE,766.714533215,745.714533215,715,679,664,634.714533215,878.285466785,786.285466785,810,653,629.285466785,653,0.400995013383,0.00457786648271,0.0498533805274,0.99999996467,9.80793039248e-05,-0.000245129026498,-3.08673274364e-05,1793248864641614080
+66,1.100000000,BASELINE,766.702978694,745.702978694,715,679,664,634.702978694,878,786,810,653,628.702978694,652.702978694,0.40099597177,0.00457807753576,0.0498538716836,0.99999996507,9.71086676233e-05,-0.000243857536455,-3.10298573933e-05,1793248864658280704
+67,1.116666667,BASELINE,766.124036165,745.124036165,715,679,664,634.124036165,878,786,810,653,628.124036165,652.124036165,0.400996356855,0.00457915919115,0.0498543426827,0.999999965314,9.63368229936e-05,-0.000243111244153,-3.14268619648e-05,1793248864674947584
+68,1.133333333,BASELINE,766.455393849,745.455393849,715,679,664,634,878,786,810,653,628.455393849,652,0.400996068172,0.00457895974143,0.0498546388332,0.999999965226,9.70036077675e-05,-0.000243222086559,-3.13311909861e-05,1793248864691614208
+69,1.150000000,BASELINE,767,745.965343529,715.034656471,679,664,634,878.034656471,786,810,653,629,652.034656471,0.400995676423,0.0045784552298,0.0498548755997,0.999999965079,9.78887206157e-05,-0.000243497857707,-3.11327108497e-05,1793248864708280832
+70,1.166666667,BASELINE,767,745.390760274,715.609239726,679,664,634,878.609239726,786,810,653,629,652.609239726,0.400996541095,0.00457864007817,0.0498549299417,0.99999996544,9.60640611201e-05,-0.000242702074101,-3.1425375553e-05,1793248864724947200
+71,1.183333333,BASELINE,767,745,715.8119084,679,664,634,878.8119084,786,810,653,629,652.8119084,0.400996734191,0.00457873363501,0.0498548159251,0.999999965568,9.52435055912e-05,-0.000242488566208,-3.14900156075e-05,1793248864741613824
+72,1.200000000,BASELINE,767,745,715.223982433,679,664,634,878.223982433,786,810,653,629,652.223982433,0.400995499691,0.00457863312959,0.0498543440215,0.999999965206,9.65574165151e-05,-0.00024351282658,-3.10699339576e-05,1793248864758280448
+73,1.216666667,BASELINE,767,745,715,679,664,634,878.358360835,786,809.641639165,653,629,652.358360835,0.400994044605,0.00457703610552,0.0498531447512,0.999999964909,9.49470627151e-05,-0.000245393991021,-3.08098914812e-05,1793248864774947072
+74,1.233333333,BASELINE,767,745,715,679,664,634,878.9372683,786,809.0627317,653,629,652.9372683,0.400992453763,0.00457451807639,0.0498514978363,0.999999964638,9.15370235405e-05,-0.00024780252135,-3.06483422148e-05,1793248864791613952
+75,1.250000000,BASELINE,766.486094767,745,715,679,663.486094767,634,879,786,809.513905233,652.486094767,629,652.486094767,0.400993649084,0.00457562262675,0.0498529852628,0.999999964786,9.40438340243e-05,-0.000246274911132,-3.05432976722e-05,1793248864808281344
+76,1.266666667,BASELINE,766.090305207,745,715,679,663.090305207,634,878.909694793,786,810,652,629,652.090305207,0.400995002041,0.00457723982612,0.0498545383756,0.999999964993,9.66943922385e-05,-0.000244397352794,-3.05640608931e-05,1793248864824949248
+77,1.283333333,BASELINE,766.666915093,745,715,679,663.666915093,634,878.333084907,786,810,652,629,652.666915093,0.400995380452,0.00457924685929,0.0498543939073,0.999999965305,9.62466904129e-05,-0.000243211339112,-3.12253341871e-05,1793248864841615360
+78,1.300000000,BASELINE,767,745,715,679,664,634,878.248564615,786,809.751435385,652.248564615,629,652.751435385,0.400995570114,0.00457996929196,0.0498544356914,0.999999965405,9.63330559948e-05,-0.00024272921882,-3.1518327553e-05,1793248864858281728
+79,1.316666667,BASELINE,767,745,715,679,664,634,878.837107127,786,809.162892873,652.837107127,629,652.162892873,0.400995501614,0.00457893469329,0.0498547322248,0.999999965215,9.71499001369e-05,-0.000243209859126,-3.13076005951e-05,1793248864874948096
+80,1.333333333,BASELINE,767,745,715,678.582029408,664,634,879,786,809.417970592,653,629,652,0.400994185153,0.00457819645458,0.0498538192212,0.999999964967,9.57832457278e-05,-0.00024477319843,-3.12823457627e-05,1793248864891614464
+81,1.350000000,BASELINE,767,745,715,678.004104607,664,634,879,786,809.995895393,653,629,652,0.400992391107,0.0045775716305,0.0498524433369,0.999999964688,9.35809828763e-05,-0.000246750878555,-3.1328069703e-05,1793248864908281088
+82,1.366666667,BASELINE,767,745,715,678.570583582,664,634,879,786,810,653,629,652.570583582,0.400994745354,0.00457772270395,0.0498541544008,0.999999965253,9.34468716385e-05,-0.000244536104355,-3.10492067662e-05,1793248864924947712
+83,1.383333333,BASELINE,767,745,715,679,664,634,879,786,810.148621134,653,629,653,0.400996092401,0.00457841563635,0.0498552388071,0.999999965514,9.42701582624e-05,-0.000243166266516,-3.09137828954e-05,1793248864941614592
+84,1.400000000,BASELINE,767,745,715,679,664,634,879,786,810.736629407,653,629,653,0.400994374009,0.00458069412538,0.0498544052665,0.999999964861,9.78801826131e-05,-0.000244383079201,-3.12092899602e-05,1793248864958281728
+85,1.416666667,BASELINE,766.679857644,745,715.320142356,679,664,634.320142356,879,786,810.679857644,653,629,652.679857644,0.400994260132,0.00458097499349,0.0498541259618,0.999999964798,9.85027775768e-05,-0.000244376768686,-3.13334766567e-05,1793248864974948608
+86,1.433333333,BASELINE,766.099991674,745,715.900008326,679,664,634.900008326,879,786,810.099991674,653,629,652.099991674,0.400995447959,0.00457963524079,0.0498542962951,0.999999965217,9.67017443969e-05,-0.000243378168354,-3.13186753378e-05,1793248864991615232
+87,1.450000000,BASELINE,766.477437217,745.477437217,715.522562783,679,664,634.522562783,879,786,809.522562783,653,629,652,0.400996117762,0.00457902122102,0.0498547969038,0.999999965613,9.53252026585e-05,-0.000242281301293,-3.14052063776e-05,1793248865008281344
+88,1.466666667,BASELINE,767,745.945915748,715,679,664,634,879,786,809.054084252,653,629,652,0.400996402665,0.0045786210041,0.0498552156983,0.999999965896,9.4252261282e-05,-0.000241522575865,-3.14715270262e-05,1793248865024947456
+89,1.483333333,BASELINE,767,745.371903126,715,679,664,634,879,786,809.628096874,653,629,652,0.400994025086,0.00457882240185,0.0498541864041,0.999999965159,9.52476111206e-05,-0.000244211349738,-3.1140577199e-05,1793248865041614592
+90,1.500000000,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652,0.400993184132,0.00457847238775,0.0498538559068,0.999999964891,9.54441982376e-05,-0.000245262302033,-3.08967945676e-05,1793248865058281472
+91,1.516666667,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652,0.400995170737,0.00457710771692,0.0498548112707,0.999999965494,9.41709765159e-05,-0.000243299487382,-3.08134089244e-05,1793248865074947840
+92,1.533333333,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652,0.400995646291,0.00457767979762,0.0498549864704,0.999999965528,9.46436330671e-05,-0.00024295408228,-3.097491671e-05,1793248865091614720
+93,1.550000000,BASELINE,767,745,715,679,664,634,879,786,810,653,629,652,0.400995336091,0.00457925900122,0.0498547559799,0.999999965267,9.60241572161e-05,-0.000243449740163,-3.12637706158e-05,1793248865108281856
+94,1.566666667,BASELINE,766.461848373,745,715,679.538151627,664,634,879,786,810,653,629,652,0.400992781288,0.00457759768732,0.0498536515906,0.999999964705,9.43877576362e-05,-0.000246430819211,-3.08755717665e-05,1793248865124948224
+95,1.583333333,BASELINE,766,745.116892275,715,679.883107725,664,634,879,786,810,653,629,652,0.400991371656,0.00457623719656,0.0498530996965,0.99999996443,9.31381820977e-05,-0.000248055209283,-3.05676181076e-05,1793248865141614848
+96,1.600000000,BASELINE,766,745.69847801,715,679.30152199,664,634,879,786,810,653,629,652,0.400995175683,0.00457702709226,0.0498550015982,0.999999965419,9.43150213608e-05,-0.000243554138797,-3.07780969822e-05,1793248865158281984
+97,1.616666667,BASELINE,766.280267266,745.719732734,715,679,664,634,879,786,810,653,629,652,0.400996134151,0.00457745539175,0.0498552500048,0.999999965567,9.53888853336e-05,-0.000242519937122,-3.08358549899e-05,1793248865174948352
+98,1.633333333,BASELINE,766.862275602,745.137724398,715,679,664,634,879,786,810,653,629,652,0.400994029035,0.00457749438983,0.0498537182269,0.99999996482,9.63518840807e-05,-0.00024521823263,-3.07291907952e-05,1793248865191614720
+99,1.650000000,BASELINE,766.557784581,745,715.442215419,679,663.557784581,634,879,786,810,653,629,652,0.400993680367,0.00457632814326,0.0498535570575,0.999999964898,9.45525893498e-05,-0.000245617269312,-3.05953477582e-05,1793248865208281344
+100,1.666666667,BASELINE,766.021343285,745,715.978656715,679,663.021343285,634,879,786,810,653,629,652,0.400993909118,0.0045748696485,0.0498538357854,0.999999965228,9.20054009757e-05,-0.000245256929324,-3.04766788448e-05,1793248865224947712
+101,1.683333333,BASELINE,766.596045006,745,715.403954994,679,663.596045006,634,879,786,810,653,629,652,0.400994991747,0.00457552074265,0.0498545039277,0.999999965572,9.22685184594e-05,-0.00024368775756,-3.09698601922e-05,1793248865241614592
+102,1.700000000,BASELINE,766.825501803,745,715,679,664,634,879,786,810,653,629,652.174498197,0.400995616401,0.00457629289625,0.0498549102172,0.999999965747,9.29765364202e-05,-0.000242662461944,-3.12574348919e-05,1793248865258281728
+103,1.716666667,BASELINE,766.238173415,745,715,679,664,634,879,786,810,653,629,652.761826585,0.400995157571,0.00457735145388,0.0498546970115,0.999999965524,9.47371058986e-05,-0.000242923876082,-3.10585825384e-05,1793248865274948096
+104,1.733333333,BASELINE,766.344496905,745,715,679,664,634,879,786,810,653,629,653,0.400995337171,0.00457797063889,0.0498549509601,0.999999965569,9.48325679323e-05,-0.000242714736155,-3.09562268093e-05,1793248865291614720
+105,1.750000000,BASELINE,766.923989817,745,715,679,664,634,879,786,810,653,629,653,0.400995952271,0.00457829010923,0.0498555235745,0.999999965797,9.37921894554e-05,-0.000242184611286,-3.09196955163e-05,1793248865308281600
+106,1.766666667,BASELINE,767,745,715,679,664,634.501362647,879,786,810,653,629,652.498637353,0.400995769514,0.0045787757357,0.0498552264781,0.99999996556,9.52811777743e-05,-0.000242577573904,-3.09576954397e-05,1793248865324948224
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634,879,786,810,653,629,652,0.400994511583,0.00457860500756,0.0498543833748,0.99999996524,9.51852346548e-05,-0.000243944342482,-3.08518169181e-05,1793248865368415744
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634.590937622,879,786,810,653,629.590937622,652.590937622,0.400995450705,0.00457877637597,0.0498554059599,0.999999965458,9.64223103493e-05,-0.000242556662808,-3.08682940998e-05,1793248865385082112
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634.821855498,879,786,810,653,629.821855498,652.821855498,0.400995863059,0.00457941564744,0.0498559348091,0.999999965471,9.77657995625e-05,-0.000241944643583,-3.10389911868e-05,1793248865401748736
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634.243039457,879,786,810,653,629.243039457,652.243039457,0.400995090641,0.00458110729742,0.049855353178,0.999999965024,9.93486276893e-05,-0.00024307719136,-3.15565501022e-05,1793248865418415360
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.665705983,745,715,679,664,634,879,786,809.665705983,653,629,652,0.400995138523,0.00458065396313,0.0498550628408,0.999999965106,9.77819845463e-05,-0.000243379998483,-3.15140809576e-05,1793248865435081984
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.089445646,745,715,679,664,634,879,786,809.089445646,653,629,652,0.400995780149,0.00457864806146,0.0498549833459,0.999999965561,9.39357133943e-05,-0.000243082228551,-3.10662562512e-05,1793248865451748608
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.486170697,745,715,679.486170697,664.486170697,634,879,786,809.486170697,653,629,652.486170697,0.400996367661,0.00457712974144,0.0498552438889,0.999999965788,9.2802725843e-05,-0.000242594007182,-3.09806188278e-05,1793248865468414976
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,715.063302438,679.936697562,664.936697562,634,879,786,810,653,629,653,0.400996760178,0.00457611184053,0.0498555137504,0.999999965889,9.25975474527e-05,-0.000242260042359,-3.09590552071e-05,1793248865485081088
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,715.654046529,679.345953471,664.345953471,634,879,786,810,653,629,653,0.400995610812,0.00457851703374,0.0498553406864,0.99999996527,9.5969167453e-05,-0.000243502920953,-3.09168843667e-05,1793248865501747968
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715.760239237,679,663.760239237,634,879,786,809.760239237,653,629,652.760239237,0.401000673092,0.00457969545197,0.049857351847,0.999999965909,9.7320720266e-05,-0.000240326604076,-3.08743577001e-05,1793248865518414336
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715.181633563,679,663.181633563,634,879,786,809.181633563,653,629,652.181633563,0.40101451406,0.00457914011481,0.0498624498905,0.999999968276,9.58173874505e-05,-0.000230904803548,-3.08313281595e-05,1793248865535080960
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715.393442226,679.393442226,663.393442226,634,879,786,809,653,629,652,0.401048920719,0.0045781106746,0.0498738714701,0.999999973668,9.48465925269e-05,-0.000206703732449,-3.06827637593e-05,1793248865551747584
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715.966902977,679.966902977,663.966902977,634,879,786,809,653,629,652,0.40109273716,0.00457686430966,0.0498881863686,0.999999979664,9.4119458802e-05,-0.000175740441412,-3.04859121155e-05,1793248865568414208
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.444427613,745,715.444427613,679.444427613,664,634,879,786,809.555572387,653,629,652,0.40116013982,0.00457682159443,0.0499064235621,0.999999984677,9.51464028306e-05,-0.000143895537037,-2.97727457857e-05,1793248865585081344
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.142711108,745,715.142711108,679,664,634,879,786,810,653,629,652.142711108,0.401231658215,0.0045764955055,0.0499231785771,0.999999988267,9.53001997617e-05,-0.000116397524179,-2.89208113031e-05,1793248865601748224
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.722312259,745,715.722312259,679,664,634,879,786,810,653,629,652.722312259,0.401311353797,0.00457507621518,0.0499346606577,0.999999990101,9.24520782452e-05,-0.000102372211175,-2.77408700073e-05,1793248865618414848
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,716,679,664,634,879,786,810,653,629,652.702213017,0.401397646633,0.00457441266429,0.0499413852283,0.999999991153,9.08805608489e-05,-9.330602269e-05,-2.70111980161e-05,1793248865635081472
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,716,679,664,634,879,786,810,653,629,652.130533648,0.401490007351,0.00457444421194,0.0499437340336,0.999999991607,9.048321231e-05,-8.88010365905e-05,-2.6695665537e-05,1793248865651747840
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.55286484,745,716,679,664,634,879,786,810,653,629,652.44713516,0.401599081545,0.00457275935801,0.0499437024632,0.999999991791,8.74738765844e-05,-9.0018796543e-05,-2.57580634645e-05,1793248865668414464
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.027061305,745,715.972938695,679,664,634,879,786,810,653,629,653,0.401714560157,0.00457058959049,0.0499431034053,0.999999991888,8.37812484952e-05,-9.2724612431e-05,-2.46217012811e-05,1793248865685081344
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.617078754,745,715.382921246,679,664,634,879,786,810,653,629,653,0.401860389358,0.00456889754888,0.0499453514098,0.999999992218,8.19522872059e-05,-9.11598485583e-05,-2.31797084285e-05,1793248865701747968
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634.202582093,879.202582093,786,810,653,629,653,0.402014643427,0.00456732761609,0.049945864563,0.999999992303,7.94750357866e-05,-9.27581860552e-05,-2.17705885462e-05,1793248865718414592
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664,634.779738768,879.779738768,786,810,653,629,653,0.402184475073,0.00456598346286,0.0499431699735,0.999999991898,7.57990951807e-05,-0.000100205102726,-2.04222509925e-05,1793248865735081216
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,715.356412772,679,664,634.643587228,880,786,810,653,629,653,0.402377867261,0.0045649274505,0.049941385586,0.999999991637,7.34340786176e-05,-0.000104748547409,-1.90285691995e-05,1793248865751747840
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,715.932788948,679,664,634.067211052,880,786,810,653,629,653,0.402585800069,0.00456404926678,0.0499401629376,0.999999991484,7.18781104692e-05,-0.000107500088507,-1.76069026639e-05,1793248865768414464
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.480130835,745,715.480130835,679,664,634,879.480130835,786,810,653,629,653,0.40282710626,0.004561581186,0.0499436859152,0.999999992313,6.78297034074e-05,-0.000102587351007,-1.57804721673e-05,1793248865785081088
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.106756287,745,715,679.106756287,664,634,879,786,810,653,629,652.893243713,0.403083587465,0.00455862944848,0.0499481280779,0.999999993314,6.32983402273e-05,-9.57934789505e-05,-1.3733202554e-05,1793248865801747968
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.686527506,745,715,679.686527506,664,634,879,786,810,653,629,652.313472494,0.403387786808,0.00455446461939,0.0499538673605,0.999999994628,5.80848638568e-05,-8.51473373291e-05,-1.09441766041e-05,1793248865818415616
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715,680,663.735674363,634,879,786,810.264325637,653,629,652.264325637,0.403709138964,0.00455035404212,0.0499607644233,0.999999996038,5.27884109297e-05,-7.11705324881e-05,-8.47295622512e-06,1793248865835082496
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715,680,663.16019888,634,879,786,810.83980112,653,629,652.83980112,0.404050682466,0.00454630732744,0.0499690243622,0.999999997438,4.7394282794e-05,-5.32730516458e-05,-6.37583954482e-06,1793248865851748352
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,715,679.584798901,663.415201099,634,879,786,810.584798901,653,629,652.584798901,0.404421310329,0.00454338812747,0.0499779057183,0.999999998327,4.38935089556e-05,-3.74680391599e-05,-3.91403473335e-06,1793248865868415232
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,715,679.009428061,663.990571939,634,879,786,810.009428061,653,629,652.009428061,0.404803157891,0.00454090388246,0.0499870267948,0.999999998901,4.1123123636e-05,-2.2470226569e-05,-1.31154632695e-06,1793248865885082368
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,715,679.580962831,664,634,879,786,810,653,629,652.580962831,0.405212646529,0.00453668536433,0.0499879194074,0.999999999135,3.71809369189e-05,-1.85639184062e-05,1.57842195291e-06,1793248865901749248
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.831884258,745,715,679.831884258,664,634.168115742,879,786,810,653,629,653,0.405628894717,0.00453235456229,0.0499816753393,0.999999999038,3.30238544265e-05,-2.8527372261e-05,4.38430847083e-06,1793248865918416128
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.253249215,745,715,679.253249215,664,634.746750785,879,786,810,653,629,653,0.406060524459,0.00452782012578,0.0499583390472,0.999999996987,2.83896899601e-05,-7.19079934288e-05,6.97318204246e-06,1793248865935082496
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.324111286,745,715,679,664,634.675888714,879.324111286,786,810,653,629,653,0.406516232437,0.00452368949221,0.049938670215,0.999999993927,2.30617493368e-05,-0.000107307502056,9.96891154824e-06,1793248865951748864
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.900479868,745,715,679,664,634.099520132,879.900479868,786,810,653,629,653,0.40699068066,0.00451987313985,0.049921855781,0.999999990449,1.7193839077e-05,-0.000136495278959,1.32812991651e-05,1793248865968414976
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,715,679.473723857,664,634,880,786,810,653,629,653,0.407529235015,0.0045130163934,0.0499250097893,0.999999991598,8.81623072643e-06,-0.000128212633489,1.6954990682e-05,1793248865985081088
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,880,786,810.048056668,653,629,653,0.408086474811,0.00450567584302,0.04993409533,0.99999999386,-1.20568663188e-07,-0.000108873611847,2.06291214658e-05,1793248866001747456
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,880,786,810.642171834,653,629,653,0.408704008791,0.00450004809553,0.0499632253236,0.999999998288,-9.45970038209e-06,-5.2762807506e-05,2.34514280457e-05,1793248866018413824
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,880,786,811.23015558,653,629,653,0.409335488071,0.00449410977118,0.0499853869515,0.999999999362,-1.88349782439e-05,-1.39046373556e-05,2.69856361057e-05,1793248866035080704
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,715,680,664,634,880,786,811.808853996,653,629,653,0.409988085785,0.00448770111602,0.0499969958291,0.999999999101,-2.82649945517e-05,-1.17350211987e-06,3.159793292e-05,1793248866051748352
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.615958659,745,715,680,664,634,880.384041341,786,811.615958659,653,629,652.615958659,0.410613565412,0.00448112245888,0.0499864101219,0.99999999664,6.68807974442e-05,-3.03755796455e-05,3.63945233448e-05,1793248866068415232
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.042503039,745,715,680,664,634,880.957496961,786,811.042503039,653,629,652.042503039,0.411225670019,0.00447445995471,0.0499648777508,0.999999973114,0.000213604763536,-8.02596734251e-05,4.12820089648e-05,1793248866085081600
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.454837471,786.545162529,811,653,629,652,0.411885540945,0.00446709716702,0.0499439198766,0.9999999714,0.000206221834059,-0.000112667130086,4.44915237386e-05,1793248866101747968
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.131727607,786.868272393,811,653,629,652.131727607,0.412579549028,0.00445992946573,0.0499338614056,0.999999977458,0.000167915595798,-0.000122783496171,4.2585629211e-05,1793248866118414592
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,634,880.710694129,786.289305871,811,653,629,652.710694129,0.41337647654,0.00445361444666,0.0499606522325,0.999999995586,6.65032565511e-05,-6.19674974636e-05,2.37680479531e-05,1793248866135081216
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.287970939,745,715,680,664.287970939,634,881,786,811.287970939,653,629,653,0.414166159283,0.00444268524151,0.049973959656,0.999999999106,-1.63913917854e-05,-3.65252594623e-05,1.3588479087e-05,1793248866151747584
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.863560177,745,715,680,664.863560177,634,881,786,811.863560177,653,629,653,0.414948606224,0.0044271474999,0.0499738001906,0.999999995587,-8.0791037107e-05,-4.64134576443e-05,1.20363426721e-05,1793248866168414208
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.554564051,745,715,679.554564051,664.554564051,634,881,786,811.554564051,653,629,653,0.415703888154,0.00444830670252,0.0499527409301,0.999999994433,-6.61034231235e-05,-8.12036446315e-05,1.30308729028e-05,1793248866185080832
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.029174814,745,715,679.058349628,664,634,881,786,811,653,629.029174814,653,0.416455904846,0.0044798695385,0.0499274656816,0.999999992347,-2.72273053242e-05,-0.000119768384817,1.48385123166e-05,1793248866201747456
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.611207412,745,715,680.222414825,664,634,881,786,811,653,629.611207412,653,0.417305981932,0.00449252462677,0.0499453466078,0.99999999638,4.38718336919e-06,-8.32487668099e-05,1.70608235729e-05,1793248866218414080
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.19225256,715,680.80774744,664.19225256,634,881,786,811.19225256,652.80774744,630,653,0.418160520222,0.00449686956475,0.049961871195,0.999999998059,2.65426396266e-05,-5.29078125481e-05,1.94671714436e-05,1793248866235080448
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.771310954,715,680.228689046,664.771310954,634,881,786,811.771310954,652.228689046,630,653,0.419024034253,0.00448449475259,0.0499756668716,0.9999999987,2.96668314884e-05,-3.49981292603e-05,2.22437948665e-05,1793248866251747328
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.652447638,745.652447638,715,680,665,634,881.347552362,786,812,652.347552362,630,653,0.419884945264,0.00447792521573,0.0499683440339,0.999999998433,1.70199328445e-05,-4.81378999413e-05,2.29640844665e-05,1793248866268413952
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.078044923,745.078044923,715,680,665,634,881.921955077,786,812,652.921955077,630,653,0.420744157228,0.00447514483142,0.0499472369636,0.999999996408,-5.92088951687e-06,-8.15439113277e-05,2.23421875292e-05,1793248866285080320
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,634,882,786,812,653,630,653,0.42166525584,0.00446962735521,0.0499706033738,0.99999999927,-1.35613306385e-05,-2.77788055541e-05,2.24471489453e-05,1793248866301747200
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680.094490611,665,634,881.905509389,786,812,652.905509389,630,653,0.422588682202,0.00446467877221,0.0499954296024,0.999999999268,-1.54385820582e-05,2.64945178493e-05,2.28794893745e-05,1793248866318413568
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680.673784743,665,634,881.326215257,786,812,652.326215257,630,653,0.423474125568,0.00446485710267,0.0499918677337,0.999999999617,-8.98410886324e-08,1.30519849223e-05,2.4405138848e-05,1793248866335080192
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,786,812,652,629.747472958,653,0.424372085099,0.00447003666628,0.0499855220957,0.99999999963,1.09284200974e-05,1.13686063017e-07,2.48922541415e-05,1793248866351746816
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,634,881,786,812,652,629.169441886,653,0.425286177927,0.00448166275357,0.0499755882152,0.999999999503,1.63647520089e-05,-1.21746635691e-05,2.40407127773e-05,1793248866368413440
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.59478011,745,715,680.59478011,665,633.59478011,881,785.59478011,812.40521989,652.40521989,629.40521989,653,0.426226651094,0.00448152716159,0.0499877187807,0.999999999634,8.80385965575e-06,-2.24681832998e-06,2.54657534138e-05,1793248866385080064
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.021515615,745,715,680.021515615,665,633.021515615,881,785.021515615,812.978484385,652.978484385,629.978484385,653,0.427178064127,0.00447651400293,0.050008999468,0.999999999461,-4.14697926929e-06,1.68940791126e-05,2.78348921804e-05,1793248866401746944
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,665,633.567781486,881,785,813,652.432218514,630,653,0.428015837174,0.00446935202423,0.0499766293785,0.999999998097,-5.6006299979e-06,-5.36859127001e-05,2.9888883922e-05,1793248866418413824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.154871246,745,715,680,665,633.845128754,881,785,813,652,630,653,0.428877848104,0.00446359833254,0.049950744729,0.999999994242,-3.12936462233e-06,-0.000102709895444,3.09456427708e-05,1793248866435080448
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.734197844,745,715,680,665,633.265802156,881,785,813,652,630,653,0.429818432909,0.00446193398471,0.0499483686079,0.999999996081,8.87015674721e-06,-8.30664965066e-05,2.93029685926e-05,1793248866451747072
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.311696295,745,715,680,665,633.311696295,881,785,813.311696295,652,630,653,0.430741217824,0.0044653573152,0.0499487200201,0.999999996859,1.11140394729e-05,-7.30701550157e-05,2.86068092442e-05,1793248866468413696
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.887644836,745,715,680,665,633.887644836,881,785,813.887644836,652,630,653,0.431648912166,0.00447309391626,0.0499513838014,0.999999997036,5.08721233946e-06,-7.12524700093e-05,2.87130935023e-05,1793248866485080320
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.536751655,745.463248345,714.536751655,680.463248345,664.536751655,634,881.463248345,785,814,652,630,652.536751655,0.43255086663,0.0044739400659,0.0499397682211,0.999999995691,-5.89709805485e-06,-8.79568604606e-05,2.91056049296e-05,1793248866501746944
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.960270791,714.039729209,681,664.039729209,634,882,785,814.039729209,652.039729209,630.039729209,652.039729209,0.433450828657,0.00447288262972,0.0499276629908,0.99999999397,-1.51137338061e-05,-0.000104656953677,2.96280890551e-05,1793248866518413824
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.370485689,714.629514311,681,664.629514311,634,882,785,814.629514311,652.629514311,630.629514311,652.629514311,0.434342464165,0.00446859047819,0.0499566924086,0.99999999763,1.67779819477e-05,-5.91473538796e-05,3.09896359444e-05,1793248866535080192
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.784715121,745,715,681,665,634,881.784715121,785,815,652.784715121,631,653,0.435211554166,0.00446599558866,0.0499739929804,0.999999998336,2.95657982126e-05,-3.78950704287e-05,3.18948664974e-05,1793248866551746816
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.205726636,745,715,681,665,634,881.205726636,785,815,652.205726636,631,653,0.436042555792,0.00446626806338,0.0499714787717,0.999999997776,1.00793736889e-05,-5.76232401763e-05,3.20291937439e-05,1793248866568413696
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.370680642,745,715,681,665,634,881,784.629319358,815,652,630.629319358,653,0.4368747793,0.0044669926607,0.0499616194289,0.999999996474,-5.25343000965e-06,-7.7583527376e-05,3.16891475259e-05,1793248866585080576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.945665231,745,715,681,665,634,881,784.054334769,815,652,630.054334769,653,0.437707676208,0.00446796644942,0.04994771175,0.99999999458,-1.82969273274e-05,-9.76717469813e-05,3.1087646123e-05,1793248866601747200
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681.532098243,665,634,881,784.532098243,815,652,630,653,0.438563293835,0.00446769913251,0.0499677004156,0.999999997883,-2.12889751958e-05,-5.28724586826e-05,3.13968377132e-05,1793248866618414080
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681.881987293,665,633.881987293,881.118012707,785,815,652,630,653,0.439400693904,0.00446734860429,0.0499823601776,0.999999999193,-1.5752608337e-05,-1.87109949379e-05,3.18733167276e-05,1793248866635080448
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681.302768611,665,633.302768611,881.697231389,785,815,652,630,653,0.440157631228,0.00446717906,0.049962369473,0.999999997904,1.90142305734e-05,-5.25874978643e-05,3.26321484226e-05,1793248866651747072
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.275078166,665,633.275078166,882,785,815.275078166,652,630,653,0.440909796454,0.00446610264735,0.0499511215892,0.999999996514,2.88002845456e-05,-7.09654106831e-05,3.32763456261e-05,1793248866668414208
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681.851422392,665,633.851422392,882,785,815.851422392,652,630,653,0.441656735223,0.00446403303101,0.0499494488583,0.999999996747,1.12273395263e-05,-7.236924e-05,3.37949949529e-05,1793248866685082112
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681.573648954,665,633.573648954,882,785,816,652,630,653,0.442407354322,0.00446139775206,0.0499687706973,0.999999998738,2.95357035045e-06,-3.56889480256e-05,3.52411591373e-05,1793248866701748736
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633.000810446,882,785,815.999189554,652,630.000810446,653,0.443159112677,0.00445857224831,0.0499953325751,0.999999999213,-2.07633256849e-06,1.41119168067e-05,3.70107567593e-05,1793248866718415104
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633.591557735,882,785,815.408442265,652,630.591557735,653,0.443809613039,0.00446029543193,0.0499839864438,0.999999999106,3.05028700487e-06,-1.42044555467e-05,3.97095663552e-05,1793248866735081728
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.821151423,633.821151423,881.821151423,785,815.178848577,652,631,653,0.444449161991,0.0044632008543,0.0499667378075,0.999999997971,9.9381655953e-06,-4.72628264643e-05,4.15280157162e-05,1793248866751748096
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,664.241604407,633.241604407,881.241604407,785,815.758395593,652,631,653,0.445064175156,0.00446875500496,0.0499362649958,0.999999994793,2.07720298431e-05,-9.09453378937e-05,4.1374076568e-05,1793248866768414208
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681.334938504,664.334938504,633.334938504,881.334938504,784.665061496,816,652,631,653,0.44568557032,0.00447013155017,0.0499323274423,0.999999995258,2.36177401122e-05,-8.49285446427e-05,4.13824906031e-05,1793248866785080832
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.909333662,664.909333662,633.909333662,881.909333662,784.090666338,816,652,631,653,0.446311528113,0.00446852141117,0.0499473606691,0.999999997982,2.07525009701e-05,-4.33803627982e-05,4.15069753438e-05,1793248866801747968
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.513758312,665,633.513758312,882,784,816,652,631,653,0.446898005066,0.00446460410923,0.0499620850485,0.99999999883,1.73866042721e-05,-1.56419448473e-05,4.23513180722e-05,1793248866818414592
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.935041353,784,816,652,630.935041353,653,0.447466413586,0.00446084235866,0.049971992591,0.999999998955,1.47710991881e-05,1.98374438927e-06,4.3215729545e-05,1793248866835081216
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,665,633,881.345520059,784,816,652,630.345520059,653,0.4479486708,0.00446182880562,0.0499434700405,0.999999998042,1.8973039304e-05,-4.1152068695e-05,4.31526424478e-05,1793248866851748352
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680.760929797,664.760929797,633,881.239070203,784.239070203,816,652,630,653,0.448419929916,0.00446085856524,0.0499208435294,0.999999995983,1.94004968767e-05,-7.59699608867e-05,4.34341732735e-05,1793248866868415232
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680.183322212,664.183322212,633,881.816677788,784.816677788,816,652,630,653,0.448875615039,0.00445711754116,0.0499065661569,0.999999994017,1.44830662327e-05,-9.90091873325e-05,4.42037032997e-05,1793248866885082112
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.392048224,745,715,680.784096449,664.392048224,633,882,785,816,652,630.392048224,653,0.449323236892,0.00445133264028,0.0499153943683,0.999999995179,3.57638462812e-06,-8.72610957933e-05,4.48771879535e-05,1793248866901748224
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.966378554,745,715,681.932757108,664.966378554,633,882,785,816,652,630.966378554,653,0.449767109783,0.00444459744229,0.0499349654775,0.999999997153,-1.01149886908e-05,-5.93387063484e-05,4.55060165257e-05,1793248866918414336
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.444804059,745,715,682,664.444804059,633.555195941,882,784.444804059,816,652.555195941,630.444804059,653,0.450188989237,0.00444243719517,0.0499574741414,0.99999999594,-8.07473399751e-05,-2.98506879003e-05,2.66272319186e-05,1793248866935080704
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664.142284724,633.857715276,882,784.142284724,816,652.857715276,630,653,0.450591223859,0.00443941037831,0.0499761412535,0.99999999045,-0.000137507208502,-6.41563319689e-06,1.22628265254e-05,1793248866951747328
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,664.721302838,633.278697162,882,784.721302838,816,652.278697162,630,653,0.450937357726,0.00443285051624,0.0499824563298,0.999999989964,-0.000140818786646,-1.85855015183e-06,1.54781895609e-05,1793248866968413952
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,744.70011672,715,682,665,633,882,784.70011672,816,652,630.29988328,653,0.451250743399,0.00443053041021,0.049980775003,0.999999990226,-0.000138228659098,-1.07653047776e-05,1.80330975203e-05,1793248866985081088
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,744.12194247,715,682,665,633,882,784.12194247,816,652,630.87805753,653,0.451533738806,0.00443214478806,0.0499716730329,0.999999990812,-0.000130161762493,-3.21664689235e-05,1.99751045445e-05,1793248867001747712
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,744.451683139,715,682,665,633,882,784,816.451683139,652.451683139,631,653,0.451769504019,0.004437475272,0.0499512619685,0.999999995259,-6.37281980847e-05,-7.05293853324e-05,2.11207952351e-05,1793248867018414336
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.975124679,664.975124679,632.975124679,882.024875321,784,817,652.975124679,630.975124679,653,0.451991708373,0.00444432119035,0.049928015444,0.999999993253,1.56609308464e-05,-0.000112972049328,2.203746374e-05,1793248867035081472
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.384127476,664.384127476,632.384127476,882.615872524,784,817,652.384127476,630.384127476,653,0.452192586253,0.00446305123206,0.0499090305423,0.999999988612,3.48590465661e-05,-0.000145086514986,2.25858762087e-05,1793248867051748096
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.20136557,664,632,882.79863443,784,816.79863443,652.20136557,630.20136557,653,0.452390124838,0.00447995912615,0.049896740938,0.999999984754,5.14329776141e-05,-0.000165330409923,2.26314081325e-05,1793248867068414720
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.776638125,664,632,882.223361875,784,816.223361875,652.776638125,630.776638125,653,0.452581462806,0.00449348355134,0.0498968835428,0.999999984399,6.3134172032e-05,-0.000163532354275,2.17431629949e-05,1793248867085081088
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,664,632.353660896,882.353660896,784,816,652.646339104,630.646339104,653,0.452755513839,0.00449426952971,0.0498988809658,0.999999985344,6.14431396789e-05,-0.000158196094769,2.2614526516e-05,1793248867101747712
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682,664,632.931794607,882.931794607,784,816,652.068205393,630.068205393,653,0.452918592665,0.0044869702643,0.0499020556642,0.999999987042,5.12519013824e-05,-0.000150614094617,2.46027346858e-05,1793248867118414592
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681.481538166,664,632.481538166,882.481538166,784,816,652,630.518461834,653,0.453045034702,0.00448701124063,0.0498993421797,0.999999986638,4.85679981633e-05,-0.00015417049572,2.44338987535e-05,1793248867135080960
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.104695213,745,715,681.104695213,664,632,882,784,816,652,631,653,0.453162775644,0.00448816923793,0.0498958744162,0.99999998588,4.74389770026e-05,-0.00015940151476,2.41048212718e-05,1793248867151747584
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.683790944,745,715,681.683790944,664,632,882,784,816,652,631,653,0.453263294482,0.00448993998756,0.0498925575159,0.999999984822,4.88054953116e-05,-0.000165469922835,2.43569837511e-05,1793248867168414208
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.474272061,745,715,682,664,632,882,784.262863969,816,652,630.737136031,653,0.453348958221,0.00448982242791,0.049886884441,0.99999998316,4.89267796869e-05,-0.000175121062495,2.48594525955e-05,1793248867185081088
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.316180703,745,715,682,664,632,882,784.841909649,816,652,630.158090351,653,0.453416753734,0.0044874335456,0.0498783772797,0.999999980664,4.75502543069e-05,-0.000189081633007,2.56629984192e-05,1793248867201747712
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.417452433,745,715,682,664,632,882,784.582547567,816,652,630.417452433,653,0.453474605304,0.00448809146959,0.0498727052968,0.99999997904,4.68385621172e-05,-0.000197642706033,2.57466946084e-05,1793248867218414080
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.991679688,745,715,682,664,632,882,784.008320312,816,652,630.991679688,653,0.453528722412,0.00448989362582,0.0498680980691,0.999999977754,4.63765489556e-05,-0.000204175990221,2.55600502836e-05,1793248867235080704
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663.420125381,632,882,784.579874619,816,652,631,652.420125381,0.453568702221,0.0044908981533,0.0498671084467,0.999999977533,4.73380097791e-05,-0.000205080911085,2.52064432732e-05,1793248867251747328
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.165440828,745,715,682,663.165440828,632,882,784.834559172,816.165440828,652,630.834559172,652.165440828,0.453605464962,0.0044914847469,0.0498663248454,0.999999977342,4.79264175882e-05,-0.00020588406482,2.5116448525e-05,1793248867268413952
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.743931205,745,715,682,663.743931205,632,882,784.256068795,816.743931205,652,630.256068795,652.743931205,0.453634714718,0.00449105718037,0.0498659228155,0.99999997719,4.7531186518e-05,-0.000206639743246,2.56907328736e-05,1793248867285080576
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.678589418,745,715,682,663.678589418,632,882,784,816.678589418,652,630,653,0.453655416331,0.00449190026403,0.0498640568174,0.999999976434,4.87994530371e-05,-0.000209987157917,2.56088448204e-05,1793248867301747456
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.101912921,745,715,682,663.101912921,632,882,784,816.101912921,652,630,653,0.453669328968,0.00449375250448,0.0498610281282,0.99999997517,5.13888777425e-05,-0.000215392942747,2.50058213756e-05,1793248867318414592
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681.526742497,663.473257503,632,882,784,816,652,630,652.526742497,0.453679750578,0.00449450774444,0.0498599923994,0.999999974694,5.13550224217e-05,-0.000217575419054,2.52110031018e-05,1793248867335081472
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681.049415928,663.950584072,632.049415928,882,784,816,652,630.049415928,652.049415928,0.453688973423,0.00449494397308,0.0498592899808,0.999999974372,5.08343318865e-05,-0.000219124843058,2.5599073437e-05,1793248867351748352
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681.639933375,663.360066625,632.639933375,882,784,816,652,630.639933375,652.639933375,0.453693275592,0.0044944655666,0.0498575527994,0.999999973861,5.11488917996e-05,-0.00022131882845,2.60900624782e-05,1793248867368414464
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.225886134,745,715,682,663,632.774113866,882.225886134,784.225886134,816,652,630.774113866,653,0.453695784587,0.00449431095162,0.0498554393582,0.999999973228,5.21186123074e-05,-0.000223911284844,2.63049777656e-05,1793248867385080832
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.804706784,745,715,682,663,632.195293216,882.804706784,784.804706784,816,652,630.195293216,653,0.453695491847,0.00449466224288,0.0498527380321,0.999999972402,5.41119847739e-05,-0.000227126329871,2.6088543143e-05,1793248867401747456
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.62019593,745,715,682,663,632,882.62019593,784.62019593,816,652,630.37980407,653,0.453697156121,0.00449489071091,0.0498524356779,0.999999972247,5.40815102552e-05,-0.000227824102725,2.60245794081e-05,1793248867418414080
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.046994609,745,715,682,663,632,882.046994609,784.046994609,816,652,630.953005391,653,0.453699816913,0.00449505663703,0.0498533548869,0.999999972436,5.30204873668e-05,-0.000227240073742,2.60382542645e-05,1793248867435080704
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.540269668,745,715,682,663,632,882.540269668,784,816,652,631,653,0.45369800771,0.00449599967607,0.049850599316,0.999999971645,5.26663750866e-05,-0.000230830564311,2.55729334059e-05,1793248867451747584
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.873084169,744.873084169,715,681.873084169,663.126915831,632,882.873084169,784,816,652,631,652.873084169,0.453696515748,0.00449701897987,0.0498483396076,0.999999970921,5.3242305144e-05,-0.000233844137513,2.52854762004e-05,1793248867468413952
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.293127788,744.293127788,715,681.293127788,663.706872212,632,882.293127788,784,816,652,631,652.293127788,0.453697581228,0.00449806277869,0.0498490214435,0.999999970794,5.6912767284e-05,-0.000233467517034,2.57856256767e-05,1793248867485080832
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.285466587,744.285466587,715,681.285466587,663.714533413,632,882,784,815.714533413,652,631,652.285466587,0.453697987424,0.00449842660036,0.0498490412224,0.99999997067,5.81054961762e-05,-0.000233677784166,2.6058603841e-05,1793248867501747456
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.862669114,744.862669114,715,681.862669114,663.137330886,632,882,784,815.137330886,652,631,652.862669114,0.453697719857,0.00449809551151,0.0498483844045,0.999999970556,5.67660768334e-05,-0.000234487827962,2.60994216677e-05,1793248867518414080
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.560652138,745,715,681.560652138,663,632,882,784,815.439347862,652,630.560652138,653,0.453698899979,0.0044975974289,0.0498484070293,0.999999970687,5.68942977149e-05,-0.000233925013763,2.58621983323e-05,1793248867535080448
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.016165763,745,715,681.016165763,663,632,882.016165763,784,816,652,630.016165763,653,0.453700430724,0.00449711080719,0.0498485762456,0.999999970871,5.74636768779e-05,-0.000233031330056,2.55323280439e-05,1793248867551747328
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.603682702,745,715,681.603682702,663,632,882.603682702,784,816,652,630.603682702,653,0.453698379314,0.00449887192842,0.0498464292343,0.999999970287,5.74304942805e-05,-0.000235592308669,2.49960299326e-05,1793248867568413952
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.81167893,745,715,681.81167893,663.18832107,632,882.81167893,784,816,652,630.81167893,653,0.453697541266,0.00450042367453,0.0498454239207,0.999999970004,5.74513224649e-05,-0.000236822960353,2.46308378341e-05,1793248867585080576
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.233007277,745,715,681.233007277,663.766992723,632,882.233007277,784,816,652,630.233007277,653,0.453699218268,0.00450154142926,0.04984678511,0.999999970357,5.75841038181e-05,-0.00023529611963,2.46203131018e-05,1793248867601747456
+242,4.033333333,HOLD_POSE2,767,745,715,682,664,632,882,784,817,652,630,653,0.453697722982,0.00450169088785,0.0498462603582,0.999999969784,5.83609891794e-05,-0.000237464099745,2.5242710624e-05,1793248867637373440
+243,4.050000000,HOLD_POSE2,767,745,715,682,663.425750942,631.425750942,882,784,816.425750942,652,630,653,0.453698438715,0.00450087901207,0.0498461621121,0.999999969828,5.92582484487e-05,-0.000237053518314,2.52774176912e-05,1793248867654040064
+244,4.066666667,HOLD_POSE2,767,745,715,682,663.153038515,631.153038515,882,784,815.846961485,652,630,652.846961485,0.45369921974,0.00449996566735,0.0498461407144,0.999999969926,5.93363900406e-05,-0.000236617188425,2.52995250985e-05,1793248867670706688
+245,4.083333333,HOLD_POSE2,767,745,715,682,663.744845641,631.744845641,882,784,815.255154359,652,630,652.255154359,0.453700187963,0.00449876140628,0.0498463396451,0.999999970179,5.70660829748e-05,-0.000236107036395,2.52855086972e-05,1793248867687373312
+246,4.100000000,HOLD_POSE2,766.671287766,745,715,681.671287766,664,632,882,784,815.328712234,652,630,652.328712234,0.453699416402,0.00449880117331,0.0498458103159,0.99999996987,5.59280517777e-05,-0.000237672506775,2.53574089573e-05,1793248867704039680
+247,4.116666667,HOLD_POSE2,766.093439461,745,715,681.093439461,664,632,882,784,815.906560539,652,630,652.906560539,0.453697326232,0.00449978380848,0.0498447290272,0.999999969132,5.56481900557e-05,-0.00024081112341,2.54944267803e-05,1793248867720706048
+248,4.133333333,HOLD_POSE2,766,744.516874771,715,681.483125229,663.516874771,631.516874771,882,784,816,652,630.483125229,653,0.453698894631,0.00450189036109,0.0498461200759,0.999999969551,5.92705781965e-05,-0.000238217942951,2.5249155971e-05,1793248867737372928
+249,4.150000000,HOLD_POSE2,766,744.060561274,715,682,663,631.060561274,882,783.939438726,816,652,631,653,0.453700969033,0.00450375810999,0.0498478343276,0.999999970131,6.29049628894e-05,-0.000234853113073,2.49887228992e-05,1793248867754039808
+250,4.166666667,HOLD_POSE2,766,744.647727115,715,682,663,631.647727115,882,783.352272885,816,652,631,653,0.453701306852,0.00450166423072,0.0498482121355,0.999999970406,6.00984620482e-05,-0.000234392361773,2.52376563618e-05,1793248867770706432
+251,4.183333333,HOLD_POSE2,766,745,715,682,663,632,882,783.231777112,816,652,631,653,0.453701225342,0.00450090487058,0.0498479473178,0.99999997044,5.89670993878e-05,-0.000234524911546,2.53043940969e-05,1793248867787373312
+252,4.200000000,HOLD_POSE2,766,745,715,682,663,632,882,783.811154172,816,652,631,653,0.453700514958,0.00450214691092,0.049846718744,0.999999970123,6.03479692781e-05,-0.000235547244747,2.50978898793e-05,1793248867804039680
+253,4.216666667,HOLD_POSE2,766,745,715,681.611146644,663,632,882,784,816,652,631,653,0.45370036047,0.00450210393631,0.0498465989168,0.999999970103,5.97432104687e-05,-0.000235776180616,2.52049249958e-05,1793248867820706048
+254,4.233333333,HOLD_POSE2,766,745,715,681.034258763,663,632,882,784,816,652,631,653,0.453700474791,0.00450143957802,0.0498470152368,0.999999970225,5.81782781293e-05,-0.000235621460148,2.54635756541e-05,1793248867837372672
+255,4.250000000,HOLD_POSE2,766,744.459015241,715,681.540984759,663.540984759,632,882,784,816,652,631,653,0.453700708604,0.00450194067217,0.0498468290771,0.999999970122,5.86942675413e-05,-0.000235949190191,2.52721832366e-05,1793248867854039552
+256,4.266666667,HOLD_POSE2,766,744.118974077,715,681.881025923,663.881025923,632,882,784.118974077,816,652,631,653,0.453700817147,0.00450245717662,0.0498466416501,0.999999969973,5.94685392417e-05,-0.00023640692221,2.50864529614e-05,1793248867870706176
+257,4.283333333,HOLD_POSE2,766,744.708227474,715,681.291772526,663.291772526,632,882,784.708227474,816,652,631,653,0.453700400703,0.00450274374646,0.0498465995677,0.999999969696,6.0744434884e-05,-0.000237258125048,2.50354158811e-05,1793248867887372800
+258,4.300000000,HOLD_POSE2,766,744.707754697,715,681.292245303,663,631.707754697,882,784.707754697,816,652,630.707754697,653,0.453700105158,0.00450242899337,0.0498465214742,0.999999969539,6.14321190428e-05,-0.000237726477779,2.51725432901e-05,1793248867904039680
+259,4.316666667,HOLD_POSE2,766,744.128872005,715,681.871127995,663,631.128872005,882,784.128872005,816,652,630.128872005,653,0.453699928191,0.00450152445613,0.0498464080605,0.999999969502,6.15428788713e-05,-0.000237819326886,2.54942244907e-05,1793248867920706304
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,663,632,882,784,816,652,630,653,0.453701306151,0.00450161342368,0.0498465965332,0.999999969792,5.80112446033e-05,-0.000237511583495,2.52813176549e-05,1793248867953308672
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,744.427544478,715,682,663,632,882,784,816,652,630,652.427544478,0.453700042402,0.00450210883791,0.0498451687895,0.999999969305,5.95038414012e-05,-0.000239214425365,2.50083182765e-05,1793248867969975296
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,744.150048543,715,681.849951457,663,632,882,784,816,652,630,652.150048543,0.453699302557,0.00450225950206,0.0498444097593,0.999999969036,6.04033955069e-05,-0.000240122975919,2.4894527916e-05,1793248867986641920
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,744.742799341,715,681.257200659,663,632,882,784,816,652,630,652.742799341,0.453700108436,0.00450139301787,0.0498456236971,0.999999969422,5.95532406237e-05,-0.000238688054891,2.52504667529e-05,1793248868003308544
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632,882,784,816,652,630,652.672814388,0.453699853259,0.00450175990775,0.0498455152817,0.999999969231,6.07811891948e-05,-0.000239173095734,2.52947163474e-05,1793248868019975168
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632,882,784,816,652,630,652.094839598,0.453698784778,0.00450307218421,0.0498443932767,0.999999968591,6.36020130502e-05,-0.000241129795691,2.51000547757e-05,1793248868036641792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.480260375,663,632,882,784,816,652,630,652.480260375,0.453699285707,0.00450255402258,0.0498446598142,0.999999968864,6.24111264181e-05,-0.00024029061745,2.5238669117e-05,1793248868053308160
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.056200769,745,715,681.943799231,663,632,882,784,816,652,630,653,0.453699391466,0.00450187902528,0.0498448652859,0.999999969153,6.08817027931e-05,-0.000239461638761,2.54077491222e-05,1793248868069974784
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.645465214,745,715,681.354534786,663,632,882,784,816,652,630,653,0.453692826947,0.00450312454798,0.0498419062142,0.999999967906,6.36106891951e-05,-0.000243935066427,2.52452670424e-05,1793248868086641408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,745,715,681.230573008,663,632,882,784,816,652.230573008,630.230573008,653,0.453679849162,0.00450398687655,0.0498359332625,0.999999965417,6.44844296152e-05,-0.000253749885055,2.48842273406e-05,1793248868103308032
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,681.809402558,663,632,882,784,816,652.809402558,630.809402558,653,0.453657184806,0.00450427043015,0.0498254081589,0.999999960858,6.25560137094e-05,-0.000271632318644,2.42232870155e-05,1793248868119974912
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.613361465,745,715,682,663,632,882,784,816,652.613361465,631,653,0.453617976915,0.00450310841046,0.0498094332803,0.999999952986,6.10634873474e-05,-0.000299525108422,2.41542012128e-05,1793248868136641792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.036907781,745,715,682,663,632,882,784,816,652.036907781,631,653,0.453570647188,0.00450123670542,0.0497907829045,0.999999942693,5.9784955055e-05,-0.000332332353466,2.43756785962e-05,1793248868153308416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.462704361,663,632,882,784,816,652,630.462704361,653,0.453505632498,0.0045050795056,0.0497745773309,0.999999933991,6.30366316638e-05,-0.000357054685995,2.3604654002e-05,1793248868169975040
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632.114622828,882,784.114622828,816,652,630,653,0.453437481233,0.00450818729724,0.0497600347707,0.999999925873,6.62941626648e-05,-0.000378601025741,2.28276282918e-05,1793248868186641920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632.705570968,882,784.705570968,816,652,630,653,0.453361322827,0.00450661626819,0.0497517080356,0.999999921663,6.82882474092e-05,-0.000389247505107,2.23077969164e-05,1793248868203308544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.29069044,663.29069044,632.70930956,882,785,816,652,630.29069044,653.29069044,0.453274974849,0.00450781334196,0.0497459818039,0.999999918321,7.14586368682e-05,-0.000397227395527,2.15172774834e-05,1793248868219975168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.870022294,663.870022294,632.129977706,882,785,816,652,630.870022294,653.870022294,0.453178509128,0.00451175900676,0.0497428377456,0.999999915891,7.57970393545e-05,-0.000402559492713,2.04579780588e-05,1793248868236641792
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,664,632,882,784.552410179,816,652,630.552410179,653.552410179,0.453064959114,0.00451247572867,0.0497415532784,0.999999914733,7.72715367894e-05,-0.000405162093607,2.01627773786e-05,1793248868253308416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,744.97499881,715,682,663.97499881,632,882.02500119,784,816,652,630.02500119,653,0.452945371667,0.00451231208173,0.049741022426,0.99999991403,7.80155773889e-05,-0.000406755462758,2.010810936e-05,1793248868269975040
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,744.389649073,715,682,663.389649073,632,882.610350927,784,816,652,630.610350927,653,0.452801225841,0.00451335015453,0.0497453264728,0.999999915138,8.09547479939e-05,-0.000403424439645,2.04907986737e-05,1793248868286641664
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,744.19359118,715,681.80640882,663,632,882.80640882,784,816,652,631,653,0.452647790353,0.00451498739871,0.0497502163741,0.999999916758,8.41262337679e-05,-0.000398737008674,2.03871144403e-05,1793248868303308032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,744.772631281,715,681.227368719,663,632,882.227368719,784,816,652,631,653,0.452475858739,0.00451781762044,0.049756272738,0.999999919386,8.77602693509e-05,-0.000391348907807,1.93150381104e-05,1793248868319974912
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.349974396,663.349974396,632,882,784.349974396,816,652.349974396,631,653,0.452283865406,0.00451907511067,0.0497632891731,0.999999922083,9.33144052087e-05,-0.000383099824465,1.90096926882e-05,1793248868336641792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.926220402,663.926220402,632,882,784.926220402,816,652.926220402,631,653,0.452078901398,0.00451931577111,0.049770926331,0.999999924757,0.000100109958468,-0.000374294082811,1.92000675299e-05,1793248868353308672
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.745324082,664,633,882,784,815,652,631,653,0.451031193198,0.00453146540801,0.0497969043581,0.999999943909,0.000120953526928,-0.000312072079145,1.27413796881e-05,1793248868419974656
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,715,680,664,634,880,786,810,653,629,652.848987513,0.410216262908,0.0046097715882,0.0498102767695,0.999999943405,0.0001066362814,-0.000316488145387,-4.06576971011e-05,1793248869336641536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,715,680,664,634,880,786,810,653,629,652.272020388,0.409566963885,0.00460462423771,0.0497890466916,0.999999930513,0.000117913267448,-0.000351399439981,-3.98489052627e-05,1793248869353308160
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,715,680,664,634,879.68698409,786.31301591,810.31301591,653,629.31301591,652,0.408967641705,0.00460007787125,0.0497863544701,0.999999929614,0.00012192797424,-0.00035254539002,-4.020800259e-05,1793248869369975040
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,715,680,664,634,879.094749915,786.905250085,810.905250085,653,629.905250085,652,0.408412900196,0.00459606759835,0.049800198496,0.999999939649,0.000119464539979,-0.00032357177983,-4.1608887233e-05,1793248869386641664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,715,680,664,634,879,786.518073965,811,653,629.518073965,652,0.407875608706,0.00459692278417,0.0498187347079,0.999999946245,0.000122185346885,-0.000301508743391,-4.09116637873e-05,1793248869403308288
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,715,680,664,634,879.631721669,786,811,653,629,652,0.406788477021,0.00460047277365,0.0498127659987,0.999999939151,0.000128023929123,-0.000321842708189,-4.15300707022e-05,1793248869436641792
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.384287421,745,715,679.615712579,663.615712579,634,879,786,810,653,629.384287421,653,0.405333680991,0.00460367201136,0.0497689391211,0.999999913181,0.000123514919582,-0.000395451458166,-4.47236850899e-05,1793248869486641664
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.964046136,745,715,679.035953864,663.035953864,634,879,786,810,653,629.964046136,653,0.404918132922,0.00460698334811,0.0497781564452,0.999999917159,0.000129364697289,-0.000383254088111,-4.54204980718e-05,1793248869503308288
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,715.696001776,680,663.303998224,634,879,786.696001776,810.696001776,653,630,652.303998224,0.403908512051,0.00460958940189,0.0498469515648,0.999999951808,0.0001333013067,-0.000276695012591,-4.53332246998e-05,1793248869553308416
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.130735521,663.869264479,634,879,786.130735521,810.130735521,653,629.130735521,652,0.403268534678,0.00461507251635,0.0498464810018,0.999999947307,0.000142326586524,-0.000288151377878,-4.58056360566e-05,1793248869586641664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,744.553202707,715.553202707,679,664,634,879,786,810,653,629,652,0.402980210687,0.00461663296475,0.0498360359731,0.999999940564,0.0001456042506,-0.000309072118163,-4.63240420059e-05,1793248869603308288
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,744.596728119,715,679.596728119,664,634,879,786,810,653,629,652,0.402466892586,0.00461970573109,0.0498168243667,0.999999928415,0.000150389170036,-0.000344012950178,-4.6988351169e-05,1793248869636641792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.824609424,745,715,679.824609424,664,634,879,786,810,653,629,652,0.402247598886,0.00462081828557,0.0498114577372,0.999999928634,0.000131070434316,-0.000351187474955,-4.71184561109e-05,1793248869653308160
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.345693336,679,664,634,879,786,810,653,629,652,0.401904646246,0.00462292277686,0.0498151604423,0.999999940724,7.72489136389e-05,-0.000333219134817,-3.93593390675e-05,1793248869686641920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.92617793,679,664,634,879,786,810,653,629,652,0.401756592489,0.00462775908681,0.0498201620953,0.999999937526,0.000149382365222,-0.000319319658382,-2.58532014282e-05,1793248869703308800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.502954797,745.502954797,715.497045203,679,664,634,879,786,810,653,629,652,0.401636054425,0.00462788369173,0.0498254206572,0.999999939219,0.000158599475421,-0.000309451115847,-2.54651559762e-05,1793248869719975168
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.345378774,715,679,664,634,879,786,810,653,629,652.654621226,0.401429782747,0.00460436176441,0.0498318830299,0.999999947511,0.000131254607411,-0.000294956827434,-2.7413143907e-05,1793248869753308416
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.409989243,745,715.590010757,679.590010757,663.590010757,634,879.409989243,786,810,653,629,652,0.401208014865,0.00457388767073,0.049834740903,0.999999953791,9.43979868023e-05,-0.000287625930005,-2.78855633349e-05,1793248869803308288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.98597409,745,715.01402591,679.01402591,663.01402591,634,879.98597409,786,810,653,629,652,0.401153053571,0.00458417657615,0.0498358660809,0.999999953192,0.0001062504129,-0.000285330306884,-3.02293682589e-05,1793248869819974912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.437952176,745,715.562047824,679,663.562047824,634,878.875904351,786,810,653,629,652,0.401117267604,0.00457869775004,0.0498373837048,0.999999955468,0.000100509470422,-0.000279404403535,-2.99075556718e-05,1793248869836641792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.141347312,664,634,878,786,810,653,629,652,0.401084177285,0.00457527475823,0.0498389157501,0.999999957282,9.66553556758e-05,-0.000274239538165,-2.97892514094e-05,1793248869853308416
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.73086762,664,634,878,786,810,653,629,652,0.40105811663,0.00457961807149,0.0498404624641,0.999999957586,0.000100176150374,-0.000271775006495,-3.05271669109e-05,1793248869869975040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.314046799,745,715.685953201,679.685953201,664,634,878.314046799,786,810,653,629,652,0.401036827533,0.00458030706086,0.0498409289457,0.999999957836,0.00010022474789,-0.000270799071498,-3.08373529441e-05,1793248869886641664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.891899366,745,715.108100634,679.108100634,664,634,878.891899366,786,810,653,629,652,0.401019546642,0.00457792634354,0.0498404880101,0.999999958046,9.73566287844e-05,-0.000271073588037,-3.0788237513e-05,1793248869903308288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,715.469739359,679,664,634.469739359,879,786,810,653,629.469739359,652.469739359,0.401009631943,0.00457679545453,0.0498416444742,0.99999995883,9.58848821269e-05,-0.000268692445058,-3.08232085482e-05,1793248869919975168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.952756051,745,715.952756051,679.047243949,664.047243949,634.952756051,879,786,810,653,630,652.952756051,0.401001677041,0.00457616914401,0.0498429869529,0.999999959632,9.49337415612e-05,-0.00026601979062,-3.09234731012e-05,1793248869936641536
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.378957023,745,715.378957023,679.621042977,664.621042977,634.378957023,879,786,810,653,630,652.378957023,0.400996671973,0.00457796099977,0.0498423056017,0.999999959255,9.62035422466e-05,-0.000266909402369,-3.15357965057e-05,1793248869953308416
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.799202439,664.799202439,634.200797561,879,786,810,653.200797561,629.799202439,652,0.400993251663,0.00457876839083,0.0498424593849,0.999999959332,9.67500957467e-05,-0.000266381084514,-3.18750062059e-05,1793248869969975040
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.207864663,664.207864663,634.792135337,879,786,810,653.792135337,629.207864663,652,0.40099291362,0.00457766105206,0.0498442374586,0.999999960291,9.58899731615e-05,-0.00026309497149,-3.1683024731e-05,1793248869986641920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,634.62523771,879,786,810,653.62523771,629,652,0.400993423927,0.00457720514234,0.0498459040232,0.999999960898,9.6511093831e-05,-0.000260575821703,-3.14489499077e-05,1793248870003308800
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,634.047332547,879,786,810,653.047332547,629,652,0.400994394089,0.00457710234494,0.0498475101433,0.999999961314,9.79351341853e-05,-0.000258472410531,-3.11920580572e-05,1793248870019975168
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,634,879,786,810,653,629,652,0.400991004874,0.00457733919952,0.0498462108916,0.999999961064,9.61264011534e-05,-0.000260094818282,-3.1342525961e-05,1793248870053308160
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,634,879,786,810,653,629,652,0.400990714963,0.00457585601403,0.0498465643227,0.99999996135,9.49783660835e-05,-0.000259472559507,-3.0880777316e-05,1793248870069974528
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.722119654,745,715,679,664,634,879,786,810,653,629,652.277880346,0.400990984992,0.00457637934625,0.0498472092959,0.999999961581,9.5779279934e-05,-0.000258277624766,-3.09277324916e-05,1793248870086641408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.142682428,745,715,679,664,634,879,786,810,653,629,652.857317572,0.40099186267,0.00457908015947,0.0498481706517,0.999999961746,9.86952009286e-05,-0.000256461219661,-3.15267350626e-05,1793248870103308032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.433801676,745,715,679,663.566198324,634.433801676,879.433801676,786,810,653,629.433801676,652.566198324,0.400990547001,0.00458004363026,0.0498477247252,0.999999961349,9.88645979162e-05,-0.000257917154417,-3.1737318117e-05,1793248870119974912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.990652333,745,715,679,663.009347667,634.990652333,880,786,810,653,629.990652333,652.009347667,0.400988559314,0.00458040233998,0.0498468382933,0.999999960781,9.81429554621e-05,-0.000260374077415,-3.18154404737e-05,1793248870136641536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.413486225,745,715,679,663.586513775,634.413486225,880,786,810,653,629.413486225,652.586513775,0.400989276132,0.00457850180636,0.0498471203619,0.999999961258,9.77989104723e-05,-0.000258697657105,-3.15552889232e-05,1793248870153308160
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.338963081,634.661036919,878.338963081,786.338963081,809,653,629,652,0.400992616212,0.00457764036602,0.0498503657753,0.999999962927,9.61441653162e-05,-0.00025284694436,-3.1150908613e-05,1793248870203308032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.918544037,634.081455963,878.918544037,786.918544037,809,653,629,652,0.400992247117,0.004575871623,0.0498506336944,0.999999963066,9.2980578552e-05,-0.000253470079747,-3.12280152248e-05,1793248870219974656
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.928876916,745,715,679,664,634,879,786,810,653,629,652.071123084,0.400992838639,0.00457611847935,0.0498501626034,0.999999963128,9.3808172481e-05,-0.00025293963343,-3.10861134472e-05,1793248870253307904
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23b3e6913f75029d7ed2bf0cdfc2f007b9536da2
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
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+358,5.966666667,pose2_to_pose3_retreat,0.586146522221,0.00992789883041,1.04004257569,0.556718312299,0.0186023526122,1.0396659633
+359,5.983333333,pose2_to_pose3_retreat,0.585880518856,0.00992792018184,1.04004248597,0.556452309047,0.018602374202,1.03966587023
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+361,6.016666667,pose2_to_pose3_retreat,0.585411694172,0.00992792555206,1.04004237475,0.555983484505,0.0186023801522,1.03966576128
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+375,6.250000000,pose2_to_pose3_retreat,0.584056509281,0.00992775278519,1.04004247314,0.55462830174,0.0186022143297,1.03966585377
+376,6.266666667,pose2_to_pose3_retreat,0.584027329229,0.00992776038375,1.04004252111,0.554599121601,0.018602221613,1.03966590134
+377,6.283333333,pose2_to_pose3_retreat,0.584004963395,0.00992776620788,1.04004255788,0.5545767557,0.0186022271955,1.0396659378
+378,6.300000000,pose2_to_pose3_retreat,0.583988305736,0.00992777054558,1.04004258527,0.55456009799,0.0186022313532,1.03966596495
+379,6.316666667,pose2_to_pose3_retreat,0.583976492308,0.00992777362182,1.04004260469,0.554548284527,0.0186022343018,1.03966598421
+380,6.333333333,pose2_to_pose3_retreat,0.58396927209,0.00992777550199,1.04004261656,0.554541064287,0.018602236104,1.03966599598
+381,6.350000000,pose2_to_pose3_retreat,0.583964878093,0.0099277766462,1.04004262378,0.554536670277,0.0186022372007,1.03966600314
+382,6.366666667,pose2_to_pose3_retreat,0.583962903683,0.00992777716034,1.04004262703,0.554534695862,0.0186022376935,1.03966600636
+383,6.383333333,pose2_to_pose3_retreat,0.583961817938,0.00992777744307,1.04004262881,0.554533610113,0.0186022379645,1.03966600813
+384,6.400000000,pose2_to_pose3_retreat,0.583961208833,0.00992777760168,1.04004262982,0.554533001006,0.0186022381165,1.03966600912
+385,6.416666667,pose2_to_pose3_retreat,0.583960612776,0.0099277777569,1.0400426308,0.554532404948,0.0186022382653,1.03966601009
+386,6.433333333,pose2_to_pose3_retreat,0.58395995158,0.00992777792907,1.04004263188,0.55453174375,0.0186022384304,1.03966601117
+387,6.450000000,pose2_to_pose3_retreat,0.583959265312,0.00992777810778,1.04004263301,0.55453105748,0.0186022386016,1.03966601229
+388,6.466666667,pose2_to_pose3_retreat,0.583958690577,0.00992777825744,1.04004263396,0.554530482742,0.0186022387451,1.03966601322
+389,6.483333333,pose2_to_pose3_retreat,0.583958027585,0.00992777843009,1.04004263505,0.554529819748,0.0186022389106,1.03966601431
+390,6.500000000,pose2_to_pose3_retreat,0.583957637517,0.00992777853166,1.04004263569,0.55452942968,0.0186022390079,1.03966601494
+391,6.516666667,pose2_to_pose3_retreat,0.583957451157,0.00992777858019,1.04004263599,0.554529243319,0.0186022390545,1.03966601524
+392,6.533333333,pose2_to_pose3_retreat,0.583957389924,0.00992777859614,1.04004263609,0.554529182086,0.0186022390697,1.03966601534
+393,6.550000000,pose2_to_pose3_retreat,0.58395682896,0.00992777874221,1.04004263702,0.55452862112,0.0186022392098,1.03966601626
+394,6.566666667,pose2_to_pose3_retreat,0.583955829196,0.00992777900255,1.04004263866,0.554527621353,0.0186022394593,1.03966601789
+395,6.583333333,pose2_to_pose3_retreat,0.583954944833,0.00992777923284,1.04004264011,0.554526736987,0.01860223968,1.03966601933
+396,6.600000000,pose2_to_pose3_retreat,0.583954255948,0.00992777941223,1.04004264125,0.554526048101,0.018602239852,1.03966602045
+397,6.616666667,pose2_to_pose3_retreat,0.58395416032,0.00992777943713,1.0400426414,0.554525952472,0.0186022398758,1.03966602061
+398,6.633333333,pose2_to_pose3_retreat,0.583953795909,0.00992777953203,1.040042642,0.55452558806,0.0186022399668,1.0396660212
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+400,6.666666667,pose2_to_pose3_retreat,0.583952172253,0.00992777995483,1.04004264467,0.554523964399,0.0186022403721,1.03966602385
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+402,6.700000000,pose2_to_pose3_retreat,0.583952064529,0.00992777998288,1.04004264485,0.554523856675,0.0186022403989,1.03966602403
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab3c6f58acbd85c3e4b1d6ee59b6cb435323a904
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e2aac762bde64cf1e545b32975cd53e84f7aa50943974340e375dae16792c6
+size 25313016
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5105ad24ccff8348cbe4138f4d421090ecc9a3cf
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,399 @@
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+27,0.450000000,BASELINE,766.336833288,745,716,679,660,634.336833288,878.663166712,785,810,652,629,652,0.401022773195,0.00448578489188,0.0698478005353,0.999999986904,2.74267965237e-05,-0.000158524936126,1.76233507229e-05,1793248872338544640
+28,0.466666667,BASELINE,766,745,716,679.244514061,659.755485939,634,878.755485939,785,810,652,629,652,0.401023565682,0.00448555465743,0.069848463835,0.999999987038,2.71060173815e-05,-0.000157721354441,1.77082899162e-05,1793248872355211264
+29,0.483333333,BASELINE,766,745,716,679.83299808,659.16700192,634,878.16700192,785,810,652,629,652,0.401023404509,0.00448536961276,0.0698487097985,0.999999986805,2.73040792988e-05,-0.000159089152074,1.83042133223e-05,1793248872371878144
+30,0.500000000,BASELINE,766.415108343,745,716,679.584891657,659,634,878.415108343,785,810,652,629,652,0.401022983938,0.00448414538407,0.0698486358003,0.999999986742,2.60149225422e-05,-0.000159678244361,1.84908606766e-05,1793248872388544768
+31,0.516666667,BASELINE,766.994693148,745,716,679.005306852,659,634,878.994693148,785,810,652,629,652,0.401022460586,0.0044825094043,0.069848435025,0.999999986744,2.41364919922e-05,-0.000159958793793,1.85153424563e-05,1793248872405211136
+32,0.533333333,BASELINE,766.430150903,745,716,679.569849097,659,634,878.430150903,785,810.569849097,652.569849097,629,652,0.401022711391,0.0044834530349,0.069848485077,0.999999986827,2.41547509214e-05,-0.000159491770278,1.80525820677e-05,1793248872421877760
+33,0.550000000,BASELINE,766,745,716,680,659.145186264,634,878.290372528,785,811,653,628.854813736,652,0.401022688462,0.00448483277906,0.0698484297179,0.999999986818,2.54421561068e-05,-0.000159375857946,1.77974405774e-05,1793248872438544384
+34,0.566666667,BASELINE,766,745,716,680,659.721182497,634,879.442364994,785,811,653,628.278817503,652,0.401021832052,0.00448743586497,0.0698480546955,0.99999998652,3.04434800547e-05,-0.000160322293734,1.81717253791e-05,1793248872455211264
+35,0.583333333,BASELINE,766,745,716,680,659.695410653,634.304589347,879.390821305,784.695410653,810.695410653,652.695410653,628.304589347,652.304589347,0.401021624178,0.00448716717093,0.069848059878,0.999999986478,2.96679590016e-05,-0.000160720173999,1.82476439259e-05,1793248872471877888
+36,0.600000000,BASELINE,766,745,716,680,659.105050983,634.894949017,878.210101965,784.105050983,810.105050983,652.105050983,628.894949017,652.894949017,0.40102202477,0.00448420412991,0.0698484217743,0.999999986665,2.34725153638e-05,-0.000160603391302,1.80436307927e-05,1793248872488544512
+37,0.616666667,BASELINE,766,745,716,679.524835998,659,634.524835998,878.475164002,784.475164002,810,652,629,652.524835998,0.40102156155,0.00448516201678,0.0698483554945,0.9999999866,2.61032786051e-05,-0.000160624715887,1.7840545386e-05,1793248872505211136
+38,0.633333333,BASELINE,766,745,716,679.052870048,659.052870048,634,878.947129952,785,810,652,629,652.052870048,0.401020928247,0.00448670085505,0.0698481814143,0.999999986475,3.00402691953e-05,-0.000160729350759,1.76857900033e-05,1793248872521878272
+39,0.650000000,BASELINE,766,745,716,679.627487653,659.627487653,634,878.372512347,785,810,652,629,652.627487653,0.401020461713,0.00448559709785,0.0698478581566,0.999999986427,2.801360822e-05,-0.000161361113885,1.80059971009e-05,1793248872538544896
+40,0.666666667,BASELINE,766,745,716,680,659.792867327,634,878.207132673,785,810,652,629,652.792867327,0.401020425548,0.00448473157999,0.0698477309656,0.999999986435,2.61629418591e-05,-0.000161600228277,1.81802643895e-05,1793248872555211264
+41,0.683333333,BASELINE,766,745,716,680,659.203956014,634,878.796043986,785,810,652,629,652.203956014,0.401021182622,0.00448430517541,0.0698479651571,0.999999986554,2.46366618395e-05,-0.000161115628219,1.80855412523e-05,1793248872571877888
+42,0.700000000,BASELINE,766.378921799,745,716,680,659,634,879,785,810,652,629,652,0.401020956,0.00448412598878,0.0698477934934,0.999999986493,2.43558087353e-05,-0.000161530298499,1.81452769669e-05,1793248872588544512
+43,0.716666667,BASELINE,766.958602942,745,716,680,659,634,879,785,810,652,629,652,0.401020208198,0.00448407778254,0.0698474068005,0.999999986337,2.47348044651e-05,-0.000162421417818,1.82868476638e-05,1793248872605211392
+44,0.733333333,BASELINE,766.46377733,745,716,679.46377733,659.53622267,634,879,785,810.53622267,652,629,652,0.401021531216,0.00448467194452,0.069848632318,0.999999986583,2.49962389454e-05,-0.000160875080129,1.80971996688e-05,1793248872621878272
+45,0.750000000,BASELINE,766,745,716,679.112708562,660,634,879,785,810.887291438,652,629,652,0.401022583255,0.00448519933726,0.0698495572642,0.999999986778,2.53079750156e-05,-0.000159636035644,1.79004379733e-05,1793248872638544896
+46,0.766666667,BASELINE,766,745,716,679.685215526,660,634,879,785,810.314784474,652,629,652,0.401021880126,0.00448525280644,0.0698487502058,0.999999986641,2.58618016095e-05,-0.00016041532996,1.77785719684e-05,1793248872655211520
+47,0.783333333,BASELINE,766.266073174,745,716,680,659.733926826,634,878.733926826,785,810.266073174,652.266073174,629,652.266073174,0.40102109568,0.00448515937465,0.0698481662983,0.999999986515,2.58297375852e-05,-0.000161197223014,1.78571529282e-05,1793248872671878144
+48,0.800000000,BASELINE,766.857130501,745,716,680,659.142869499,634,878.142869499,785,810.857130501,652.857130501,629,652.857130501,0.401020211913,0.00448488651671,0.0698478549493,0.999999986401,2.50820615989e-05,-0.00016198229029,1.81805615853e-05,1793248872688544768
+49,0.816666667,BASELINE,766.56140185,745,716,680,659.43859815,634,878.43859815,785,811,653,629,652.56140185,0.401020830623,0.00448436217397,0.0698479354283,0.999999986451,2.45107502127e-05,-0.000161777213439,1.80160237858e-05,1793248872705211392
+50,0.833333333,BASELINE,766.01696524,745,716,680,660,634,879,785,810.98303476,652.98303476,629,652,0.401021871012,0.00448382122841,0.0698481372278,0.999999986548,2.40836331314e-05,-0.000161275859797,1.77060030105e-05,1793248872721877504
+51,0.850000000,BASELINE,766.593892959,745,716,680,660,634,879,785,810.406107041,652.406107041,629,652,0.401021021213,0.0044853782829,0.0698482207631,0.999999986463,2.6560235008e-05,-0.000161413276509,1.77280410981e-05,1793248872738544384
+52,0.866666667,BASELINE,766.826623852,745,716,680,659.826623852,634,878.826623852,785,810,652.173376148,629,652,0.401020969582,0.00448625356604,0.0698484539416,0.999999986479,2.77413908101e-05,-0.000161102698594,1.78457187135e-05,1793248872755210752
+53,0.883333333,BASELINE,766.241065355,745,716,680,659.241065355,634,878.241065355,785,810,652.758934645,629,652,0.401022815507,0.0044855080142,0.0698490428796,0.999999986744,2.58427687101e-05,-0.000159727063688,1.81907685785e-05,1793248872771877632
+54,0.900000000,BASELINE,766,744.659486082,716,680,659,634,878.340513918,785,810,653,629,652.340513918,0.401022861667,0.00448540923003,0.0698489509692,0.999999986764,2.52103981022e-05,-0.000159713477017,1.80873460869e-05,1793248872788544256
+55,0.916666667,BASELINE,766,744.080691367,716,680,659,634,878.919308633,785,810,653,629,652.919308633,0.401021648408,0.00448576303332,0.0698483826227,0.999999986615,2.54641100443e-05,-0.000160653008383,1.76700969072e-05,1793248872805211392
+56,0.933333333,BASELINE,766,744.498926324,716,680,659,634,879,785,810,652.501073676,629,653,0.401020602098,0.00448570555352,0.0698483828385,0.999999986533,2.54572357524e-05,-0.000161154489715,1.77369975757e-05,1793248872821878016
+57,0.950000000,BASELINE,766,745,715.922066979,680,659,634,879,785,810,652,629,652.922066979,0.401019986744,0.00448556339023,0.0698485548866,0.999999986505,2.53852887991e-05,-0.000161332416376,1.78428471247e-05,1793248872838544896
+58,0.966666667,BASELINE,766,745,715.347800865,680,659,634,879,785,810,652,629,652.347800865,0.401021943785,0.0044853062287,0.0698492346925,0.999999986742,2.51677631941e-05,-0.000159901658165,1.76972466873e-05,1793248872855211520
+59,0.983333333,BASELINE,766.231599978,745,715.231599978,680,659.231599978,634.231599978,879,785,810.231599978,652,629,652,0.401022867915,0.00448528750513,0.0698494998035,0.999999986818,2.63621602428e-05,-0.000159227930195,1.77484653377e-05,1793248872871878144
+60,1.000000000,BASELINE,766.818886726,745,715.818886726,680,659.818886726,634.818886726,879,785,810.818886726,652,629,652,0.401022205721,0.00448563496994,0.0698491280344,0.99999998664,2.97249607858e-05,-0.000159716834421,1.81019549178e-05,1793248872888544768
+61,1.016666667,BASELINE,767,745,716,680,659.597355665,634.597355665,879,785,810.597355665,652,629,652,0.401021426519,0.0044854968943,0.0698483624241,0.999999986462,2.96156741846e-05,-0.000160843006498,1.81462132859e-05,1793248872905210880
+62,1.033333333,BASELINE,767,745,716,680,659.015171737,634.015171737,879,785,810.015171737,652,629,652,0.401020595142,0.00448514231558,0.0698474211996,0.999999986283,2.79581795587e-05,-0.000162253337044,1.80525850643e-05,1793248872921877504
+63,1.050000000,BASELINE,766.442910095,745,716,680,659,634,879,784.442910095,810,652,629,652.557089905,0.401022084625,0.00448363302684,0.069848622967,0.999999986663,2.57134451411e-05,-0.000160272341898,1.80532788799e-05,1793248872938544384
+64,1.066666667,BASELINE,766.13025925,745,716,680,659,634,879,784.13025925,810,652,629,652.86974075,0.401023106346,0.00448266581958,0.0698495306817,0.999999986926,2.4248560786e-05,-0.000158854146707,1.80586227486e-05,1793248872955211008
+65,1.083333333,BASELINE,766.707453947,745,716,680,659,634,879,784.707453947,810,652,629,652.292546053,0.401022310048,0.00448366457166,0.0698492327229,0.999999986763,2.55133508205e-05,-0.000159678337072,1.807126203e-05,1793248872971877632
+66,1.100000000,BASELINE,767,745,716,679.707903985,659,634,879,785,810,652,629,652,0.401022353239,0.00448394710444,0.0698494188168,0.999999986757,2.62916964637e-05,-0.000159577390947,1.81452936437e-05,1793248872988544256
+67,1.116666667,BASELINE,767,745,716,679.115607961,659,634,879,785,810,652,629,652,0.401023259209,0.00448349354686,0.069850102393,0.999999986915,2.6570101585e-05,-0.000158525641026,1.82824208751e-05,1793248873005210880
+68,1.133333333,BASELINE,766.534897323,745,716,679.465102677,659,634,879,785,810.465102677,652.465102677,629,652,0.401023010487,0.00448354360549,0.0698495901886,0.999999986844,2.56333056209e-05,-0.000159124185116,1.82957635508e-05,1793248873021877760
+69,1.150000000,BASELINE,766,745,716,680,659,634,878.957227203,785,811,652.957227203,629,652,0.401022445737,0.0044837630379,0.0698488099259,0.99999998671,2.45810584764e-05,-0.000160133450819,1.82684932758e-05,1793248873038544640
+70,1.166666667,BASELINE,766,745,716,680,659,634,878.382428308,785,811,652.382428308,629,652,0.401021433327,0.00448457000062,0.0698483026395,0.9999999865,2.57585662111e-05,-0.000161273155716,1.81094713681e-05,1793248873055211008
+71,1.183333333,BASELINE,766,745,716,680,659,634,878.191414774,785,810.808585226,652,629,652,0.401020944571,0.00448527571665,0.0698480485421,0.999999986421,2.62061754011e-05,-0.000161708813817,1.79250685643e-05,1793248873071877632
+72,1.200000000,BASELINE,766,745,716,680,659,634,878.763357824,785,810.236642176,652,629,652,0.401021496824,0.00448578015669,0.0698482977783,0.999999986606,2.52027628647e-05,-0.000160744842883,1.769020908e-05,1793248873088544512
+73,1.216666667,BASELINE,766,745,715.65060626,680,659,634,879,785,810.34939374,652,629,652,0.401022197431,0.00448564653972,0.0698484595031,0.999999986701,2.51235370935e-05,-0.000160182774245,1.75717884455e-05,1793248873105211392
+74,1.233333333,BASELINE,766,745,715.05462419,680,659,634,879,785,810.94537581,652,629,652,0.401023002739,0.00448506260723,0.0698485594657,0.999999986731,2.56965659755e-05,-0.000159904352465,1.75355457761e-05,1793248873121878016
+75,1.250000000,BASELINE,766,745,715.523724633,680,659.523724633,634.523724633,879,785,811,652,629,652,0.40102331655,0.00448618816242,0.069849193214,0.9999999868,2.68989017721e-05,-0.000159281170446,1.74778970117e-05,1793248873138544640
+76,1.266666667,BASELINE,766.099928513,745,716,680,659.900071487,634.900071487,879,784.900071487,810.900071487,652,629,652,0.401023398436,0.00448692039417,0.0698496549278,0.999999986834,2.75685202321e-05,-0.000158952061228,1.7488033699e-05,1793248873155211264
+77,1.283333333,BASELINE,766.674395698,745,716,680,659.325604302,634.325604302,879,784.325604302,810.325604302,652,629,652,0.401022614471,0.00448496569664,0.0698490439173,0.999999986689,2.54068402273e-05,-0.000160184635649,1.78303256808e-05,1793248873171877632
+78,1.300000000,BASELINE,767,745,716,679.744116513,659.255883487,634,879,784.255883487,810.255883487,652,629,652.255883487,0.401021889025,0.0044836708315,0.0698486661751,0.999999986614,2.40380819419e-05,-0.000160841754781,1.79998420324e-05,1793248873188544512
+79,1.316666667,BASELINE,767,745,716,679.153443235,659.846556765,634,879,784.846556765,810.846556765,652,629,652.846556765,0.401021240143,0.00448323927017,0.0698485936338,0.999999986638,2.37067573111e-05,-0.000160745966473,1.7943304234e-05,1793248873205211136
+80,1.333333333,BASELINE,766.591978362,745,716,679.408021638,660,634,879.408021638,785,811,652,629,652.591978362,0.401021391709,0.00448381161725,0.0698486853069,0.999999986648,2.51113093608e-05,-0.000160465924267,1.80122146508e-05,1793248873221877760
+81,1.350000000,BASELINE,766.040763958,745,716,679.959236042,660,634,879.959236042,785,811,652,629,652.040763958,0.401021824188,0.00448473627998,0.0698488346099,0.999999986648,2.71250569768e-05,-0.000160121219242,1.81251503676e-05,1793248873238544640
+82,1.366666667,BASELINE,766,745,716,680,659.442197232,634,878.884394464,785,811,652,629,652,0.401021792722,0.00448523711263,0.0698488797535,0.999999986597,2.83961748388e-05,-0.000160225781965,1.81053944804e-05,1793248873255211264
+83,1.383333333,BASELINE,766,745,716,680,659,634,878.153246693,785,810.846753307,652,629,652,0.401021706602,0.00448569169824,0.069848904898,0.99999998657,2.89082195451e-05,-0.000160310951768,1.80112787795e-05,1793248873271878144
+84,1.400000000,BASELINE,766,745,716,680,659,634,878.729627094,785,810.270372906,652,629,652,0.401021571874,0.00448611204465,0.0698488977893,0.999999986626,2.74881166172e-05,-0.000160243511582,1.77411046648e-05,1793248873288544768
+85,1.416666667,BASELINE,766.314622306,745,716,680,659,634,878.685377694,784.685377694,810,652,629,652.314622306,0.401021126736,0.00448663388725,0.0698488804726,0.999999986525,2.84618101962e-05,-0.000160700622892,1.77491616693e-05,1793248873305211392
+86,1.433333333,BASELINE,766.907229098,745,716,680,659,634,878.092770902,784.092770902,810,652,629,652.907229098,0.401020407334,0.00448724540676,0.0698488541367,0.99999998628,3.15505423532e-05,-0.000161621201591,1.80030497475e-05,1793248873321877760
+87,1.450000000,BASELINE,767,745,716,680,659.486073233,634.486073233,878.486073233,784.486073233,810,652,629.486073233,652.513926767,0.401020007041,0.00448622844614,0.069848408806,0.999999986281,2.90200263495e-05,-0.000162095587101,1.78939971344e-05,1793248873338544384
+88,1.466666667,BASELINE,766.93788498,745,715.93788498,680,659.93788498,634.93788498,879,784.93788498,810,652,629.93788498,652,0.401019846077,0.00448516510806,0.0698480570231,0.99999998634,2.60731346058e-05,-0.000162253617397,1.77275616893e-05,1793248873355211264
+89,1.483333333,BASELINE,766.363886591,745,715.363886591,680,659.363886591,634.363886591,879,784.363886591,810,652,629.363886591,652,0.40102116931,0.0044862103916,0.0698491170242,0.999999986566,2.82897570823e-05,-0.000160487064583,1.76433699497e-05,1793248873371878144
+90,1.500000000,BASELINE,766,745,715.216306818,680,659.216306818,634.216306818,879,784.216306818,810,652.216306818,629,652,0.401021459435,0.00448635706844,0.0698494283449,0.999999986629,2.90376774176e-05,-0.000159958963892,1.76593981735e-05,1793248873388544512
+91,1.516666667,BASELINE,766,745,715.807229145,680,659.807229145,634.807229145,879,784.807229145,810,652.807229145,629,652,0.401019960347,0.00448494747428,0.0698484430476,0.999999986416,2.72419948508e-05,-0.000161575702724,1.78489944559e-05,1793248873405211392
+92,1.533333333,BASELINE,766,745,716,680,659.609579634,634.609579634,879,785,810.390420366,652.609579634,629,652.390420366,0.401019765345,0.00448435745705,0.0698479650738,0.999999986328,2.72143228307e-05,-0.000162125758235,1.78546979177e-05,1793248873421878016
+93,1.550000000,BASELINE,766,745,716,680,659.030131488,634.030131488,879,785,810.969868512,652.030131488,629,652.969868512,0.401020201735,0.00448416424996,0.069847732728,0.999999986301,2.80426590336e-05,-0.000162159363427,1.7771366975e-05,1793248873438544640
+94,1.566666667,BASELINE,766.54534728,745,716,680,659.54534728,634.54534728,878.45465272,785,810.45465272,652,629,652.45465272,0.401021001234,0.00448463353111,0.0698487765643,0.999999986489,2.78090059171e-05,-0.000161016502868,1.79429893602e-05,1793248873455211520
+95,1.583333333,BASELINE,766.8794597,745.1205403,716,679.8794597,660,634.8794597,878,785,810,652,629,652,0.401021384857,0.00448507070585,0.0698493906932,0.999999986592,2.74923146915e-05,-0.000160417928228,1.80672475495e-05,1793248873471878144
+96,1.600000000,BASELINE,766.304522918,745.695477082,716,679.304522918,660,634.304522918,878,785,810,652,629,652,0.401020125689,0.00448524986356,0.0698481210855,0.999999986331,2.70821916714e-05,-0.000162114393608,1.7960240393e-05,1793248873488544768
+97,1.616666667,BASELINE,766,745.721721472,716,679.278278528,659.721721472,634.278278528,878.278278528,785,810.278278528,652,629,652,0.401019515148,0.00448538590361,0.0698475015401,0.999999986203,2.72096035864e-05,-0.000162895477355,1.78393153778e-05,1793248873505211392
+98,1.633333333,BASELINE,766,745.130063376,716,679.869936624,659.130063376,634.869936624,878.869936624,785,810.869936624,652,629,652,0.401019635051,0.00448547338727,0.0698476140536,0.999999986226,2.79423531625e-05,-0.00016264571646,1.77027169623e-05,1793248873521878016
+99,1.650000000,BASELINE,766.451302837,745,716,679.548697163,659,634.548697163,879,785.451302837,810.548697163,652,629,652.451302837,0.401020764388,0.00448508368969,0.0698482506411,0.999999986427,2.74974019564e-05,-0.000161463086293,1.7887459564e-05,1793248873538544384
+100,1.666666667,BASELINE,766.970454994,745.029545006,716,679.029545006,659.029545006,634,878.970454994,785.970454994,810,652,629,653,0.401022074019,0.00448466737369,0.0698490077279,0.999999986661,2.68582642851e-05,-0.000160089634936,1.81277906542e-05,1793248873555211008
+101,1.683333333,BASELINE,766.39634331,745.60365669,716,679.60365669,659.60365669,634,878.39634331,785.39634331,810,652,629,653,0.401021464263,0.00448623867989,0.0698492640439,0.999999986622,2.87563302994e-05,-0.000160043879586,1.77238273403e-05,1793248873571877888
+102,1.700000000,BASELINE,766,745.817779007,716,680,660,634,878,784.817779007,810,652,629,652.817779007,0.401021005539,0.00448701941411,0.0698494239987,0.999999986599,2.95932790093e-05,-0.000160070188075,1.74019352968e-05,1793248873588544768
+103,1.716666667,BASELINE,766,745.229287452,716,680,660,634,878,784.229287452,810,652,629,652.229287452,0.401020883545,0.00448603752942,0.0698493691118,0.999999986616,2.80644148386e-05,-0.000160257166406,1.72630251953e-05,1793248873605211392
+104,1.733333333,BASELINE,766,745,715.646619774,680,660,634,878.353380226,784.353380226,810.353380226,652,629,652,0.401021070585,0.00448515460151,0.069849411845,0.999999986662,2.68279431101e-05,-0.00016016889279,1.73732759236e-05,1793248873621877760
+105,1.750000000,BASELINE,766,745,715.067669543,680,660,634,878.932330457,784.932330457,810.932330457,652,629,652,0.401021454887,0.00448433483969,0.0698495168912,0.999999986727,2.57781114565e-05,-0.000159904920107,1.76425712192e-05,1793248873638544384
+106,1.766666667,BASELINE,766,745.476466659,715.476466659,680,659.523533341,634,878.523533341,784.523533341,810.523533341,652,629,652,0.401020420045,0.00448435598185,0.0698486429731,0.999999986427,2.60590618619e-05,-0.000161694764256,1.79588185929e-05,1793248873655211264
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,785,811,652,629,652,0.401019815002,0.00448671469063,0.0698488659422,0.999999986456,2.77520742087e-05,-0.000161198708792,1.82436683787e-05,1793248873698496512
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,785,810.408108195,652,629,652.591891805,0.401020520454,0.00448555263513,0.0698486408414,0.999999986489,2.62280168727e-05,-0.000161294814509,1.78166989133e-05,1793248873715163136
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.179679456,744.820320544,716,679.820320544,659.179679456,634,878.820320544,785,810,652.179679456,629,653,0.401020724786,0.00448461050163,0.0698484771623,0.999999986484,2.53393317575e-05,-0.000161492857713,1.7583025906e-05,1793248873731830016
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.758353574,744.241646426,716,679.241646426,659.758353574,634,878.241646426,785,810,652.758353574,629,653,0.401019816331,0.00448415672484,0.0698484498753,0.999999986399,2.58615484648e-05,-0.000161917262448,1.77785852772e-05,1793248873748496384
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,744.336973429,715.663026571,679,659.663026571,634,878,785,810.336973429,652.663026571,629,652.663026571,0.40101934755,0.00448491097875,0.0698483906169,0.999999986264,2.76808938776e-05,-0.000162439480566,1.78904382367e-05,1793248873765163008
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,744.915554342,715.084445658,679,659.084445658,634,878,785,810.915554342,652.084445658,629,652.084445658,0.401019194012,0.00448653138188,0.0698483084353,0.999999986086,3.04302710534e-05,-0.000163031830139,1.79422742995e-05,1793248873781829632
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.510725841,745,715.489274159,679.489274159,659,634,878,785,811,652,629,652.489274159,0.401018995479,0.00448546805427,0.0698477654679,0.999999986071,2.69369859151e-05,-0.000163742956083,1.79289570106e-05,1793248873798496256
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.064075671,745,715.935924329,680,659.064075671,634,878.064075671,785,810.935924329,652,629,652.935924329,0.401018899751,0.00448419793292,0.0698473597664,0.999999985991,2.31099525e-05,-0.000164807419657,1.79367270671e-05,1793248873815162880
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.654589547,745,715.345410453,680,659.654589547,634,878.654589547,785,810.345410453,652,629,652.345410453,0.401019711836,0.00448499693779,0.0698487287976,0.9999999853,2.53059557589e-05,-0.000168608094646,1.82092275105e-05,1793248873831829504
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.759597615,745,715.240402385,679.759597615,660,634,879,785,810,652,629,652.240402385,0.40102770574,0.00448578886019,0.0698528237461,0.999999985066,2.74055299604e-05,-0.000169625678004,1.85562305507e-05,1793248873848496128
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.180409735,745,715.819590265,679.180409735,660,634,879,785,810,652,629,652.819590265,0.401045820576,0.00448657080162,0.0698607601757,0.99999998549,2.93692119554e-05,-0.000166721207287,1.90082258671e-05,1793248873865162752
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,716,679,659.604732834,634,879,785,810,652,629,652.604732834,0.401083254022,0.00448600966649,0.0698751479891,0.999999987904,2.83237817804e-05,-0.000151714853226,1.93030954789e-05,1793248873881829376
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659.030644273,634,879,785,810,652,629,652.030644273,0.401129427334,0.00448484091499,0.0698924544503,0.999999990862,2.59170101603e-05,-0.000131233529371,1.95268804487e-05,1793248873898496000
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.443377587,679.556622413,659,634,878.443377587,785,810.556622413,652,629,652.556622413,0.401193591578,0.004485052363,0.0699069908027,0.999999993227,2.49293475496e-05,-0.000112051009523,1.91881245511e-05,1793248873915162880
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.142554417,680,659.142554417,634,878.142554417,785,810.857445583,652,629,652.857445583,0.401262284354,0.00448513049544,0.0699193378493,0.999999994927,2.38987053687e-05,-9.60499801296e-05,1.86697944146e-05,1793248873931829504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.722117012,680,659.722117012,634,878.722117012,785,810.277882988,652,629,652.277882988,0.401341749627,0.0044845613559,0.0699254523164,0.999999995578,2.24909947438e-05,-8.95774592777e-05,1.76982125424e-05,1793248873948496128
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,679.698749118,660.301250882,634,879,785,810.301250882,652,629,652,0.401428530982,0.00448517285896,0.0699270203833,0.999999995694,2.13217238417e-05,-8.88858486729e-05,1.60036182163e-05,1793248873965163008
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,716,679.120010191,660.879989809,634,879,785,810.879989809,652,629,652,0.40152205132,0.00448687187492,0.0699244006725,0.999999995327,2.03720844897e-05,-9.35191473079e-05,1.3643043117e-05,1793248873981829632
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.546631427,679.453368573,660.093262853,634,878.546631427,784.546631427,810.546631427,652,629,652.453368573,0.40163367597,0.00448682825763,0.0699208338025,0.999999994653,1.68212006434e-05,-0.00010142830759,1.10751828351e-05,1793248873998496000
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.026184111,745,715.026184111,680.026184111,659.026184111,634,878.026184111,784.026184111,810.026184111,652,629,653,0.401751875168,0.00448635722937,0.0699173186207,0.999999993867,1.26477150267e-05,-0.000109707684316,8.43394177342e-06,1793248874015162624
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.617096556,745,715.617096556,680.617096556,659.617096556,634,878.617096556,784.617096556,810.617096556,652,629,653,0.401909719806,0.00448650060884,0.0699202624783,0.999999994161,9.72346838339e-06,-0.000107488018631,5.37963903942e-06,1793248874031829248
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.796103554,745.203896446,716,680.796103554,659.796103554,634,879,785,810.796103554,652.203896446,629,652.796103554,0.402078238006,0.00448592539946,0.0699228408243,0.999999994397,4.60963476207e-06,-0.000105740536929,2.15759045668e-06,1793248874048495616
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.216874128,745.783125872,716,680.216874128,659.216874128,634,879,785,810.216874128,652.783125872,629,652.216874128,0.402266404101,0.00448402741031,0.0699247463358,0.999999994491,-4.5347945633e-06,-0.000104862252677,-1.3732446779e-06,1793248874065162240
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.639332301,716,680,659,634,879,785,810,652.639332301,629,652,0.402476636114,0.0044833258721,0.0699269084098,0.999999994558,-1.06783437362e-05,-0.000103639566169,-5.38959861917e-06,1793248874081829120
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.06280047,716,680,659,634,879,785,810,652.06280047,629,652,0.402700074873,0.00448334042459,0.0699292240398,0.999999994617,-1.50258294432e-05,-0.000102210750515,-9.69654198362e-06,1793248874098495744
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634.511481152,879,785,810.511481152,652,629,652.511481152,0.402957727082,0.00448212367197,0.0699324195603,0.999999994846,-2.33288437375e-05,-9.77603596228e-05,-1.43435436169e-05,1793248874115162368
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.912030977,680,659,634.912030977,879,785,810.912030977,652,629,652.912030977,0.403227272471,0.00448122326875,0.069936448738,0.999999995147,-3.11052119305e-05,-9.15172962469e-05,-1.90292887043e-05,1793248874131828992
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.321363372,680,659,634.321363372,879,785,810.321363372,652,629,652.321363372,0.403540881287,0.00448299078466,0.0699446271898,0.999999996196,-3.31088865328e-05,-7.71407685639e-05,-2.36988833335e-05,1793248874148495616
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.264021917,745,715.264021917,680,659.264021917,634.264021917,879,785,810,652.264021917,629,652,0.403870729053,0.00448422103735,0.0699520839385,0.999999997127,-2.8113518226e-05,-6.54912447854e-05,-2.5816167165e-05,1793248874165162240
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.843103729,745,715.843103729,680,659.843103729,634.843103729,879,785,810,652.843103729,629,652,0.404219954895,0.00448481016856,0.0699586794714,0.999999997951,-1.47661244732e-05,-5.70958819025e-05,-2.4887753655e-05,1793248874181829376
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.161541597,745,716,680,659.580770798,634.580770798,879,785,810.419229202,652.580770798,629,652.419229202,0.404592206308,0.00448548170745,0.0699611697792,0.999999998099,-5.8654556743e-06,-5.61211433545e-05,-2.48410398912e-05,1793248874198496000
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.011488,745,716,680,659.005744,634.005744,879,785,810.994256,652.005744,629,652.994256,0.404973014676,0.00448618387139,0.0699621344673,0.999999998007,1.38268228309e-06,-5.79041218517e-05,-2.51219910649e-05,1793248874215162624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.581083809,745,716,680,659.581083809,634,879,785,811,652,629,653,0.405391866905,0.00448809089038,0.0699661306791,0.999999998378,-1.26354359899e-05,-4.88079324211e-05,-2.64835853701e-05,1793248874231829504
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.166422404,785,811,652,629,652.833577596,0.405824375825,0.0044913757826,0.0699669444193,0.999999998376,-1.98460108788e-05,-4.55424163017e-05,-2.79204719455e-05,1793248874248495872
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.747751304,785,811,652,629,652.252248696,0.406289975086,0.00449806553222,0.069959747704,0.999999997889,-9.54979298129e-06,-5.70869769924e-05,-2.9517885333e-05,1793248874265162496
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.674613313,785,811,652,629,652,0.406768093139,0.00450448812051,0.0699467289461,0.999999996553,4.50798209931e-06,-7.69062280623e-05,-3.09653661042e-05,1793248874281829376
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.099809045,785,811,652,629,652,0.407255807231,0.00451070592321,0.0699292474363,0.999999993937,2.1449092235e-05,-0.000103068251312,-3.2297919674e-05,1793248874298496000
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,680.474513988,660,634,879,785,811,652,629,652,0.4078143298,0.00451500195193,0.0699310070048,0.999999994717,2.72698539079e-05,-9.30485810835e-05,-3.41245754781e-05,1793248874315162880
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.949596325,716,680.949596325,660.050403675,634,879.050403675,785,811,652,629,652.050403675,0.408391761813,0.0045192222043,0.0699376547097,0.999999996151,2.99645084251e-05,-7.41626799197e-05,-3.60672091765e-05,1793248874331829760
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.355723743,716,680.355723743,660.644276257,634,879.644276257,785,811,652,629,652.644276257,0.409012654688,0.00452697948465,0.0699534143216,0.999999998114,2.41472930832e-05,-4.16532831732e-05,-3.81408922567e-05,1793248874348496128
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.768229929,744.231770071,715.768229929,680.231770071,661,634,880,785,811,652,629,652.768229929,0.409638717039,0.00453412949649,0.0699608605429,0.999999998555,2.53307297087e-05,-2.57521952208e-05,-3.98090312231e-05,1793248874365162496
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.190264138,744.809735862,715.190264138,680.809735862,661,634,880,785,811,652,629,652.190264138,0.410272501015,0.00454037242889,0.0699558890244,0.999999997881,3.69710636508e-05,-3.46589949055e-05,-4.08714075286e-05,1793248874381829120
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.384659813,745,715.384659813,680.615340187,660.615340187,634,880,785,811,652,629,652,0.41092121033,0.00454739970764,0.0699514635255,0.999999996706,5.36900548989e-05,-4.49093599661e-05,-4.10877856705e-05,1793248874398496000
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958090968,745,715.958090968,680.041909032,660.041909032,634,880,785,811,652,629,652,0.411577244217,0.00455481190324,0.0699473059853,0.999999994949,7.29013907681e-05,-5.58190778461e-05,-4.08889911833e-05,1793248874415162368
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.453243363,745,716,680,660,634,880,785,811,652,628.453243363,652.546756637,0.412307930185,0.00456205164367,0.0699731729329,0.999999996474,7.16845649915e-05,-9.73583456969e-06,-4.26550826767e-05,1793248874431828992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.134120212,745,715.865879788,680,660.134120212,634,880,784.865879788,811,652,628.134120212,653,0.413052958544,0.00456895367124,0.069999856086,0.999999995791,7.1924577099e-05,3.60553602582e-05,-4.41105531973e-05,1793248874448495616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.713179083,745,715.286820917,680,660.713179083,634,880,784.286820917,811,652,628.713179083,653,0.413826040141,0.00457478045735,0.0700213933815,0.999999993465,8.23410407488e-05,6.59698895585e-05,-4.40215901502e-05,1793248874465162496
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.291660948,680.291660948,661,634,880,784,811.291660948,652,629,652.708339052,0.414581163563,0.00458130926882,0.0700134008714,0.999999993413,9.55163116594e-05,4.60905657974e-05,-4.38926873073e-05,1793248874481829120
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.869576571,680.869576571,661,634,880,784,811.869576571,652,629,652.130423429,0.415318661776,0.00458852709348,0.0699764259275,0.999999992582,0.0001113992531,-2.26596209202e-05,-4.37245848561e-05,1793248874498495744
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.556883264,680.556883264,660.113766527,633.556883264,880,784,812,652,629,652.443116736,0.416082503437,0.00459320075389,0.0699379278602,0.99999998949,0.000110976162952,-8.12217673224e-05,-4.59059976313e-05,1793248874515162624
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.984115072,745,715.015884928,680.015884928,659.031769856,633.015884928,880.015884928,784,812,652,629,652.984115072,0.416855920091,0.00459702036083,0.0699008055834,0.99999998418,0.000106113008159,-0.000134204036072,-4.86754735557e-05,1793248874531829248
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.393124939,745,715.606875061,680.606875061,660.213750123,633.606875061,880.606875061,784,812,652,629,652.393124939,0.417698021494,0.0045967652948,0.0699295648653,0.999999988222,0.000112559936888,-9.26735513371e-05,-4.7943529347e-05,1793248874548495872
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,716,681,661,634,881.193643959,784,812,652,629,652.193643959,0.418551841348,0.00459536878783,0.0699574241484,0.999999990976,0.000113836486189,-5.29866709223e-05,-4.77565174105e-05,1793248874565162496
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,716,681,661,634,881.772025935,784,812,652,629,652.772025935,0.419428943747,0.00459170442946,0.0699834952834,0.999999993177,0.000104840359955,-1.69627252874e-05,-4.86521944971e-05,1793248874581829376
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.349034084,745,715.650965916,681,661,634,881.650965916,784.349034084,812.349034084,652,629,652.650965916,0.420332707414,0.00458375319981,0.0700062025544,0.999999994141,9.48636035777e-05,1.82570998549e-05,-4.88495957842e-05,1793248874598496256
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.925148406,745,715.074851594,681,661,634,881.074851594,784.925148406,812.925148406,652,629,652.074851594,0.421253816765,0.00457301294829,0.0700267213073,0.999999993868,8.42488533026e-05,5.29537658646e-05,-4.85927014578e-05,1793248874615162880
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.491660481,745.508339519,715.508339519,681,661.508339519,634,881,785,812.491660481,652,629.508339519,652,0.422103470106,0.00457353277666,0.0700170919862,0.999999994509,8.52641067623e-05,3.5204262648e-05,-4.97310682437e-05,1793248874631829248
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.907778834,716,681,661.907778834,634,881,784.907778834,812.092221166,652,629.907778834,652.092221166,0.422934837274,0.00457670849703,0.0699918727868,0.999999994772,8.81599048939e-05,-7.34651168585e-06,-5.12772754174e-05,1793248874648495872
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.325842097,716,681,661.325842097,634,881,784.325842097,812.674157903,652,629.325842097,652.674157903,0.423725761804,0.00458505886816,0.0699077738463,0.999999984531,9.18197472716e-05,-0.000140010232528,-5.38828275378e-05,1793248874665162496
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.254384236,745,715.745615764,681,660.745615764,634,881.254384236,784,813,652,629,652.745615764,0.42457963369,0.00458986776801,0.0698633464521,0.999999973663,8.84919169836e-05,-0.000204029430229,-5.67039039103e-05,1793248874681829120
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.832434413,745,715.167565587,681,660.167565587,634,881.832434413,784,813,652,629,652.167565587,0.425513596791,0.00459017067581,0.0698693951628,0.999999978975,7.62733190842e-05,-0.000180708746843,-5.97992039758e-05,1793248874698495744
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.592124815,745,715,681,661.223625556,633.592124815,881.592124815,784,813,652,629,652.407875185,0.426473703078,0.00459134258105,0.0699171957943,0.999999988646,8.67985673846e-05,-0.000109046199651,-5.72920707012e-05,1793248874715162624
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.017749273,745,715,681,662.94675218,633.017749273,881.017749273,784,813,652,629,652.982250727,0.427444481323,0.00459286922319,0.0699820401436,0.999999992784,0.000106608171958,-1.76498280095e-05,-5.24979451619e-05,1793248874731829504
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.570043906,745,715.570043906,681,661.859912188,633.570043906,881,784,813.570043906,652,629.570043906,653,0.428365484711,0.00459598391935,0.0700160849964,0.999999992382,0.000106629648271,3.19299182973e-05,-5.33518700716e-05,1793248874748496128
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,716,681,661.155873364,634,881,784.155873364,814,652,630,652.844126636,0.429279287717,0.0045978785369,0.0700405064679,0.999999990595,0.000104891963722,6.95025409092e-05,-5.4571585688e-05,1793248874765162496
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,716,681,661.73520564,634,881,784.73520564,814,652,630,652.26479436,0.430177841371,0.00459632101505,0.0700414523235,0.999999990358,0.000100089390796,7.80780554847e-05,-5.62957628144e-05,1793248874781829120
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.6875027,745,716,681,661.6875027,633.6875027,880.6875027,784.6875027,814,652,629.6875027,652,0.431006323649,0.00459523446286,0.0699992950239,0.999999993352,0.000100513092333,5.45413238474e-06,-5.62446042532e-05,1793248874798495744
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.111928967,745,716,681,661.111928967,633.111928967,880.111928967,784.111928967,814,652,629.111928967,652,0.431775816162,0.00459454439743,0.0699208512529,0.999999983772,0.000105336541473,-0.000135527689383,-5.46988750875e-05,1793248874815162368
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.535144963,681,660.535144963,633.464855037,880,784.464855037,814,652,629.464855037,652.464855037,0.432633097944,0.00459527607984,0.0698914749544,0.999999977432,0.000104302653115,-0.000176027696505,-5.71865644585e-05,1793248874831828992
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.042752259,745,715.042752259,681,660.085504517,634,880.042752259,784.957247741,814,652,630,653,0.433513974261,0.00459581189359,0.0698804678999,0.999999976468,0.000101448115788,-0.000182034161789,-6.03015428272e-05,1793248874848495616
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.631127452,745,715.631127452,681,661.262254905,634,880.631127452,784.368872548,814,652,630,653,0.434425495371,0.00458946755043,0.069952720618,0.99999999225,9.3404076361e-05,-5.74027556597e-05,-5.89953172815e-05,1793248874865162240
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.783951334,745,715.783951334,681.216048666,662,634,881,784.216048666,814.216048666,652,630,653,0.435311972743,0.00458524334365,0.0700064909048,0.999999993909,8.82064437775e-05,3.25222868841e-05,-5.78207175573e-05,1793248874881829120
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.204834415,745,715.204834415,681.795165585,662,634,881,784.795165585,814.795165585,652,630,653,0.436156364436,0.00458458201001,0.0700292016082,0.999999992473,8.77921783577e-05,6.41235502505e-05,-5.68673150999e-05,1793248874898496000
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.627795209,661.627795209,634,881,784.627795209,814.627795209,652,630,653,0.436969328432,0.00458505136406,0.070026924758,0.999999992513,8.61932017179e-05,6.48777662544e-05,-5.77545795259e-05,1793248874915162624
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.051893112,661.051893112,634,881,784.051893112,814.051893112,652,630,653,0.437765092875,0.004586139512,0.0700109729149,0.999999993509,8.39458656946e-05,4.87502513556e-05,-5.96491896855e-05,1793248874931828992
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.522867153,745,715,681,661,634,881,784.522867153,814.522867153,652,630,653,0.438505965825,0.00458666049262,0.0699690636074,0.999999994676,8.33262748308e-05,-6.95238569739e-06,-6.04747415922e-05,1793248874948495616
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.89974277,881,784.89974277,815,652,630,652.89974277,0.439227181659,0.00458696957151,0.0699243117186,0.99999999221,8.33475534062e-05,-7.02060963026e-05,-6.0867234655e-05,1793248874965162240
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.308931898,881,784.308931898,815,652,630,652.308931898,0.439878814052,0.0045865166487,0.0698782290034,0.999999983111,8.57158455505e-05,-0.000151230566552,-5.96588089448e-05,1793248874981828864
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.72446876,745,715,681,661,633,881,784,814.72446876,652,630,652,0.440576326423,0.00458774236714,0.0698702333451,0.999999980838,8.6775574042e-05,-0.000164976677092,-5.98036026998e-05,1793248874998495744
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.146962608,745,715,681,661,633,881,784,814.146962608,652,630,652,0.441324121987,0.00459080783177,0.0699039800914,0.999999988869,8.64011516569e-05,-0.000104987489781,-6.14314892469e-05,1793248875015162368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.42930798,745,715,681.42930798,661.42930798,633.42930798,881,784,814.42930798,652,630,652.42930798,0.442064973674,0.00458969526792,0.0699635180307,0.999999994543,8.38643568821e-05,-1.28119901042e-05,-6.09630261806e-05,1793248875031829248
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,633.994845357,881,784,815,652,630,652.994845357,0.442802476755,0.00458714491362,0.0700312521098,0.999999990975,8.06001071946e-05,8.93336145861e-05,-5.97739799272e-05,1793248875048496384
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,633.419244529,881,784,815,652,630,652.419244529,0.4434317006,0.00458330490714,0.0700317580897,0.999999992114,7.85149691618e-05,7.89928897551e-05,-5.80304567971e-05,1793248875065162752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.838508249,745,715,682,662,633.161491751,881,784,815.161491751,652,630.161491751,652,0.444038762545,0.00458074943558,0.0700234491889,0.999999993807,7.72567942059e-05,5.6683045795e-05,-5.66132639809e-05,1793248875081829120
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.244001937,745,715,682,662,633.755998063,881,784,815.755998063,652,630.755998063,652,0.444586401,0.00458163824014,0.069991504581,0.999999995367,7.82159892255e-05,2.27990152124e-06,-5.60710737573e-05,1793248875098495744
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.338369247,745,715,682,662,633.661630753,881,784,815.661630753,652,630.661630753,652,0.445117150493,0.00458300489409,0.0699659863276,0.999999994558,8.00462872204e-05,-3.68170620282e-05,-5.58712507972e-05,1793248875115162368
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.912292584,745,715,682,662,633.087707416,881,784,815.087707416,652,630.087707416,652,0.445636142787,0.0045847042005,0.0699449417512,0.999999992906,8.24829992819e-05,-6.52586997088e-05,-5.59097652054e-05,1793248875131829248
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,633,881,784,815,652,630,652.487632329,0.446140704258,0.00458415545546,0.0699388662597,0.999999993029,7.92636764156e-05,-6.64743597806e-05,-5.69175164648e-05,1793248875148495872
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.935001303,662,633,881,784,815.064998697,652,630,652.935001303,0.446637086081,0.00458307642991,0.0699362848617,0.999999993463,7.5515144822e-05,-6.34480957421e-05,-5.78410584341e-05,1793248875165162496
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681.343282564,662,633,881,784,815.656717436,652,630,652.343282564,0.447088278438,0.00458098640986,0.069940136493,0.999999993358,7.57460296732e-05,-6.58456156616e-05,-5.6665394324e-05,1793248875181829120
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.242604141,661.757395859,633,881,784,815.757395859,651.757395859,630,652,0.447517595322,0.004581221676,0.0699389098222,0.999999992507,7.81834382773e-05,-7.57257374098e-05,-5.60237051726e-05,1793248875198495744
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.820432246,661.179567754,633,881,784,815.179567754,651.179567754,630,652,0.447916685218,0.00458466996107,0.0699306660878,0.999999990322,8.36697627998e-05,-9.59451195562e-05,-5.61198485279e-05,1793248875215162368
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.396354223,715,682,661.396354223,633,881,784,815,651.396354223,630,652,0.448299930124,0.00458305182995,0.0699316853417,0.999999990588,8.22112106203e-05,-9.45812533684e-05,-5.58532938944e-05,1793248875231828992
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.971416814,715,682,661.971416814,633,881,784,815,651.971416814,630,652,0.448676030868,0.00457914935115,0.0699368810952,0.999999991967,7.76213498315e-05,-8.34859243603e-05,-5.54232058396e-05,1793248875248495616
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.453117543,715,682,662,633,881.546882457,784,815,652,630,652.546882457,0.449018078269,0.00458148175448,0.0699458173097,0.99999999269,8.16039126207e-05,-7.03063657908e-05,-5.49330116129e-05,1793248875265162240
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661.8740561,633.1259439,881.8740561,784,815,652,630,653,0.449346242272,0.00458374679861,0.0699522396404,0.999999992973,8.5320387717e-05,-6.17842997973e-05,-5.43756027561e-05,1793248875281828864
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,661.28175776,633.71824224,881.28175776,784,815,652,630,653,0.44962959321,0.0045845548738,0.0699486289403,0.999999992319,8.63913020416e-05,-7.09120052779e-05,-5.3580947583e-05,1793248875298495744
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660.698438125,633.698438125,881,784.301561875,815,651.698438125,630,653,0.449883219809,0.00458523311801,0.069938511468,0.999999990823,8.78794809347e-05,-8.84343870198e-05,-5.30206176786e-05,1793248875315162368
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681.379559755,659.379559755,633,881.379559755,784,815,651.379559755,631,653,0.450629399155,0.00459346088133,0.0698576943143,0.999999971271,9.96202816328e-05,-0.000211493990578,-5.29526314651e-05,1793248875381829120
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.205423689,745,715,681.205423689,659,633,881.205423689,784,815,651.205423689,630.794576311,652.794576311,0.450775560191,0.00459497272565,0.0698409664329,0.999999965097,0.000104207669278,-0.000237080399049,-5.23470199055e-05,1793248875398496000
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+240,4.000000000,HOLD_POSE2,766,745,715,682,658,632,881,784,815,652,631,653,0.451641814831,0.00459445721363,0.0697875335358,0.999999943729,0.000105994603104,-0.000314669477118,-4.78600361439e-05,1793248875938511872
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,881,784,815.215372054,652,630.784627946,653,0.451635124606,0.00459467931211,0.069781837321,0.999999940755,0.000108238144944,-0.000323412684131,-4.66666056786e-05,1793248876375604736
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,881,784,815.790117152,652,630.209882848,653,0.451620280359,0.00459451499467,0.0697740566687,0.999999937145,0.000107623237122,-0.000334541866852,-4.7003216413e-05,1793248876392271360
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.62574246,745,715,682,658,632,881,784,815.62574246,652,630,653,0.451589199887,0.0045942895715,0.069760245047,0.999999929241,0.000107614002036,-0.000357430365378,-4.66947207178e-05,1793248876408937984
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.036197483,745,715,682,658,632,881,784,815.036197483,652,630,653,0.451548779707,0.00459402899792,0.0697429641774,0.999999918198,0.000107953173243,-0.000387083278736,-4.60151348129e-05,1793248876425604608
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.543579409,745,715,682,658,632.543579409,881,784,815,652,630.543579409,652.456420591,0.451488809132,0.00459392157855,0.0697260870757,0.999999906461,0.000107545582525,-0.000416420597537,-4.58868004651e-05,1793248876442271232
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,633,881.122533293,784.122533293,815,652,631,652.122533293,0.451424227487,0.00459440656298,0.0697103160435,0.999999894917,0.000108299578963,-0.000443107097289,-4.57608484372e-05,1793248876458937856
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,633,881.700802904,784.700802904,815,652,631,652.700802904,0.451347252528,0.0045970576041,0.069698560559,0.999999886712,0.000113555536267,-0.000460011236858,-4.5509638183e-05,1793248876475604480
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.72512214,745,715,682.27487786,658.27487786,633,881.72512214,784.72512214,815,652,630.72512214,653,0.451264444501,0.00459670086778,0.0696901254393,0.999999880816,0.000115376349364,-0.000472309870019,-4.44835431024e-05,1793248876492271104
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.155544361,745,715,682.844455639,658.844455639,633,881.155544361,784.155544361,815,652,630.155544361,653,0.451175382775,0.00459311945629,0.0696852501241,0.999999877607,0.000113514302005,-0.000479670882452,-4.2626684536e-05,1793248876508937984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.136142121,658.56807106,633,881,784,815,652,630.43192894,653,0.451068930009,0.0045927919668,0.0696829475032,0.999999875537,0.000114111815961,-0.000483971039421,-4.09388209171e-05,1793248876525604608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.025437488,745,715,681.025437488,658,633,881.025437488,784,815,652,630.974562512,652.974562512,0.450954621301,0.00459360226124,0.069681675508,0.99999987386,0.000115746439077,-0.000487175563052,-3.92691497641e-05,1793248876542271232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.603991649,745,715,681.603991649,658,633,881.603991649,784,815,652,630.396008351,652.396008351,0.450811556673,0.00459257187522,0.0696817976196,0.999999871333,0.000119840314914,-0.000491560164257,-3.66145618097e-05,1793248876558937856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.818557589,745,715,682,658.181442411,633,881.818557589,784,815,652,630,652,0.450663219062,0.00459103679831,0.0696841804428,0.999999871456,0.000123038552576,-0.000490732205322,-3.3649755824e-05,1793248876575604480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.243500573,745,715,682,658.756499427,633,881.243500573,784,815,652,630,652,0.45050344245,0.00458840686337,0.0696914675718,0.999999877298,0.000124293824648,-0.000478596306394,-3.00119744071e-05,1793248876592270848
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.339214419,745,715,682,659,633,881,784.339214419,815,652,630,652,0.450325432992,0.00458683780296,0.0697013585654,0.999999883721,0.000126856507195,-0.000464504580475,-2.64632507526e-05,1793248876608937728
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.927553619,745,715,682,659,633,881,784.927553619,815,652,630,652,0.450134033007,0.00458604786638,0.0697131618816,0.999999890447,0.000130379374121,-0.000448976460965,-2.29799322365e-05,1793248876625604608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,659,633,881.507836035,784.492163965,815,652,630.507836035,652,0.44991958378,0.00458342166751,0.0697286988656,0.999999899083,0.000134481007869,-0.000428276861136,-1.81222772509e-05,1793248876642271488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.913446221,745,715,682,659,633,881.913446221,784,815,652,631,652,0.449695405665,0.00458027583397,0.0697452301574,0.99999990811,0.000137866026216,-0.000405711160787,-1.30886085269e-05,1793248876658938112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.337179613,745,715,682,659,633,881.337179613,784,815,652,631,652,0.449434495786,0.00457564893045,0.0697644206255,0.999999919668,0.000136736656437,-0.000376696156788,-8.15102677276e-06,1793248876675604736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.238264998,745,715,682,659.476529997,633,881,784,815,652,630.761735002,652.238264998,0.449157319042,0.00457117637707,0.0697810279749,0.999999929048,0.000136993349331,-0.000350897049194,-2.8964734056e-06,1793248876692271360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.812550331,745,715,682,660.625100662,633,881,784,815,652,630.187449669,652.812550331,0.448857201484,0.00456692150087,0.0697939924028,0.999999935978,0.000139204778679,-0.000329633257589,2.80509834909e-06,1793248876708937728
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881.396024831,784,815,652,630.396024831,653,0.448514181385,0.00456324717628,0.0698014217059,0.999999940063,0.000142560038987,-0.000315403118394,8.51150327533e-06,1793248876725604352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881.983952125,784,815,652,630.983952125,653,0.448150371934,0.00455985417074,0.0698061688432,0.999999942787,0.000146469567454,-0.000304581289404,1.42202500541e-05,1793248876742270976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881.433619535,784,814.433619535,651.433619535,630.433619535,652.433619535,0.447727088772,0.00455829657631,0.0697978005718,0.999999937115,0.00015257693891,-0.000319535804993,1.96999717635e-05,1793248876758938112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881,784,814.147073855,651.147073855,630.147073855,652.147073855,0.447288798883,0.0045572256403,0.0697858452828,0.999999929543,0.000158366728267,-0.000339423276392,2.50089872181e-05,1793248876775604736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881,784,814.723156475,651.723156475,630.723156475,652.723156475,0.446811603231,0.00455742403132,0.0697645003611,0.999999917223,0.000163050237962,-0.00037159007129,2.98388049089e-05,1793248876792271360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.702181227,745,715,682,660.702181227,633,881.297818773,784,814.702181227,652,630.702181227,653,0.446337987351,0.00455816668605,0.0697556976052,0.999999914727,0.00015677187647,-0.000380880817474,2.99748600785e-05,1793248876808938240
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.128832884,745,715,682,660.128832884,633,881.871167116,784,814.128832884,652,630.128832884,653,0.445867683275,0.00455941287099,0.0697584983381,0.999999921735,0.000140352047262,-0.000369007596564,2.57684415153e-05,1793248876825604864
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.45939545,745,715,682,660.918790899,633,881.54060455,784,814,651.54060455,630,652.54060455,0.445353801608,0.00456999314013,0.0697715503223,0.999999931193,0.000131132139708,-0.000346501586055,1.88212156265e-05,1793248876842271488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.949423459,745.050576541,715.050576541,682,662,633,881,784.050576541,813.949423459,651,630.050576541,652,0.44482292589,0.00458318344763,0.0697870384337,0.999999940287,0.000126045979691,-0.000321552453839,1.19670017324e-05,1793248876858938112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.372396867,745.627603133,715.627603133,682,662,633,881,784.627603133,813.372396867,651,630.627603133,652,0.444246624415,0.00459538243817,0.0697969580734,0.999999943797,0.000142267105306,-0.00030325001048,1.43494362379e-05,1793248876875604480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.204438824,745.795561176,715.795561176,682,661.795561176,633,881,785,813,651,630.795561176,652,0.443650639519,0.00460125114718,0.0698045089367,0.999999946375,0.000144788546393,-0.000293301278007,1.61450721669e-05,1793248876892271104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.780927068,745.219072932,715.219072932,682,661.219072932,633,881,785,813,651,630.219072932,652,0.443018833649,0.0045955996484,0.069807748965,0.999999947802,0.000122378520035,-0.000298555105885,1.68728184733e-05,1793248876908937728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.644821244,744.644821244,715,682,661,633,881,785,813,651.355178756,630,652,0.442377793212,0.00459227911807,0.069809831961,0.999999949338,0.00010691025065,-0.000299280552664,1.80619598668e-05,1793248876925604608
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.071940445,744.071940445,715,682,661,633,881,785,813,651.928059555,630,652,0.441731092594,0.00459038732374,0.0698112057696,0.999999951057,9.56968387247e-05,-0.000297230388963,1.95339071517e-05,1793248876942271232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.517240471,744.517240471,715,682,661.517240471,633,880.482759529,784.482759529,812.482759529,652,630,652.517240471,0.441056179199,0.00458866217255,0.069821179176,0.999999960382,8.81735910689e-05,-0.000266555591926,2.02598426085e-05,1793248876958937856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.893809581,633,880.106190419,784,812,651.893809581,630,653,0.440363213608,0.00458654427238,0.0698284042909,0.999999965527,9.81716280019e-05,-0.000242613378274,2.11275171269e-05,1793248876975604480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.316275352,633,880.683724648,784,812,651.316275352,630,653,0.439608104515,0.00458257686613,0.0698179489239,0.999999947289,0.000183588538475,-0.000266801361669,2.30998618784e-05,1793248876992271104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.739796917,745,715,682,660.739796917,633.260203083,881,784,812,651,630.260203083,653,0.438820802886,0.0045804548786,0.0697845682896,0.999999923819,0.000218169925419,-0.000322846364891,2.31069916463e-05,1793248877008937728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.164596532,745,715,682,660.164596532,633.835403468,881,784,812,651,630.835403468,653,0.437994529437,0.00458056692219,0.069723434726,0.999999894369,0.000191210727494,-0.000417456922526,2.07350667782e-05,1793248877025604352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.419440289,634,881.419440289,784,812,651,630.580559711,653,0.437215473813,0.00457586166784,0.0697089073982,0.99999989061,0.00016338627546,-0.000437784853159,2.06997506259e-05,1793248877042270976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.006944125,745,715.006944125,682,661.006944125,634,881.993055875,784.006944125,811.993055875,651.006944125,630,653,0.436454945535,0.00456928725594,0.069713666611,0.999999899238,0.000135413523887,-0.000427456832889,2.16077941454e-05,1793248877058937856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.588231197,745,715.588231197,682,661.588231197,634,881.411768803,784.588231197,811.411768803,651.588231197,630,653,0.435661279505,0.0045678346967,0.069768361725,0.999999932739,0.000123862526708,-0.000344453909641,2.30696644607e-05,1793248877075604480
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715.831997277,682,661.831997277,634,881,785,811.168002723,652,630,652.831997277,0.434857956222,0.00456528286793,0.0698130137759,0.999999953685,0.000114845685145,-0.00028075189126,2.4881303503e-05,1793248877092271104
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715.255907125,682,661.255907125,634,881,785,811.744092875,652,630,652.255907125,0.434031175012,0.0045600608559,0.0698332706968,0.99999995852,0.000111984442976,-0.00026393279318,2.7542549375e-05,1793248877108937728
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,634,881,784.681159049,811.681159049,651.681159049,630,652.318840951,0.433195621708,0.00455439970884,0.0698432255714,0.99999996191,0.000113085439642,-0.000250159451766,2.85090926057e-05,1793248877125604608
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,634,881,784.107483658,811.107483658,651.107483658,630,652.892516342,0.432353057326,0.00454838758226,0.0698449465086,0.999999964201,0.000117353265907,-0.000238820439928,2.81211403198e-05,1793248877142271488
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,634,880.51949282,784.48050718,811,651,630,653,0.431449530831,0.00454439072764,0.0698190348252,0.999999953763,0.000107597912845,-0.000282959850157,2.88139695085e-05,1793248877158937856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.929558777,633.929558777,880,785,811.070441223,651,630,652.929558777,0.430526059784,0.0045407509363,0.0697839398396,0.999999936216,9.60270512127e-05,-0.000342741874588,2.95603435731e-05,1793248877175604736
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.349445831,633.349445831,880,785,811.650554169,651,630,652.349445831,0.429559977503,0.00453633282333,0.0697284958741,0.999999905566,9.47133469768e-05,-0.000423157033779,2.88912049044e-05,1793248877192271360
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.771252809,745,715,682,660.228747191,633,880,785,811.771252809,651.228747191,629.771252809,652,0.428647350917,0.00452993915887,0.0697183553367,0.999999899777,9.03911654786e-05,-0.00043753413747,2.89863419909e-05,1793248877208937728
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.378843712,744.621156288,715,682,661.378843712,633,880.378843712,785,811,651.621156288,629.378843712,652,0.426968407514,0.00451400899755,0.069824937313,0.999999957706,7.48123325896e-05,-0.000279179164666,3.24081692014e-05,1793248877242271232
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.864969234,659.135030766,634,880.135030766,785,811,652,629.864969234,652,0.424307696393,0.00449467869205,0.0698274789092,0.99999995998,4.85684512569e-05,-0.00027678651604,3.27083078914e-05,1793248877292271360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.290381596,659.709618404,634,880.709618404,785,811,652,629.290381596,652,0.423350297299,0.00448886294175,0.0697895895459,0.99999994079,4.49814652847e-05,-0.000339564515816,3.30695948293e-05,1793248877308937728
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744.716208853,715,681.283791147,660,634,880.716208853,784.716208853,811,652,629.283791147,652,0.422389346127,0.00448322409072,0.0697408138947,0.999999908265,4.13972981868e-05,-0.00042498544161,3.38183498713e-05,1793248877325604352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,744.142460056,715,681.857539944,660,634,880.142460056,784.142460056,811,652,629.857539944,652,0.421424765753,0.00447776598317,0.0696809154094,0.999999856341,3.78160111962e-05,-0.000533541295676,3.49629921015e-05,1793248877342271232
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.556637394,744.443362606,715,681.556637394,659.556637394,634,880,784.443362606,811,652,629.556637394,652,0.420605850868,0.00446922573585,0.0697052220044,0.999999881152,2.13456344185e-05,-0.000485936172472,3.32717667651e-05,1793248877358937600
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.032779129,744.967220871,715.032779129,681.032779129,659.131116517,634,880,785,811,652,629,652,0.419834164363,0.00445990149582,0.0697584392361,0.999999924977,1.45221914388e-06,-0.000386114161303,3.09666956484e-05,1793248877375604224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.615578895,744.384421105,715.615578895,681.615578895,661.462315579,634,880,785,811,652,629,652,0.419047599589,0.00445450497905,0.0698300577009,0.999999961421,-4.44045750987e-06,-0.000275637830803,3.40793725327e-05,1793248877392271104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,744.195180172,715.804819828,681.804819828,662.414459485,634,880,784.804819828,810.804819828,651.804819828,629,652,0.418235681954,0.00444861317336,0.0698735449149,0.999999976818,-6.36575052121e-06,-0.000212065870507,3.67527799827e-05,1793248877408938240
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744.76858347,715.23141653,681.23141653,660.69424959,634,880,784.23141653,810.23141653,651.23141653,629,652,0.417374635018,0.00444176158827,0.0698625189725,0.999999970603,-6.02987845983e-07,-0.000239385903233,3.85749655964e-05,1793248877425604864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744.657811058,715,681.342188942,659.657811058,634,879.657811058,784.342188942,810.342188942,651.342188942,629,652,0.416536151638,0.00443946310823,0.0698370561353,0.999999963354,4.16987907253e-07,-0.000268113641503,3.75024657892e-05,1793248877442270976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744.084068814,715,681.915931186,659.084068814,634,879.084068814,784.915931186,810.915931186,651.915931186,629,652,0.415712936675,0.00444024563556,0.0698018241032,0.999999955064,-1.77239806542e-06,-0.000297793947882,3.44711826067e-05,1793248877458937344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,744.504611694,715,681.495388306,659.504611694,634,879,785,811,652,629,652,0.41488710425,0.00445197832763,0.0697710260705,0.999999934979,6.95725820067e-06,-0.000358909818881,3.43097344845e-05,1793248877475604224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.906093511,659.812187022,634,879,785,810.906093511,652,629,652,0.414072243492,0.00446535400396,0.0697459502187,0.999999913409,1.97660006202e-05,-0.000414227622838,3.47447656078e-05,1793248877492270848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.32687821,658.65375642,634,879,785,810.32687821,652,629,652,0.413316406685,0.00447750498004,0.0697465124917,0.999999913651,4.39674331494e-05,-0.000411689495909,3.57161124691e-05,1793248877508937728
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.250571533,680.250571533,658.501143067,634,879,785,810,652,629,652,0.41261060304,0.00447928945201,0.0697735214846,0.99999993306,4.72143181587e-05,-0.00036109873069,3.54860568353e-05,1793248877525604352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.825734124,680.825734124,659.651468249,634,879,785,810,652,629,652,0.411969612549,0.00446764512494,0.0698347896316,0.999999968344,2.33166219484e-05,-0.000248260441518,3.36997006866e-05,1793248877542271232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.591240357,680.591240357,660,634,879,785,810.408759643,652,629.408759643,652,0.411322928244,0.00446028129722,0.0698638950926,0.999999979217,9.06083336988e-06,-0.000200879955445,3.36179643242e-05,1793248877558938112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.00479685,680.00479685,660,634,879,785,810.99520315,652,629.99520315,652,0.410673768837,0.00445477816017,0.0698790197505,0.999999982859,-1.00371321619e-06,-0.000181953334323,3.42772096554e-05,1793248877575604736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744.422281214,715.577718786,680.577718786,658.844562428,634,879,784.422281214,810.422281214,652,629.422281214,652,0.409986912328,0.00445614230139,0.0698424786044,0.99999996903,6.66054417183e-06,-0.000246495493849,3.37039259166e-05,1793248877592271360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744,716,680.841562774,658.158437226,634,879,784.158437226,810,652,629.158437226,652,0.409313327884,0.00445668784352,0.0698063326287,0.99999995155,1.05541326372e-05,-0.00030936693685,3.28748176593e-05,1793248877608938240
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744,716,680.265496104,658.734503896,634,879,784.734503896,810,652,629.734503896,652,0.408675547004,0.00445492633132,0.0697723514266,0.999999932513,4.1231046952e-06,-0.000366020012979,3.13981674065e-05,1793248877625604608
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,744.310494649,716,680.310494649,659,634,879,785,810,652,629.379010703,652,0.408083555602,0.00445668864195,0.0697654271136,0.999999929439,1.97311538223e-06,-0.000374419669774,3.04750658712e-05,1793248877642270976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744.886420467,716,680.886420467,659,634,879,785,810,652,628.227159066,652,0.407530708084,0.00446146334732,0.0697816328043,0.999999941208,3.48283878105e-06,-0.000341569139118,3.00251741755e-05,1793248877658937600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,659.470472982,634,879,784.529527018,810.470472982,652,628.470472982,651.529527018,0.407025989397,0.00446804584771,0.0697981383973,0.99999994785,1.54217447596e-05,-0.000321148399377,3.04259895931e-05,1793248877675604480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.943946013,744.943946013,715.943946013,680.943946013,659.887892027,634,879,784.056053987,810.887892027,652,629,651.056053987,0.406532600688,0.00447456147177,0.0698118578708,0.999999951681,2.82704952129e-05,-0.000308024765741,3.09824399508e-05,1793248877692271104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.362748552,744.362748552,715.362748552,680.362748552,658.725497103,634,879,784.637251448,809.725497103,652,629,651.637251448,0.406034590415,0.00447628998834,0.069798785285,0.999999943192,2.56407647978e-05,-0.000334657575907,3.10390893384e-05,1793248877708937984
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.216143079,744.216143079,715.216143079,679.783856921,658,634,879,784.783856921,809.216143079,652,628.783856921,652,0.40556836274,0.00447576299299,0.0697938014087,0.999999939726,2.07289725467e-05,-0.000345176210286,3.11702927222e-05,1793248877725605120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.791205669,744.791205669,715.791205669,679.208794331,658,634,879,784.208794331,809.791205669,652,628.208794331,652,0.405154912168,0.00447149057457,0.0698022493572,0.999999945334,1.20276698205e-05,-0.000328936214812,3.14252978384e-05,1793248877742271488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.634347102,745,715.634347102,679.365652898,658.365652898,634,878.634347102,784,810,652,628,652,0.404774219169,0.00447041801062,0.0698171103126,0.999999954352,1.32616439454e-05,-0.000300279431426,3.08728871278e-05,1793248877758937856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.06025061,745,715.06025061,679.93974939,658.93974939,634,878.06025061,784,810,652,628,652,0.404412199867,0.00447116955094,0.0698356270588,0.999999964359,2.01593076177e-05,-0.000264544349028,2.9860202046e-05,1793248877775604480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.531577051,745,715,680,659,634,878.531577051,784,810,652,628.531577051,652,0.404072540542,0.00446705279351,0.0698414713609,0.999999967294,1.88282041813e-05,-0.00025336266652,2.94003156535e-05,1793248877792270848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.121487299,680,658.878512701,634,879,784,810,652,629,652,0.403739648043,0.00446347003389,0.0698421457881,0.999999967863,1.56197062324e-05,-0.000251390633559,2.88689677375e-05,1793248877808937728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.696479142,680,658.303520858,634,879,784,810,652,629,652,0.403422228561,0.00446401152126,0.0698290681595,0.999999962294,9.00476497164e-06,-0.000273050555984,2.78288967252e-05,1793248877825604608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744.729041039,715.729041039,680,658.270958961,634,879,784.270958961,810,652,629,652,0.403123737456,0.00446617561605,0.0698199111381,0.999999957691,6.55971202177e-06,-0.000289544537485,2.71918306435e-05,1793248877842271232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.155133729,715.155133729,680,658.844866271,634,879,784.844866271,810,652,629,652,0.402846409429,0.0044701538831,0.0698151375911,0.999999954518,8.77684438421e-06,-0.000300262686384,2.70053482868e-05,1793248877858937856
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.432489444,715.432489444,679.567510556,659,634,879,784.567510556,810,652,628.567510556,652,0.402597984764,0.00447104574658,0.0698085339439,0.999999951569,6.34900980085e-06,-0.000310005384503,2.68019036365e-05,1793248877875604224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.975372903,679.049254193,659,634,878.975372903,784,810,652,628,652,0.402361874846,0.00447095925461,0.0698013052702,0.999999948645,2.5935914286e-06,-0.000319367166704,2.66042812685e-05,1793248877892270848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715.395996623,680.208006753,659,634,878.395996623,784,810,652,628,652,0.402161976683,0.00447458945227,0.069795268891,0.999999945728,7.69388930478e-06,-0.00032828829201,2.66793565384e-05,1793248877908937728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.818796341,659,634,878,784,810,652,628,652,0.401975826885,0.00448005343301,0.0697922160847,0.999999943918,1.68812557241e-05,-0.000333422463351,2.66047774644e-05,1793248877925604352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.246295061,659,634,878,784,810,652,628,652,0.401819365824,0.00448947734965,0.0697956061126,0.999999944473,3.48943825498e-05,-0.000330378950545,2.62070294709e-05,1793248877942270976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715.32820486,680,659,634,878,784.32820486,810,652,628,651.67179514,0.401678436868,0.00449629047348,0.0697968386623,0.999999944838,5.10596434687e-05,-0.000327193146727,2.57050144276e-05,1793248877958937600
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.904213873,680,659,634,878,784.904213873,810,652,628,651.095786127,0.401549235083,0.0045011323743,0.0697964422538,0.999999945062,6.58297141297e-05,-0.000323899908765,2.51242747072e-05,1793248877975604736
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.494368271,634,878.494368271,784.505631729,810,652,628.494368271,651.494368271,0.401442327141,0.00449723340843,0.069795961344,0.99999994534,5.90644357724e-05,-0.000324399988279,2.44211283737e-05,1793248877992271616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744.914997648,716,680,659.914997648,634,879,784.085002352,810,652,629,652,0.401343459142,0.00449252313562,0.0697955621754,0.99999994554,4.87601582162e-05,-0.000325556851266,2.35703369247e-05,1793248878008938240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.337919809,716,680,659.337919809,634,879,784.662080191,810,652,629,652,0.401265391854,0.00449320911286,0.0697957337754,0.999999945658,4.28351140498e-05,-0.000326135753495,2.20061731632e-05,1793248878025604608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.238415001,716,680,659,634,879,785,810,652,628.761584999,652,0.401195997089,0.004494114978,0.0697960846498,0.999999946041,3.99685684611e-05,-0.000325381611913,2.11397977996e-05,1793248878042271232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.813699911,716,680,659,634,879,785,810,652,628.186300089,652,0.401138856223,0.00449533153503,0.0697966888309,0.999999946834,4.14235471783e-05,-0.000322743938042,2.12593668414e-05,1793248878058937856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.601370524,634,878.601370524,784.601370524,809.601370524,652,628.398629476,652,0.401094900596,0.00449444255905,0.0697989769719,0.999999948106,3.99045955258e-05,-0.000318952884586,2.15704054423e-05,1793248878075604736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.011821773,634,878.011821773,784.011821773,809.011821773,652,628.988178227,652,0.401057259899,0.00449254516079,0.0698020716273,0.999999949586,3.69613120527e-05,-0.000314609432522,2.19731463132e-05,1793248878092271360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.134559918,634,878,784.567279959,809,652,628.432720041,652,0.401036951501,0.0044922563761,0.0698070021943,0.999999952371,3.55615834896e-05,-0.000305825335843,2.15455664806e-05,1793248878108937984
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,716,680.145610427,659.854389573,634,878.145610427,785,809.145610427,652,628.145610427,652.145610427,0.401017962258,0.0044923060828,0.0698109355503,0.999999954499,3.52353784353e-05,-0.000298841588601,2.1299256764e-05,1793248878125604864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,716,680.722290376,659.277709624,634,878.722290376,785,809.722290376,652,628.722290376,652.722290376,0.401001828327,0.00449326042312,0.069811805516,0.999999954804,3.799375973e-05,-0.00029745665736,2.16398838313e-05,1793248878142271488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.702475839,745,716,680.702475839,659,634,879,784.702475839,810,652,628.702475839,652.702475839,0.400988868277,0.00449330057852,0.0698127646497,0.999999955326,3.89083490374e-05,-0.000295571745094,2.17001329542e-05,1793248878158938112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.128585312,745,716,680.128585312,659,634,879,784.128585312,810,652,628.128585312,652.128585312,0.400978856403,0.0044924915594,0.0698138066106,0.999999956053,3.81102639973e-05,-0.000293222406725,2.14999426498e-05,1793248878175604736
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.951489915,680,659,634,879.09702017,785,810,651.048510085,628.048510085,652,0.400973817057,0.00449312666279,0.0698162047247,0.999999957992,3.87600308901e-05,-0.000286432594193,2.16629504748e-05,1793248878208937984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.372186017,680,659,634,880.255627966,785,810,651.627813983,628.627813983,652,0.400973014442,0.00449353895933,0.0698182293502,0.999999958187,3.84315569994e-05,-0.000285825657668,2.12946813427e-05,1793248878225604608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,880.589800255,784.794900127,810,652,628.794900127,652,0.400971917315,0.00449322923073,0.0698197446478,0.999999958504,3.77061666835e-05,-0.000284821337327,2.11528182846e-05,1793248878242271488
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,879.442481175,784.221240587,810,652,628.221240587,652,0.400970290958,0.00449162203982,0.0698203446951,0.999999959039,3.62675268668e-05,-0.000283102927613,2.14178016611e-05,1793248878258938112
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.361133338,680,659,634,879,784.361133338,810,652,628.361133338,652,0.400969939466,0.00449176336607,0.0698207580767,0.999999959291,3.57216066082e-05,-0.000282282054296,2.14387412047e-05,1793248878275604736
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.948977935,680,659,634,879,784.948977935,810,652,628.948977935,652,0.400970388305,0.0044930023715,0.0698210542738,0.999999959366,3.57361153444e-05,-0.000282024633887,2.13064755967e-05,1793248878292271360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.529169038,745,716,680,659,634,878.470830962,784.470830962,810,652,629,652,0.400970151618,0.00449344856819,0.0698214210468,0.999999959452,3.78459943275e-05,-0.000281460993137,2.10669585613e-05,1793248878308937984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.783424771,745,716,680,659,634,878,784.108287614,810,652,628.891712386,652,0.400969779869,0.00449394222016,0.069821764177,0.99999995954,3.99705771233e-05,-0.000280872843988,2.0812073335e-05,1793248878325604608
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.628179414,745,716,680,659,634,878,784.685910293,810,652,628.314089707,652,0.400969105142,0.00449496813829,0.069821975763,0.999999959651,4.12957258947e-05,-0.000280304615557,2.05347609953e-05,1793248878342271232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,716,680,659.251860639,634.251860639,878.251860639,784.748139361,810,652,628,652,0.400969201621,0.00449467928337,0.0698224145598,0.999999959859,4.00600402874e-05,-0.000279744598083,2.0509370934e-05,1793248878358938112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,716,680,659.803899479,634.803899479,878.803899479,784.196100521,810,652,628,652,0.400970217257,0.00449282342627,0.0698231241563,0.999999960169,3.57722437252e-05,-0.000279194366692,2.0784232502e-05,1793248878375604736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.396649053,745,715.603350947,680,659.603350947,634.603350947,879,784.396649053,810,652,628,652,0.400969476016,0.00449270759274,0.069822963194,0.999999960121,3.583894032e-05,-0.000279376710489,2.05271184296e-05,1793248878392271360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.01113367,680,659,634,879,785,810,652,628,652,0.400967812863,0.00449354791845,0.069822340972,0.999999959884,3.82867680845e-05,-0.000279939278722,1.99930306549e-05,1793248878408937984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.5902125,680,659,634,879,785,810,652,628,652,0.400968497279,0.00449426129468,0.0698226556006,0.999999959995,3.98198844456e-05,-0.000279309186865,2.0280876803e-05,1793248878425604608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.831719505,680,659,634,879,785,810,652,628.168280495,652,0.400968843433,0.00449484826881,0.0698230908773,0.999999960116,4.08724517271e-05,-0.000278708372048,2.04905355493e-05,1793248878442271488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.256098375,680,659,634,879,785,810,652,628.743901625,652,0.400968370788,0.00449512927332,0.0698238181954,0.999999960267,4.07617993392e-05,-0.000278178425428,2.05109334508e-05,1793248878458938112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.319710844,680,659,634,879.319710844,784.680289156,810,652,628.680289156,652.319710844,0.400968633478,0.00449522147155,0.0698243055163,0.999999960462,4.01807536116e-05,-0.00027756286442,2.05213751549e-05,1793248878475604736
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.89567079,680,659,634,879.89567079,784.10432921,810,652,628.10432921,652.89567079,0.400969485542,0.00449516234102,0.069824600479,0.999999960689,3.92226863617e-05,-0.000276878683275,2.05238369391e-05,1793248878492271104
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.516792092,680,659,634,879.033584184,784,810,652,628,652.516792092,0.400969658505,0.00449443407467,0.0698247993983,0.999999960827,3.92518851732e-05,-0.000276375313382,2.05315468459e-05,1793248878508937728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.071943869,680,659,634,878,784,810,652,628.071943869,652,0.400969650106,0.00449385889075,0.0698249292353,0.999999960898,3.95702022147e-05,-0.000276078850721,2.04782623002e-05,1793248878525604608
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.651076746,680,659,634,878,784,810,652,628.651076746,652,0.400969422185,0.00449540640998,0.0698247218341,0.999999960632,4.03871194316e-05,-0.000276959068811,1.99867954605e-05,1793248878542271232
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.771946356,680,659,634,878,784.228053644,809.771946356,652.228053644,629,652,0.400969414426,0.00449582157882,0.0698250022086,0.999999960619,4.0608725244e-05,-0.000276982450271,1.98605026509e-05,1793248878558937856
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.198237138,680,659,634,878,784.801762862,809.198237138,652.801762862,629,652,0.400969740361,0.00449452047088,0.0698260218934,0.99999996099,3.99280316052e-05,-0.000275707144625,2.02876955048e-05,1793248878575604480
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbded95dec7980c665e9400285ddd425e02c7f28
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,399 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+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
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6635ac627448ce894690093d9b258379d455b740
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31ccd6d40fc944439fa294e65e602860b8b51cccca8e851bd82ee314c29352e7
+size 25444367
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2701c64fc9f6595c8c5c50dc85b10e51e71ba71d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,401 @@
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+10,0.166666667,BASELINE,766,744.813873969,715.813873969,680,659,634,878.186126031,784.186126031,810,652,628,652,0.400967758571,0.00449043781644,0.0698246755144,0.999999961027,3.36997229955e-05,-0.000276392158779,2.04612773794e-05,1793248878862993920
+11,0.183333333,BASELINE,766,745,715.609679093,680,659,634,878.390320907,784.390320907,810,652,628.390320907,652,0.400967975864,0.00449207714955,0.0698250432184,0.999999961048,3.51775401428e-05,-0.000276144338831,2.02931978785e-05,1793248878879660800
+12,0.200000000,BASELINE,766,745,715.034036437,680,659,634,878.965963563,784.965963563,810,652,628.965963563,652,0.400968727185,0.0044951479257,0.0698259363311,0.999999961079,3.93000791238e-05,-0.000275495939738,2.0005648439e-05,1793248878896327424
+13,0.216666667,BASELINE,766,745,715.553094724,680,659,634,879,785,809.446905276,652,628.446905276,652,0.400970187188,0.0044948842847,0.0698274403165,0.999999961506,4.06898866224e-05,-0.000273718266272,2.02668817064e-05,1793248878912994048
+14,0.233333333,BASELINE,766,745,715.861198773,680,659,634,878.861198773,784.861198773,809,652,628,652,0.400971145264,0.00449457655236,0.0698283942488,0.999999961828,4.12385505923e-05,-0.000272449451793,2.03871152099e-05,1793248878929660672
+15,0.250000000,BASELINE,766,745,715.282298493,680,659,634,878.282298493,784.282298493,809,652,628,652,0.400970370666,0.0044947934309,0.0698274823982,0.999999961745,3.96647098263e-05,-0.00027301910128,1.99509290004e-05,1793248878946327296
+16,0.266666667,BASELINE,766,745,715,679.704253048,659,634,878.295746952,784,809.591493905,651.704253048,628.295746952,652,0.40096997526,0.00449559488541,0.0698270563162,0.999999961624,4.05509520028e-05,-0.000273338759103,1.98137283339e-05,1793248878962993920
+17,0.283333333,BASELINE,766,745,715,679.127021248,659,634,878.872978752,784,810.745957504,651.127021248,628.872978752,652,0.400969940762,0.00449695272528,0.0698270925772,0.999999961463,4.37786421405e-05,-0.000273420480829,1.99610949533e-05,1793248878979660800
+18,0.300000000,BASELINE,766,745,715,679.44397272,659.44397272,634,878.55602728,784,811,651.44397272,628.55602728,652,0.40096886007,0.0044961925761,0.0698268128625,0.999999961302,4.32830813647e-05,-0.000274089821663,1.99132375268e-05,1793248878996327424
+19,0.316666667,BASELINE,765.986179855,745,715,680,659.986179855,634,878.013820145,784,810.986179855,652,628,652,0.400967520358,0.00449488907673,0.0698264401306,0.99999996114,4.1761487599e-05,-0.000274923803988,1.9803846288e-05,1793248879012994048
+20,0.333333333,BASELINE,765.390507602,745,715,680,659.390507602,634,878.609492398,784,810.390507602,652,628,652,0.400967702611,0.00449586807138,0.0698259045265,0.999999960952,4.12686678713e-05,-0.000275709460229,1.94227387143e-05,1793248879029660928
+21,0.350000000,BASELINE,765.199633911,745,715.199633911,680,659,634,879,784,810,652,628.199633911,652,0.400967673825,0.00449589713051,0.0698255967866,0.999999960822,4.08982109554e-05,-0.000276242417794,1.93500567779e-05,1793248879046327808
+22,0.366666667,BASELINE,765.779248224,745,715.779248224,680,659,634,879,784,810,652,628.779248224,652,0.400967243351,0.00449411809551,0.0698257227603,0.999999960803,4.07606577653e-05,-0.000276294392135,1.98644279423e-05,1793248879062994432
+23,0.383333333,BASELINE,765.644552933,745,716,680,659,634,878.644552933,784,810,652,629,652,0.400967800002,0.00449368467946,0.0698259171721,0.999999961041,3.96452531897e-05,-0.000275597465012,1.98014335281e-05,1793248879079660800
+24,0.400000000,BASELINE,765.070455038,745,716,680,659,634,878.070455038,784,810,652,629,652,0.400968963878,0.00449407901151,0.069826153683,0.999999961434,3.792833002e-05,-0.000274439856286,1.93832766833e-05,1793248879096327424
+25,0.416666667,BASELINE,765.516051208,745,716,680,659,634,878,784.516051208,810,652,628.483948792,652,0.400968933612,0.00449539736341,0.0698263149807,0.999999961462,3.96408737429e-05,-0.000274097738064,1.93433663499e-05,1793248879112993792
+26,0.433333333,BASELINE,765.897392271,745,716,680,659.102607729,634,878.102607729,784.897392271,810,652,628,652,0.400968827685,0.00449644359389,0.0698265511234,0.999999961466,4.14352618614e-05,-0.000273816707221,1.93731476367e-05,1793248879129660672
+27,0.450000000,BASELINE,765.318656906,745,716,680,659.681343094,634,878.681343094,784.318656906,810,652,628,652,0.400969145824,0.00449562729746,0.0698271833901,0.99999996161,4.1383255886e-05,-0.000273289777698,1.94807851835e-05,1793248879146327552
+28,0.466666667,BASELINE,765.260216056,745,716,679.739783944,659.739783944,634,878.739783944,784,810,652,628,652,0.400969297228,0.00449477057692,0.0698275289089,0.999999961693,4.08672603144e-05,-0.000273048587494,1.97300330082e-05,1793248879162994432
+29,0.483333333,BASELINE,765.839257571,745,716,679.160742429,659.160742429,634,878.160742429,784,810,652,628,652,0.400969244345,0.00449386432745,0.0698275230943,0.999999961698,3.9782769095e-05,-0.000273157494739,2.01527864992e-05,1793248879179661312
+30,0.500000000,BASELINE,766,745,716,679.398924123,659,634,878.398924123,784,810,652,628,652.398924123,0.400969714844,0.00449431170321,0.0698277529384,0.999999961816,4.03473862842e-05,-0.000272639132802,2.02002454874e-05,1793248879196327936
+31,0.516666667,BASELINE,766,745,716,679.951145323,659,634,878.951145323,784,810,652,628,652.951145323,0.400970386468,0.00449527924506,0.0698280733405,0.999999961976,4.15457167386e-05,-0.000271879726195,2.01034876915e-05,1793248879212994304
+32,0.533333333,BASELINE,766,745,716,680,659,634,879,784,810,652,628,652.440948927,0.400970909295,0.00449612982065,0.0698273514204,0.999999961926,4.17001814828e-05,-0.000272061300201,1.98147694314e-05,1793248879229660928
+33,0.550000000,BASELINE,765.837317121,745,716,680,659,634,879,784,810,652,628,652,0.400971354952,0.00449645803441,0.069827278246,0.999999962,4.18928180892e-05,-0.000271769737596,1.96436495947e-05,1793248879246327808
+34,0.566666667,BASELINE,765.258445634,745,716,680,659,634,879,784,810,652,628,652,0.400971640132,0.00449547894166,0.0698291235506,0.999999962444,4.24422969975e-05,-0.000270034116319,1.98210427504e-05,1793248879262995200
+35,0.583333333,BASELINE,765,745,716,679.681384816,659,634,879,784,810,652,628,652,0.400971252517,0.00449467637187,0.0698294835691,0.999999962523,4.12343427819e-05,-0.000269922803901,1.98968372597e-05,1793248879279661568
+36,0.600000000,BASELINE,765,745,716,679.105784367,659,634,879,784,810,652,628,652,0.400970322245,0.00449401617999,0.0698286456014,0.999999962303,3.8608896804e-05,-0.000271121609152,1.98906854264e-05,1793248879296327680
+37,0.616666667,BASELINE,765,745,716,679.468862967,659,634,879,784.468862967,810,652,628,652,0.400969553632,0.0044949334202,0.0698282179891,0.999999962088,3.86066741557e-05,-0.000271933906635,1.96272037717e-05,1793248879312994304
+38,0.633333333,BASELINE,765.044593088,745,716,680,659,634,879,784.955406912,810,652,628.044593088,652,0.400968954615,0.00449599440739,0.0698279429274,0.999999961916,3.91795102818e-05,-0.00027250173594,1.93638682927e-05,1793248879329660928
+39,0.650000000,BASELINE,765.636239668,745,716,680,659,634,879,784.363760332,810,652,628.636239668,652,0.400969989612,0.00449446164657,0.0698284058227,0.999999962263,3.95611010223e-05,-0.000271138123369,1.98131234313e-05,1793248879346327552
+40,0.666666667,BASELINE,766,745,715.777027851,680,659,634,879,784.222972149,810,652,628.777027851,652,0.400970484187,0.00449436858173,0.0698285138526,0.999999962346,4.06076133824e-05,-0.000270673381828,1.98965832018e-05,1793248879362994176
+41,0.683333333,BASELINE,766,745,715.198139469,680,659,634,879,784.801860531,810,652,628.198139469,652,0.400970116121,0.00449657361193,0.0698280554336,0.999999962005,4.27154977306e-05,-0.000271643450914,1.93961471091e-05,1793248879379661056
+42,0.700000000,BASELINE,766,745,715.379237219,679.620762781,659,634,878.620762781,784.620762781,810,652,628,652,0.400970386389,0.00449699907654,0.0698281211681,0.999999962074,4.26430431783e-05,-0.000271398860305,1.93944640433e-05,1793248879396327680
+43,0.716666667,BASELINE,766,745,715.955827211,679.044172789,659,634,878.044172789,784.044172789,810,652,628,652,0.400970988842,0.00449649846584,0.0698284596688,0.999999962357,4.14359532736e-05,-0.000270522168045,1.96523290769e-05,1793248879412994304
+44,0.733333333,BASELINE,766,745,716,679.541000117,659,634,878,784,810,652,628,652,0.400971308812,0.00449604491179,0.0698288660572,0.999999962403,4.21172117316e-05,-0.000270236216651,1.98321406383e-05,1793248879429660928
+45,0.750000000,BASELINE,766,745,716,680,659.125460401,634,878.125460401,784,810,652,628,652,0.400971222973,0.00449567688584,0.0698290338032,0.99999996238,4.21494419667e-05,-0.000270309962777,1.9895711193e-05,1793248879446327552
+46,0.766666667,BASELINE,766,745,716,680,659.704766715,634,878.704766715,784,810,652,628,652,0.400969753924,0.00449560413008,0.0698283178983,0.99999996218,3.92671054754e-05,-0.000271507597368,1.95622123545e-05,1793248879462994432
+47,0.783333333,BASELINE,765.717106434,745,716,680,659.717106434,634,879,784.282893566,809.717106434,651.717106434,628,652,0.400969062111,0.00449605039985,0.0698279958249,0.999999962002,4.02891041338e-05,-0.000272017349118,1.94608107197e-05,1793248879479661056
+48,0.800000000,BASELINE,765.140205315,745,716,680,659.140205315,634,879,784.859794685,809.140205315,651.140205315,628,652,0.40096917807,0.00449703608598,0.0698280830551,0.999999961838,4.53688264968e-05,-0.00027181219344,1.96006246085e-05,1793248879496327680
+49,0.816666667,BASELINE,765.436416734,745,716,680,659,634,879,784.563583266,809.436416734,651.436416734,628,652,0.400968647234,0.00449648134974,0.0698279394658,0.999999961723,4.35876108994e-05,-0.000272523037074,1.96366324917e-05,1793248879512994304
+50,0.833333333,BASELINE,766,745,716,680,659,634,879,784,809.986796919,652,628,652,0.400967947909,0.00449545351975,0.0698277428804,0.999999961624,3.97267463482e-05,-0.000273473770147,1.96448819308e-05,1793248879529660928
+51,0.850000000,BASELINE,766,745,716,680,659,634,879,784,809.398958729,652,628,652,0.400968953426,0.00449536027017,0.0698284650851,0.999999961943,4.12243994573e-05,-0.000272065535329,1.98955296878e-05,1793248879546327808
+52,0.866666667,BASELINE,765.813880733,745,716,679.813880733,659,634,879,784.186119267,809.186119267,652,628,652,0.400969407854,0.00449541593974,0.0698286176787,0.999999962026,4.23309431905e-05,-0.000271579669803,2.00069642132e-05,1793248879562994432
+53,0.883333333,BASELINE,765.234632961,745,716,679.234632961,659,634,879,784.765367039,809.765367039,652,628,652,0.400968698254,0.00449578616228,0.0698275671167,0.99999996162,4.26113700869e-05,-0.000273042069398,1.98243470104e-05,1793248879579661056
+54,0.900000000,BASELINE,765.340929393,745,715.659070607,679.340929393,659,634,879,785,810.340929393,652.340929393,628,652.340929393,0.400968437138,0.00449721875231,0.0698269931134,0.999999961475,4.37550963991e-05,-0.000273409024871,1.95809883749e-05,1793248879596327680
+55,0.916666667,BASELINE,765.913982486,745,715.086017514,679.913982486,659,634,879,785,810.913982486,652.913982486,628,652.913982486,0.400968481375,0.00449937466123,0.0698267435778,0.999999961507,4.54866049785e-05,-0.000273030140973,1.92962735994e-05,1793248879612994304
+56,0.933333333,BASELINE,766,744.512930726,715,680,659,634,878.512930726,785,810.512930726,652.512930726,628.487069274,652.512930726,0.400968840198,0.00449747104695,0.0698276337609,0.999999961988,4.19864198697e-05,-0.000271825561948,1.92906070688e-05,1793248879629660928
+57,0.950000000,BASELINE,766,744.062530385,715.062530385,680,659,634.062530385,878,785,810,652,628.937469615,652,0.400969207099,0.00449513837718,0.0698285862155,0.99999996244,3.82580088452e-05,-0.000270707206858,1.93478268381e-05,1793248879646327552
+58,0.966666667,BASELINE,766,744.658183471,715.658183471,680,659,634.658183471,878,785,810,652,628.341816529,652,0.400969169171,0.00449526041915,0.0698283534172,0.999999962116,4.04615810592e-05,-0.000271567299585,1.95210177623e-05,1793248879662994176
+59,0.983333333,BASELINE,766,745,716,680,659,634.754002051,878.245997949,785,810,652,628,652,0.400969346193,0.00449504136162,0.069828268184,0.999999961941,4.18378719282e-05,-0.000271993715708,1.96758718363e-05,1793248879679660800
+60,1.000000000,BASELINE,766,745,716,680,659,634.176742966,878.823257034,785,810,652,628,652,0.400969812668,0.00449436297911,0.0698283816622,0.99999996197,4.21001450524e-05,-0.000271836142517,1.98060335104e-05,1793248879696327680
+61,1.016666667,BASELINE,766,745,715.60252246,680,659,634,879,784.60252246,810,652,628.39747754,652,0.400970538184,0.00449439562352,0.0698289582508,0.999999962257,4.13670939966e-05,-0.000270894680687,1.97539503468e-05,1793248879712994304
+62,1.033333333,BASELINE,766,745,715.029642876,680,659,634,879,784.029642876,810,652,628.970357124,652,0.400971378012,0.00449474203558,0.0698297392043,0.999999962656,4.01948183708e-05,-0.000269607298267,1.96214447268e-05,1793248879729660928
+63,1.050000000,BASELINE,765.439049946,745,715.560950054,680,659,634,879,784.560950054,810,652,629,652,0.400970854347,0.00449545174204,0.0698293120734,0.999999962474,4.02744627436e-05,-0.000270266018591,1.96334789444e-05,1793248879746328064
+64,1.066666667,BASELINE,765.149280225,745,716,680.149280225,659.149280225,634,879,785,810,652,629,652.149280225,0.400970492952,0.00449568157073,0.0698289596607,0.999999962376,4.02894909165e-05,-0.000270624448033,1.96928943458e-05,1793248879762994432
+65,1.083333333,BASELINE,765.728313674,745,716,680.728313674,659.728313674,634,879,785,810,652,629,652.728313674,0.400970812896,0.00449447284034,0.0698290121269,0.999999962606,3.99218357577e-05,-0.0002698126764,1.98660066437e-05,1793248879779661056
+66,1.100000000,BASELINE,766,745,715.69493436,680.69493436,659.69493436,634,879,785,810,652,629,652.69493436,0.400970488927,0.00449485993926,0.0698286092865,0.999999962466,4.02926419283e-05,-0.000270289088044,1.96833954755e-05,1793248879796327680
+67,1.116666667,BASELINE,766,745,715.120199191,680.120199191,659.120199191,634,879,785,810,652,629,652.120199191,0.400969595757,0.00449665770688,0.0698278039678,0.999999961996,4.13162273665e-05,-0.000271904217868,1.91863346615e-05,1793248879812994304
+68,1.133333333,BASELINE,765.543011112,745,715,680.456988888,659,634,878.543011112,785,810,652,628.543011112,652,0.400969327798,0.00449704585257,0.069827992613,0.999999961892,4.26293389306e-05,-0.000272080099066,1.92827199135e-05,1793248879829660928
+69,1.150000000,BASELINE,765.035493071,745,715.035493071,680.964506929,659,634,878.035493071,784.964506929,810,652,628,652,0.400969227257,0.00449697923521,0.0698284101315,0.999999961898,4.38681489693e-05,-0.000271845331757,1.95079815464e-05,1793248879846327552
+70,1.166666667,BASELINE,765.624403587,745,715.624403587,680.375596413,659,634,878.624403587,784.375596413,810,652,628,652,0.400969159242,0.00449563409301,0.0698282979162,0.999999962141,4.27546315943e-05,-0.000271142044703,1.92957751136e-05,1793248879862994176
+71,1.183333333,BASELINE,766,744.790077168,715.790077168,679.790077168,659,634,878.790077168,784,810,652,628,652,0.400969246215,0.00449470332711,0.0698282723248,0.999999962261,4.13010172548e-05,-0.000270932989121,1.9161858742e-05,1793248879879660800
+72,1.200000000,BASELINE,766,744.210529063,715.210529063,679.210529063,659,634,878.210529063,784,810,652,628,652,0.400969606087,0.00449450218126,0.0698283992582,0.999999962164,3.92485710944e-05,-0.000271594160068,1.916579292e-05,1793248879896327424
+73,1.216666667,BASELINE,766,744.364754773,715,679.364754773,659,634,878,784,810,652,628,652,0.400970211591,0.00449483453785,0.0698285688256,0.999999962183,4.01094521034e-05,-0.00027139633948,1.92053470642e-05,1793248879912994304
+74,1.233333333,BASELINE,766,744.937605766,715,679.937605766,659,634,878,784,810,652,628,652,0.400970957232,0.00449547126288,0.0698287627161,0.999999962264,4.26324153173e-05,-0.000270708455649,1.92652227526e-05,1793248879929661184
+75,1.250000000,BASELINE,766,745,715.51319689,680,659,634,878.51319689,784.51319689,810,652,628,652.51319689,0.400970886976,0.00449514230164,0.0698285760865,0.99999996248,4.07857488168e-05,-0.000270197126914,1.9238270007e-05,1793248879946328064
+76,1.266666667,BASELINE,765.908247344,745,716,680,659,634,879,785,810,652,628,652.908247344,0.400970898513,0.0044947150038,0.0698285140151,0.999999962731,3.86623255156e-05,-0.000269579729567,1.92232194374e-05,1793248879962995200
+77,1.283333333,BASELINE,765.315327715,745,716,680,659,634,879,785,810,652,628,652.315327715,0.400971901547,0.00449439531766,0.0698293863537,0.99999996311,3.79446007384e-05,-0.000268265092206,1.93311514288e-05,1793248879979661312
+78,1.300000000,BASELINE,765.269668407,745,716,680,659,634,878.730331593,784.730331593,810,652,628,652,0.400972405679,0.0044945671276,0.0698297088025,0.999999963153,3.81275939309e-05,-0.000268080851956,1.93178339876e-05,1793248879996327424
+79,1.316666667,BASELINE,765.845663864,745,716,680,659,634,878.154336136,784.154336136,810,652,628,652,0.400972343089,0.00449529724746,0.0698294066093,0.999999962814,3.93337484736e-05,-0.000269180674754,1.91667844947e-05,1793248880012994304
+80,1.333333333,BASELINE,766,745,716,680.42250456,659,633.57749544,878.42250456,784.42250456,810,652,628,652,0.400972628622,0.00449520144047,0.06982971677,0.999999962881,4.026515252e-05,-0.000268791207969,1.91808120241e-05,1793248880029660928
+81,1.350000000,BASELINE,766,745,716,680.99965468,659,633.00034532,878.99965468,784.99965468,810,652,628,652,0.400973041576,0.00449480332693,0.0698302510651,0.999999963097,4.10959922026e-05,-0.00026785662995,1.92552612046e-05,1793248880046327552
+82,1.366666667,BASELINE,766,745,716,680.411623858,659.588376142,633.588376142,879,785,810,652,628,652,0.400971527059,0.00449613486481,0.0698295177068,0.999999962644,4.13848850736e-05,-0.000269523954177,1.8849792974e-05,1793248880062994176
+83,1.383333333,BASELINE,766,745,716,680,659.825724015,634,878.825724015,784.825724015,810,651.825724015,628,652,0.400970630258,0.00449680022471,0.0698290638146,0.999999962349,4.18231036011e-05,-0.000270561189878,1.86958226479e-05,1793248880079661056
+84,1.400000000,BASELINE,766,745,716,680,659.246398128,634,878.246398128,784.246398128,810,651.246398128,628,652,0.400971171826,0.00449591485625,0.0698292612175,0.999999962424,4.26091369577e-05,-0.000270130362231,1.91270480691e-05,1793248880096327680
+85,1.416666667,BASELINE,766,745,716,679.66999569,659,634,878,784,810,651,628,652,0.400970610043,0.00449477184947,0.0698289877489,0.999999962281,4.20177798474e-05,-0.000270730104739,1.94446494596e-05,1793248880112994304
+86,1.433333333,BASELINE,766,745,716,679.095756915,659,634,878,784,810,651,628,652,0.400969231675,0.00449343816596,0.0698283657907,0.999999961973,4.04070232073e-05,-0.000272092566854,1.96781582733e-05,1793248880129660928
+87,1.450000000,BASELINE,765.522279163,745,715.522279163,679.477720837,659,634,878.477720837,784.477720837,810,651.477720837,628.477720837,652,0.400970308295,0.00449395039463,0.0698290324649,0.999999962269,4.11760416541e-05,-0.000270889328169,1.96354460125e-05,1793248880146327552
+88,1.466666667,BASELINE,765.052933892,745,715,680,659,634,878.947066108,785,810,652,629,652.052933892,0.40097168519,0.00449478423339,0.0698298971545,0.999999962635,4.22469188446e-05,-0.00026937633918,1.95530697824e-05,1793248880162994432
+89,1.483333333,BASELINE,765.647459954,745,715,680,659,634,878.352540046,785,810,652,629,652.647459954,0.400971107522,0.00449512894696,0.0698301492427,0.999999962509,4.15334523133e-05,-0.000269947651344,1.9630460149e-05,1793248880179661056
+90,1.500000000,BASELINE,766,745,715.23473039,680,659.23473039,634,878,785,810,652,629,652.76526961,0.400970887507,0.00449506671079,0.0698303219407,0.999999962527,4.04515249896e-05,-0.000270045811929,1.96404337982e-05,1793248880196327680
+91,1.516666667,BASELINE,766,745,715.811430333,680,659.811430333,634,878,785,810,652,629,652.188569667,0.400971188542,0.00449441160541,0.069830378978,0.999999962752,3.88328015659e-05,-0.000269454656371,1.95521906536e-05,1793248880212994304
+92,1.533333333,BASELINE,766,745,715.612089363,680.387910637,659.612089363,634,878.387910637,785,810,652,628.612089363,652,0.400972519098,0.00449494066319,0.0698307870923,0.999999963109,3.89275786274e-05,-0.000268127806733,1.93346916776e-05,1793248880229660928
+93,1.550000000,BASELINE,766,745,715.035715718,680.964284282,659.035715718,634,878.964284282,785,810,652,628.035715718,652,0.400974349837,0.00449604503628,0.0698313657744,0.999999963528,3.98548448473e-05,-0.000266443526472,1.90543948725e-05,1793248880246327552
+94,1.566666667,BASELINE,766,745,715,680.44759729,659,634,878.44759729,785,810,652,628,652,0.400972611899,0.00449636877686,0.0698299813834,0.999999962897,4.12045300778e-05,-0.000268604618984,1.89823571936e-05,1793248880262994176
+95,1.583333333,BASELINE,766,745,715.138810882,679.861189118,659,634,878.138810882,785,810,652,628,652,0.400971024163,0.00449619064395,0.0698288511019,0.999999962354,4.20637512202e-05,-0.000270480127623,1.90312058039e-05,1793248880279661056
+96,1.600000000,BASELINE,766,745,715.71734375,679.28265625,659,634,878.71734375,785,810,652,628,652,0.400970659029,0.00449458604467,0.0698289365801,0.999999962335,4.12808951504e-05,-0.00027064627826,1.94194144304e-05,1793248880296327680
+97,1.616666667,BASELINE,766,745,716,679.292866905,659,634,878.707133095,784.707133095,810,652,628.292866905,652,0.400969995776,0.00449430405798,0.0698286231058,0.999999962182,4.07304411838e-05,-0.000271282218346,1.95640497911e-05,1793248880312994560
+98,1.633333333,BASELINE,766,745,716,679.865514795,659,634,878.134485205,784.134485205,810,652,628.865514795,652,0.400969047724,0.0044952855868,0.0698279285049,0.999999961902,4.04020051431e-05,-0.00027236695667,1.94759952384e-05,1793248880329661440
+99,1.650000000,BASELINE,766,744.558545885,715.558545885,680,659,634,878,784.441454115,810,652,628.558545885,652,0.400969197719,0.00449584993149,0.0698280367496,0.999999961808,4.1530536353e-05,-0.000272543498648,1.94527131809e-05,1793248880346327808
+100,1.666666667,BASELINE,766,744.018920607,715,680,659,634,878.018920607,784.981079393,810,652,628.018920607,652,0.400969659215,0.00449624020636,0.0698283796565,0.999999961776,4.29832257535e-05,-0.000272439314381,1.94487780067e-05,1793248880362994176
+101,1.683333333,BASELINE,766,744.612076173,715,680,659,634,878.612076173,784.387923827,810,652,628.612076173,652,0.40096934617,0.00449523367971,0.0698283658048,0.999999961916,4.0702035242e-05,-0.000272275229464,1.94286443209e-05,1793248880379660800
+102,1.700000000,BASELINE,766,745,715.200214301,680,659,634,879,784,810,652,628.799785699,652,0.400969065211,0.00449477144551,0.0698281721349,0.999999961931,4.03345977816e-05,-0.00027227730186,1.93810734096e-05,1793248880396327680
+103,1.716666667,BASELINE,766,745,715.778868529,680,659,634,879,784,810,652,628.221131471,652,0.400968844903,0.00449533801905,0.0698276385772,0.999999961711,4.35844874203e-05,-0.000272593440558,1.92816413621e-05,1793248880412994048
+104,1.733333333,BASELINE,766,745,715.645675032,680,659,634,879,784.354324968,810,652,628.354324968,652,0.400969429784,0.00449582110486,0.0698279901793,0.999999961922,4.34639913994e-05,-0.000271837740142,1.9242281938e-05,1793248880429660672
+105,1.750000000,BASELINE,766,745,715.072196404,680,659,634,879,784.927803596,810,652,628.927803596,652,0.400970512684,0.00449625255271,0.0698288892618,0.999999962401,4.12588772727e-05,-0.000270419096168,1.92400780436e-05,1793248880446327296
+106,1.766666667,BASELINE,766,745,715,679.500999835,659,634,878.500999835,785,810,652,629,652,0.400970685832,0.00449548745415,0.0698289625517,0.999999962549,3.93205732216e-05,-0.000270154655655,1.9287642791e-05,1793248880462994432
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,879,785,811,652,628,652,0.400970802654,0.00449580782233,0.0698278371231,0.999999962468,4.09894488817e-05,-0.000270212288735,1.92096556195e-05,1793248880509225216
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.619439221,680,659.619439221,634,879,785,810.380560779,652,628.619439221,652,0.400969636118,0.00449492682574,0.069828475916,0.999999962356,3.92741691023e-05,-0.000270871566861,1.93509305064e-05,1793248880525891840
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.764869018,634,879,784.764869018,810,652,628.764869018,652,0.400969811957,0.00449495988606,0.0698294625921,0.999999962496,3.9088583158e-05,-0.000270373485396,1.94371539633e-05,1793248880542558976
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659.155147298,634,879,784.155147298,810,652,628.155147298,652,0.400972126357,0.0044964491442,0.0698310034863,0.999999963036,4.13399754254e-05,-0.000268031596889,1.94356741729e-05,1793248880559225600
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.558789029,680,659,634,879.441210971,784,810,652,628.441210971,652,0.400970891765,0.00449530209186,0.0698299125469,0.999999962633,4.00893920261e-05,-0.000269711857596,1.95285448012e-05,1793248880575891968
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.032315861,680,659,634,879.935368278,784,810,652,628.967684139,652,0.400968564543,0.00449347156435,0.0698280195741,0.999999961933,3.79534132089e-05,-0.000272596584562,1.96363317283e-05,1793248880592558336
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.61169987,680,659,634,878.776600261,784,810,652,628.38830013,652,0.400968245889,0.00449530279198,0.0698277554451,0.999999961804,4.1062593794e-05,-0.00027263215792,1.94514926784e-05,1793248880609224960
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.810998099,680,659,634,878,784,810,652,628.189001901,652,0.400968709641,0.00449659604239,0.0698280515482,0.999999961831,4.30442551184e-05,-0.000272238971616,1.92762230503e-05,1793248880625891584
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.237926873,680,659,634,878,784,810,652,628.762073127,652,0.400970763313,0.0044967960733,0.0698294860946,0.99999996219,4.2734692942e-05,-0.000270974506065,1.91203993829e-05,1793248880642558208
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.323902824,680,659.323902824,634.323902824,878.323902824,784.323902824,810,652,629,652.323902824,0.40097827738,0.00449686574219,0.0698333081768,0.999999963694,4.27119110578e-05,-0.000265369730223,1.91291469006e-05,1793248880659224832
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.877751871,680,659.877751871,634.877751871,878.877751871,784.877751871,810,652,629,652.877751871,0.40098966791,0.00449684286401,0.0698388252266,0.999999965951,4.28927212502e-05,-0.000256683666194,1.92547273738e-05,1793248880675891712
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.518628678,634.518628678,879,785,810,652,628.518628678,652.518628678,0.40101965437,0.0044964209764,0.0698515820488,0.999999971316,4.20280953696e-05,-0.000235006669488,1.93017106182e-05,1793248880692558336
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.907653777,745,716,680,659,634,879,784.907653777,810,652,628,652,0.401058477948,0.00449594158875,0.0698669715931,0.999999977156,4.09238477129e-05,-0.000208908355298,1.92741885496e-05,1793248880709224960
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.33196529,745,716,680,659,634,879,784.33196529,810,652,628,652,0.40111598668,0.00449575277733,0.0698854078777,0.999999983008,4.01152765166e-05,-0.000178927866915,1.89732245874e-05,1793248880725891328
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.243717513,745,716,680,659,634,878.756282487,784.243717513,810,652,628,652,0.401177692527,0.00449579177004,0.0699004358779,0.999999986778,3.91636685192e-05,-0.000156737826427,1.85489312318e-05,1793248880742558208
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.819392658,745,716,680,659,634,878.180607342,784.819392658,810,652,628,652,0.401245115101,0.0044961410454,0.0699108215965,0.999999988581,3.80172358804e-05,-0.000145158831459,1.79566559405e-05,1793248880759225088
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,878.40506098,785,810,652.40506098,628,652,0.401323176738,0.00449679320272,0.0699144931764,0.999999989443,3.6792205503e-05,-0.000139596444991,1.65508340667e-05,1793248880775891712
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,878.995297702,785,810,652.995297702,628,652,0.401406102074,0.00449758382409,0.0699150953521,0.999999989905,3.5531243829e-05,-0.000136784583202,1.47730951624e-05,1793248880792558592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784.426153595,810,652.426153595,628.573846405,652,0.401505620755,0.00449765545996,0.0699114626455,0.999999989074,3.24277308957e-05,-0.0001436991495,1.22498491171e-05,1793248880809224960
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784.151915298,810,652,628.848084702,652,0.401613600641,0.00449826157843,0.0699087472564,0.999999988377,3.00750419456e-05,-0.000149161546794,9.58229880697e-06,1793248880825891584
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784.728904239,810,652,628.271095761,652,0.401744882927,0.00450037938702,0.0699086937723,0.999999988231,2.98646348302e-05,-0.000150342073308,6.52772361969e-06,1793248880842557952
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,785,810,652,628,652.305832219,0.401894295862,0.00450095011513,0.0699098486018,0.999999988459,2.65940266326e-05,-0.000149546266361,3.36354591703e-06,1793248880859224576
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,785,810,652,628,652.882706143,0.402059776952,0.00450014975368,0.069912074291,0.999999988983,2.06113362564e-05,-0.000146998947393,1.02233900254e-07,1793248880875891200
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.53107308,680.46892692,659,634,879,784.53107308,810,652,628.46892692,652.53107308,0.402259990665,0.00450156604133,0.0699182752777,0.999999990582,1.80821259351e-05,-0.000135987829595,-4.01868843239e-06,1793248880892557824
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.056535853,680.943464147,659,634,879,784,810,652,629,652,0.402471490893,0.00450358333458,0.0699248605814,0.999999992145,1.60770660533e-05,-0.000124019027023,-8.47376084015e-06,1793248880909224704
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.634938176,680.365061824,659,634,879,784,810,652,629,652,0.402705348413,0.00450592622373,0.0699256281555,0.999999992261,1.07743753103e-05,-0.000123149644005,-1.39881532774e-05,1793248880925891328
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,810,652,629,652,0.402953028229,0.00450790886972,0.0699263670077,0.999999992337,6.31632335882e-06,-0.000122122174422,-1.92980350428e-05,1793248880942557952
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,810,652,629,652,0.403224360387,0.0045092750787,0.069927056712,0.999999992401,3.30359132084e-06,-0.000120824191678,-2.42579651276e-05,1793248880959224576
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.629751542,716,680,659.370248458,634,879,784.370248458,810,652,628.629751542,652,0.403530197892,0.00451077317698,0.0699365852789,0.9999999942,-7.78385130563e-07,-0.000103674089694,-2.91642272192e-05,1793248880975891200
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.041508479,716,680,659.958491521,634,879,784.958491521,810,652,628.041508479,652,0.403856351413,0.00451234892885,0.0699513179845,0.999999996426,-5.48991031381e-06,-7.71905890088e-05,-3.40388903959e-05,1793248880992557824
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.538655797,716,680.538655797,659.461344203,634,879,784.461344203,810,652,628.538655797,652,0.404216510765,0.00451435466062,0.0699534416393,0.999999996388,3.89513885735e-06,-7.70619165275e-05,-3.5647778733e-05,1793248881009224448
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.882441076,680.882441076,659,634,879,784.117558924,810,652,628.882441076,652,0.404587679659,0.0045167039739,0.0699556564965,0.999999996288,1.9250704266e-05,-7.60135921646e-05,-3.57011585765e-05,1793248881025891072
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.30606625,680.30606625,659,634,879,784.69393375,810,652,628.30606625,652,0.404991741037,0.00452026683088,0.0699619634646,0.999999996066,5.37314266398e-05,-6.35668540178e-05,-3.06512827403e-05,1793248881042557696
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680.270011477,659.270011477,634.270011477,879,784.729988523,810,652,628,652,0.405407895538,0.00451204728612,0.0699647956443,0.999999996045,6.12052552936e-05,-5.83503922024e-05,-2.75683802785e-05,1793248881059224576
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680.845752764,659.845752764,634.845752764,879,784.154247236,810,652,628,652,0.405837742869,0.00449048671027,0.0699636933744,0.999999997037,3.80995945859e-05,-6.13206610789e-05,-2.67126516413e-05,1793248881075891200
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.568460976,634.568460976,879,784.431539024,810.431539024,652,628.431539024,652,0.406283706207,0.0044850632754,0.0699546915751,0.99999999679,-3.74883186867e-06,-7.54411169958e-05,-2.6743961681e-05,1793248881092557824
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.02063939,680.97936061,659,634,879,785,810.97936061,652,629,652,0.406738498747,0.00448610140491,0.0699428182055,0.999999994014,-4.99755453708e-05,-9.34675945809e-05,-2.7171962734e-05,1793248881109224704
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.599942885,680.400057115,659,634,879,785,810.400057115,652,629,652,0.407272639546,0.00450219252889,0.0699314670164,0.999999993441,-2.90550663703e-05,-0.000106772625577,-2.95509096682e-05,1793248881125891072
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.178700273,634,879,785,810.178700273,652,629,652.178700273,0.407825351347,0.0045129107711,0.0699274223658,0.999999993597,-1.09985695584e-05,-0.000108081033899,-3.16681407675e-05,1793248881142557952
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659.756238925,634,879,785,810.756238925,652,629,652.756238925,0.408419511584,0.00451163736466,0.0699396850632,0.999999996036,6.6585370386e-07,-8.26143681351e-05,-3.32012528199e-05,1793248881159224576
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.6714123,680.3285877,659.6714123,634,878.6714123,785,810.6714123,652,629,652.6714123,0.409028752548,0.0045190232482,0.0699504966604,0.999999997665,1.59256352168e-05,-5.62580557502e-05,-3.53709672014e-05,1793248881175891456
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.102853776,680.897146224,659.102853776,634,878.102853776,785,810.102853776,652,629,652.102853776,0.409649007079,0.0045327330963,0.0699602485041,0.999999998278,3.38111414491e-05,-2.92520272116e-05,-3.80055984066e-05,1793248881192558336
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.512291805,745,715,681,659.487708195,634,878.97541639,784.512291805,810.487708195,652,629,652,0.410268494028,0.00453768853098,0.0699543611649,0.999999997629,3.98920811578e-05,-4.02768410998e-05,-3.9094196702e-05,1793248881209225216
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.080894841,745,715,680.919105159,659.919105159,634,880,784.080894841,811,652,629,652,0.410900561118,0.00454116936948,0.0699472517302,0.999999996654,4.4384512549e-05,-5.60636863859e-05,-3.97466123078e-05,1793248881225891840
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.660308666,745,715,680.339691334,659.339691334,634,880,784.660308666,811,652,629,652,0.411611198751,0.00454747802134,0.0699538965956,0.999999996464,5.51541436691e-05,-4.94353715807e-05,-3.98152382525e-05,1793248881242558464
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.2384756,680,659.476951199,634,880,784.7615244,811,652,628.7615244,652,0.412342960626,0.00455589880626,0.069971263322,0.999999996885,6.38381251516e-05,-2.30958790054e-05,-4.02541711902e-05,1793248881259225088
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.814875616,680,660.629751232,634,880,784.185124384,811,652,628.185124384,652,0.413104655893,0.004567312523,0.0700038231271,0.999999996245,6.95667007716e-05,3.117472331e-05,-4.12178360302e-05,1793248881275891456
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.602250553,745,716,680,661,634,880,784,811,652,628.397749447,652,0.413848242632,0.00457331809505,0.0700196775353,0.999999994477,7.90418655974e-05,5.51006028953e-05,-4.19684514275e-05,1793248881292558080
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.016313712,745,716,680,661,634,880,784,811,652,628.983686288,652,0.414583261742,0.00457676490991,0.0700276281137,0.999999992925,9.02896565989e-05,6.46694735404e-05,-4.26182667518e-05,1793248881309224704
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563090741,745,716,680.563090741,660.436909259,634,880,784.563090741,811.563090741,652,629,652.563090741,0.415300007771,0.00458586339659,0.06997221734,0.99999999329,0.000101417749409,-3.52360524306e-05,-4.35142622306e-05,1793248881325891328
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.858694733,745,715.858694733,681,660,634,880.141305267,785,812,652,629,652.858694733,0.416046392034,0.00459425290849,0.0699253904092,0.999999986171,0.000109280075592,-0.000117042340283,-4.49150055322e-05,1793248881342557952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.283558956,745,715.283558956,681,660,634,880.716441044,785,812,652,629,652.283558956,0.41688537746,0.00459996881312,0.0699104885128,0.999999984186,0.000107126489223,-0.00013365514538,-4.78437633543e-05,1793248881359224576
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.292533392,681,660.292533392,634,881,785,811.707466608,652,629,652.292533392,0.417737677804,0.0046042072307,0.0699217757223,0.99999998575,0.000115006118662,-0.000113779275325,-4.82472358409e-05,1793248881375891200
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.869555973,681,660.869555973,634,881,785,811.130444027,652,629,652.869555973,0.418602926875,0.00460700878942,0.0699585318798,0.99999998843,0.000132643066305,-5.84181093472e-05,-4.61948640319e-05,1793248881392557824
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,716,681,661,634,880.544184295,784.544184295,811,652,629,653,0.41946988639,0.00461125844999,0.0699864506618,0.999999990167,0.000130896992726,-1.73743342178e-05,-4.72158434992e-05,1793248881409224704
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.955938848,681,661,634,880,784,811.044061152,652,629.044061152,653,0.420340556912,0.00461432685609,0.0700112301262,0.999999991054,0.000123065527777,1.86439057043e-05,-4.89871626031e-05,1793248881425891328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.376352203,681,661,634,880,784,811.623647797,652,629.623647797,653,0.421250259288,0.00459789710334,0.0700292281764,0.999999991756,0.000110084608027,4.44104285147e-05,-4.89672599595e-05,1793248881442557952
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.798533609,661,634,880.201466391,784.201466391,812,652,629.798533609,653,0.422136668904,0.0045807473697,0.0700239130248,0.999999993825,9.41172708761e-05,3.31831132842e-05,-4.88995210119e-05,1793248881459224576
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.223989176,661,634,880.776010824,784.776010824,812,652,629.223989176,653,0.422979944587,0.00456226436809,0.0699754261856,0.999999995092,7.26196488797e-05,-4.65498676554e-05,-4.87431980235e-05,1793248881475891200
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.651138378,634,881,784.651138378,812,652,629,653,0.423805087253,0.0045635916081,0.0699107729781,0.999999986507,6.31168848526e-05,-0.000142588614553,-5.16864558463e-05,1793248881492557824
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.079369681,634,881,784.079369681,812,652,629,653,0.424618643811,0.00457757671047,0.0698357901748,0.999999965508,6.12782996044e-05,-0.000249046028283,-5.66102077494e-05,1793248881509224448
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.512635856,745,715.512635856,680.512635856,661.025271713,634,880.487364144,784,812,652,629,653,0.425545910404,0.00458166726508,0.0698647332662,0.999999976256,6.99272799017e-05,-0.000198528249585,-5.64278442102e-05,1793248881525891328
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,716,681,662,633.89497695,880.10502305,784,812.10502305,652,629.10502305,652.89497695,0.426494179362,0.00458446711533,0.0699129965887,0.99999998765,8.13917979367e-05,-0.000122601010941,-5.51703092429e-05,1793248881542557952
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,716,681,662,633.315599003,880.684400997,784,812.684400997,652,629.684400997,652.315599003,0.427454523835,0.00458864091823,0.0699728607358,0.999999992745,9.79378024812e-05,-4.61919754182e-05,-5.27740403851e-05,1793248881559224832
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,716,681,661.738621616,633.261378384,881,784,813,652,630,652,0.428416420911,0.0045930438849,0.0700173717292,0.999999992982,0.000104970181305,1.70197705292e-05,-5.22296969539e-05,1793248881575891456
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,716,681,661.164516419,633.835483581,881,784,813,652,630,652,0.429380175544,0.0045977210349,0.0700435134002,0.999999991409,0.000100619958498,6.44415819372e-05,-5.39010946361e-05,1793248881592558080
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715.580243338,681,661,634,881,784.419756662,813.419756662,652,630,652.419756662,0.430258457602,0.00459757722956,0.070032094134,0.999999992295,9.98076142823e-05,4.9189068985e-05,-5.5033634731e-05,1793248881609224704
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.992018579,745,715,681,660.992018579,634,881.007981421,784.992018579,813.992018579,652,630,652.992018579,0.431101304563,0.00459554751154,0.0700048212958,0.999999993364,0.000100444263229,7.35621169047e-06,-5.59306001309e-05,1793248881625891584
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.413259695,745,715,681,660.413259695,634,881.586740305,784.413259695,813.413259695,652,630,652.413259695,0.431865204034,0.00459712805786,0.0699227152621,0.999999984029,0.000103080450095,-0.000135054665815,-5.54591022632e-05,1793248881642558464
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.164975708,745,715,681,660.164975708,634,881.835024292,784.164975708,813.164975708,652,630,652.164975708,0.43267546697,0.00459715028629,0.0698728523461,0.999999969401,0.000103424217547,-0.000217714357304,-5.56913987932e-05,1793248881659225088
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.741903866,745,715,681,660.741903866,634,881.258096134,784.741903866,813.741903866,652,630,652.741903866,0.433601501643,0.00459328131813,0.0699035020922,0.999999982104,9.80437048161e-05,-0.000151172384149,-5.76811068502e-05,1793248881675891712
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715.317611629,681.317611629,661.635223258,634,881,784.682388371,814,652,630,652.682388371,0.434526244732,0.00458527197833,0.0699511804448,0.999999992,8.90959453794e-05,-6.88187686298e-05,-5.76724541472e-05,1793248881692558336
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715.892331538,681.892331538,662.784663075,634,881,784.107668462,814,652,630,652.107668462,0.435449942378,0.00457391098554,0.0700126435469,0.999999995098,7.7260480044e-05,2.63344617949e-05,-5.60461178838e-05,1793248881709224960
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.520200076,682,662.040400152,633.520200076,881,784,814,652,630,652.479799924,0.43629220465,0.00456853336471,0.0700293635866,0.999999994533,7.10571304817e-05,5.3385007162e-05,-5.50957116681e-05,1793248881725891328
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.931094965,661,633,881,784,814,652,630,653,0.437109857494,0.00456592954261,0.0700314402756,0.999999994518,6.61105117529e-05,5.99476330504e-05,-5.47761690166e-05,1793248881742558208
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681.351637895,661,633,881,784,814,652,630,653,0.437884266748,0.00457365800023,0.0700014425691,0.999999995986,6.0855433288e-05,3.10310476436e-05,-5.79764557602e-05,1793248881759224832
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.774952969,745,715,681.225047031,661.225047031,633.225047031,881,784,814,652,630.225047031,653,0.43862755172,0.00457919577543,0.0699629935632,0.999999996069,6.27164933599e-05,-1.89106949973e-05,-5.97652244265e-05,1793248881775891456
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.202546868,745,715,681.797453132,661.797453132,633.797453132,881,784,814,652,630.797453132,653,0.439322796456,0.00458135224182,0.0699115000167,0.999999990251,7.55612810028e-05,-0.000101304670506,-5.93753209407e-05,1793248881792558336
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.372283565,745,715,682,661.627716435,633.627716435,881,784,814,652,630.627716435,653,0.440037280992,0.0045832161673,0.0698802128649,0.999999983146,8.53714510926e-05,-0.000151467507181,-5.89646384212e-05,1793248881809224960
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.948441622,745,715,682,661.051558378,633.051558378,881,784,814,652,630.051558378,653,0.440762301842,0.00458491988788,0.0698599913884,0.999999976989,9.3519766401e-05,-0.000183979529742,-5.85425767434e-05,1793248881825891328
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.460185622,745,715,681.460185622,661.539814378,633,881,784,814,652,630,653,0.441532771862,0.00458471531081,0.069919509004,0.999999991347,7.53045169073e-05,-9.03902620331e-05,-5.88653831066e-05,1793248881842558208
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.129330641,745,715,681,662,633,881,784,814.129330641,651.870669359,630,653,0.442288444002,0.00458449612167,0.0699805888116,0.999999996446,6.01246629509e-05,3.34649375138e-06,-5.90075962468e-05,1793248881859224576
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.707221597,745,715,681,662,633,881,784,814.707221597,651.292778403,630,653,0.442977299825,0.00458487673747,0.0700199060074,0.999999994734,6.44591324567e-05,5.46104268597e-05,-5.82695514777e-05,1793248881875891200
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.716593258,745,715,681.283406742,661.716593258,633.283406742,881,784,815,651,630,652.716593258,0.443622429889,0.00458577267279,0.0700293196161,0.999999993705,7.34031471796e-05,6.27262056478e-05,-5.71696931106e-05,1793248881892558080
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.142159718,745,715,681.857840282,661.142159718,633.857840282,881,784,815,651,630,652.142159718,0.44422265861,0.00458719778324,0.0700080256144,0.999999994305,8.70806461548e-05,2.65336969088e-05,-5.56982929016e-05,1793248881909224960
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.443419395,633.556580605,881.443419395,784,815,651.443419395,630,652,0.444793156749,0.00458784369254,0.0699812257632,0.999999994007,9.32722180545e-05,-1.8528180958e-05,-5.42498975778e-05,1793248881925891584
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.032102311,745,715,681.967897689,662,633.032102311,882,784.032102311,815,652,630,652,0.44535260113,0.00458833753611,0.069953482776,0.999999991838,9.6810068144e-05,-6.43634078582e-05,-5.29952337526e-05,1793248881942558464
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.611216655,745,715,681.388783345,662,633.611216655,882,784.611216655,815,652,630,652,0.445890296531,0.00459060667677,0.0699405224192,0.999999991066,9.70786537987e-05,-7.36746176363e-05,-5.49127726803e-05,1793248881959225088
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,634,882,785,815,652,630,652,0.44689983808,0.00459267827233,0.0699372917423,0.999999990206,0.000101309352526,-7.85452839143e-05,-5.61742969669e-05,1793248881992558592
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.339760536,662,634,881.660239464,784.660239464,815,652,630,652.339760536,0.447354304134,0.00459341986956,0.0699333554055,0.999999988414,0.000107121599403,-9.27095449203e-05,-5.56942777492e-05,1793248882009224960
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.912722653,662,634,881.087277347,784.087277347,815,652,630,652.912722653,0.447785661005,0.00459438726873,0.069923891467,0.999999985019,0.000114830815787,-0.000117308800408,-5.48981148257e-05,1793248882025891328
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.497117802,661.497117802,633.497117802,882.005764396,784,815,652,630,653,0.448208228964,0.00459508370896,0.0699222972922,0.999999984109,0.000123365229599,-0.000116737039802,-5.41881370608e-05,1793248882042558208
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.093518356,661,633,882.812963288,784,815,652,630,653,0.448623679865,0.00459592934747,0.0699247459947,0.999999983919,0.000132155183526,-0.000108818294685,-5.34348494776e-05,1793248882059224832
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.425026719,659.425026719,633,882,784,815,652,630,652.425026719,0.45044851301,0.00460941988021,0.0698947255875,0.999999984488,4.16569399376e-05,-0.00016154330134,-5.65070751275e-05,1793248882159224832
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.153707282,659,633,882,784.153707282,815,652,630,652.153707282,0.450647267684,0.00461330983251,0.0698671260133,0.999999975996,5.91047008622e-05,-0.000203528494888,-5.55969516558e-05,1793248882175891200
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.731029039,659,633,882,784.731029039,815,652,630,652.731029039,0.4508259946,0.00461636489461,0.0698426253231,0.999999965501,9.15544547746e-05,-0.000241437611725,-4.82028456646e-05,1793248882192557824
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632.693019235,881.693019235,784.693019235,815,652,630,653,0.450998085201,0.0046182213606,0.069826796035,0.999999958152,0.000111162362135,-0.000263379207359,-4.43989370469e-05,1793248882209224704
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632.468630137,881,784,815,652,630,653,0.45131248918,0.00462038623195,0.0698147872889,0.999999952982,0.000122214119033,-0.000277658116837,-4.47899038629e-05,1793248882242558208
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+248,4.133333333,HOLD_POSE2,766,745,715,682,658,632,881.53028815,784,815,652,630,652.46971185,0.452121170185,0.00457935810176,0.0697674114042,0.99999993649,7.88395858682e-05,-0.000344379727887,-4.6974540027e-05,1793248882874721536
+249,4.150000000,HOLD_POSE2,766,745,715,682,658,632,881.061259328,784,815,652,630,653,0.452120802339,0.00457869053522,0.0697678360787,0.999999936589,7.78856141672e-05,-0.000344313519991,-4.69441114293e-05,1793248882891388160
+250,4.166666667,HOLD_POSE2,766,745,715,682,658,632,881.638197677,784,815,652,630,653,0.452121509368,0.00457864386086,0.0697680296041,0.999999936847,7.7981231715e-05,-0.000343524956536,-4.70744568542e-05,1793248882908054784
+251,4.183333333,HOLD_POSE2,766,745,715,682,658,632,882,784,815,652,630,653,0.452122084693,0.00457903320607,0.069768229869,0.999999937014,7.82898804723e-05,-0.000342975201591,-4.7016645732e-05,1793248882924721664
+252,4.200000000,HOLD_POSE2,766,745,715,682,658,632,882,784,815,652,630,653,0.452122438527,0.00458015582163,0.0697684414679,0.99999993703,7.89567917357e-05,-0.000342827059885,-4.66424047275e-05,1793248882941388288
+253,4.216666667,HOLD_POSE2,766,745,715,682,658,632,882,784,815,652,630,653,0.452122332452,0.00457983022047,0.0697681283198,0.999999936933,7.7628561868e-05,-0.000343400443946,-4.67426429889e-05,1793248882958054656
+254,4.233333333,HOLD_POSE2,766,745,715,682,658,632,882,784,815,652,630,653,0.45212197168,0.00457870259899,0.0697675245675,0.999999936767,7.51954256705e-05,-0.000344373407962,-4.71056471747e-05,1793248882974721536
+255,4.250000000,HOLD_POSE2,765.458277479,745,715,682,658,632,881.458277479,784,815,651.458277479,630,653,0.452120824412,0.00458102012454,0.0697668007293,0.999999935848,7.91730198903e-05,-0.00034609101953,-4.75004880022e-05,1793248882991388416
+256,4.266666667,HOLD_POSE2,765.121964542,745,715,681.878035458,658,632.121964542,881,784,814.878035458,651,630,653,0.452120111702,0.00458260797501,0.0697662653055,0.999999935167,8.18848304862e-05,-0.000347392580029,-4.77394659457e-05,1793248883008055040
+257,4.283333333,HOLD_POSE2,765.701139963,745,715,681.298860037,658,632.701139963,881,784,814.298860037,651,630,653,0.452121239226,0.00458053537377,0.0697664684409,0.999999935643,7.81301384581e-05,-0.00034693452637,-4.73856088347e-05,1793248883024721664
+258,4.300000000,POSE2_TO_POSE3_RETREAT,767,745,715,682,657,632,881,784,815,652,630,653,0.452119732607,0.0045815241142,0.0697642490738,0.999999934717,8.16179975272e-05,-0.000348819179878,-4.72258303656e-05,1793248883062624000
+259,4.316666667,POSE2_TO_POSE3_RETREAT,765.812200069,745,715.593899966,682,657,632,881.593899966,784,815,652,630.593899966,653,0.452120772343,0.00458118471175,0.0697655010689,0.999999935254,8.01159547913e-05,-0.000347656136551,-4.7006076709e-05,1793248883079290624
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.816100321,681.816100321,657.367799358,632.183899679,882,784,815,652,630.816100321,653,0.45212147045,0.00458067430642,0.0697664626127,0.999999935687,7.92183429641e-05,-0.000346640683746,-4.68079539275e-05,1793248883095957248
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.234534433,681.234534433,658.530931134,632.765465567,882,784,815,652,630.234534433,653,0.452121429816,0.00457979412298,0.0697667960821,0.999999935903,7.962775732e-05,-0.00034594438171,-4.66566058904e-05,1793248883112623872
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.34227255,745,715,681.34227255,658.65772745,633,882,784,815,652,630,653,0.452120233725,0.00457911612906,0.0697655024751,0.999999935474,7.81124742835e-05,-0.000347532696278,-4.65940307513e-05,1793248883129290752
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.915863287,745,715,681.915863287,658.084136713,633,882,784,815,652,630,653,0.452118256741,0.00457857478101,0.0697631092402,0.999999934597,7.52964222596e-05,-0.000350665024181,-4.65914510418e-05,1793248883145957632
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.510538025,632.510538025,882,784,815,652,630.489461975,653,0.452119168029,0.00457910725873,0.0697639994549,0.99999993484,7.74558251223e-05,-0.000349470616153,-4.68037675943e-05,1793248883162623744
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.934833613,657.065166387,632,881.934833613,784,815,652,630.934833613,653.065166387,0.452120541048,0.00457974905776,0.0697653426225,0.999999935291,8.00002599015e-05,-0.000347574088554,-4.70177469702e-05,1793248883179290368
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.342092716,657.657907284,632,881.342092716,784,815,652,630.342092716,653.657907284,0.452121632645,0.00457978149837,0.0697657833579,0.999999935935,7.87376869678e-05,-0.000346014690615,-4.69461252703e-05,1793248883195956992
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.764913898,745.235086102,715,681,658,632,881.235086102,784,815.235086102,652,630.235086102,653.764913898,0.452117445167,0.00457955316318,0.0697636427099,0.999999935069,7.78678351368e-05,-0.000348714388711,-4.68712873106e-05,1793248883212623616
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.208974752,745.791025248,715,681,658,632,881.791025248,784,815.791025248,652,630.791025248,653.208974752,0.452106052638,0.00457896891282,0.0697579789071,0.999999932094,7.75339817511e-05,-0.000357227037668,-4.67920596998e-05,1793248883229290496
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.625431415,715,681.374568585,658,632,881.625431415,784.374568585,815.625431415,651.625431415,630.625431415,653,0.452079724277,0.00457920158424,0.0697464643929,0.999999924933,7.79774959707e-05,-0.000376678597432,-4.6539370932e-05,1793248883245957376
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.025262167,715,681.974737833,658,632,881.025262167,784.974737833,815.025262167,651.025262167,630.025262167,653,0.452044400144,0.00457992628324,0.0697314260258,0.999999914731,7.8889214484e-05,-0.000402718605512,-4.61822074018e-05,1793248883262623744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.562174105,745,715,682,658,632,881,784.437825895,815,651.562174105,630,653,0.451985591845,0.00457937157623,0.0697127113978,0.999999901688,7.92592616467e-05,-0.000433851064163,-4.59999486017e-05,1793248883279290368
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,881.147215817,784,815,652,630,653,0.451922765852,0.00457942990477,0.069695555792,0.999999889419,8.01159555743e-05,-0.000461145121939,-4.56981098347e-05,1793248883295957248
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,881.726867323,784,815,652,630,653,0.451851169365,0.00458145411878,0.0696834542063,0.999999882056,8.24720549028e-05,-0.000476506861635,-4.50224380126e-05,1793248883312623872
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.695084018,745,715,682,658,632,882,784,815,652,630,653,0.451772331353,0.0045812822314,0.0696759755437,0.999999876705,8.37186868486e-05,-0.000487493506327,-4.39467945258e-05,1793248883329290496
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.118463659,745,715,682,658,632,882,784,815,652,630,653,0.45168704057,0.00457915344302,0.0696726162739,0.999999873265,8.39766950331e-05,-0.000494581592728,-4.2514744538e-05,1793248883345956864
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.457045874,745,715,682,658,632,881.542954126,784,815,651.542954126,630,653,0.451579575009,0.00458017194875,0.0696669885016,0.999999867929,8.73419905059e-05,-0.000504804230859,-4.10651453609e-05,1793248883362623744
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.966905283,745,715,682,658,632.033094717,881.033094717,784.033094717,815,651.033094717,630,653,0.45146490463,0.00458170495706,0.0696609850876,0.999999862194,9.13375151821e-05,-0.000515467486193,-3.95242062888e-05,1793248883379290368
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.376948839,745,715,682,658,632.623051161,881.623051161,784.623051161,815,651.623051161,630,653,0.451325479752,0.00457820218831,0.0696585306,0.999999859911,9.24185728546e-05,-0.000519907188245,-3.65227056625e-05,1793248883395956992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,633,882,784.791232507,815,652,630,652.791232507,0.451179513321,0.00457592003979,0.0696591866946,0.999999859963,9.37616607018e-05,-0.000519759509637,-3.36430928138e-05,1793248883412623616
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,633,882,784.213019751,815,652,630,652.213019751,0.451021970651,0.00457579796146,0.0696653474293,0.999999864141,9.55684499683e-05,-0.000511493775242,-3.09791789128e-05,1793248883429290496
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.363557417,745,715,682,658.363557417,633,881.636442583,784,815,652,630,652,0.450845292604,0.00457423198279,0.0696734392694,0.999999868415,9.68654083024e-05,-0.000503023893163,-2.74494889621e-05,1793248883445957376
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.939180589,745,715,682,658.939180589,633,881.060819411,784,815,652,630,652,0.450657452735,0.00457182376627,0.0696826575383,0.999999872704,9.78649786169e-05,-0.000494434929411,-2.34147851273e-05,1793248883462623744
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.474518062,745,715,682,659,633,881,784,815,652,630,652.525481938,0.450438751558,0.00457056864223,0.0696950957653,0.999999879801,0.000103680002684,-0.000478842488017,-1.8927359196e-05,1793248883479290368
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.111433979,745,715,682,659,633,881,784,815,652,630.111433979,653,0.45021170569,0.00456933860952,0.069708403812,0.99999988757,0.000109459545658,-0.000461166574222,-1.43160505707e-05,1793248883495956992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.690624536,745,715,682,659,633,881,784,815,652,630.690624536,653,0.4499649364,0.00456764207015,0.0697237662188,0.999999897587,0.000112702123759,-0.000438218141256,-9.40923845524e-06,1793248883512623872
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.269087142,633,881.269087142,784,815,652,631,653,0.449701017193,0.00456465256876,0.0697431687961,0.999999910038,0.000116360609836,-0.000407882544081,-3.91658219804e-06,1793248883529290496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.846715031,633,881.846715031,784,815,652,631,653,0.449417433557,0.00456018053115,0.0697672039138,0.999999924629,0.00012049598412,-0.000369076676502,2.24781447877e-06,1793248883545956864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.422453005,633,881.577546995,784,814.577546995,652,630.577546995,652.577546995,0.449099214862,0.00455593953775,0.0697869271593,0.999999935322,0.000123548422638,-0.000337670277782,8.42755293666e-06,1793248883562624000
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.997508274,633,881.002491726,784,814.002491726,652,630.002491726,652.002491726,0.448768484986,0.00455178200431,0.0698050928313,0.999999944208,0.000126209673245,-0.000308936782294,1.46128331523e-05,1793248883579291136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.413519802,745,715,682,661,633,881,784,814.586480198,652,630,652.586480198,0.448366360366,0.00455075932815,0.0698076879909,0.999999945381,0.000131477441399,-0.000302585134886,1.98395153693e-05,1793248883595957504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.827435249,633,881,784.172564751,814.827435249,651.827435249,630,653,0.44794627546,0.00454972909126,0.0698052200722,0.999999943847,0.000136294164052,-0.00030513170183,2.4984685643e-05,1793248883612623616
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.248296315,633,881,784.751703685,814.248296315,651.248296315,630,653,0.447484607001,0.00454864889827,0.0697909828489,0.999999935821,0.000140021466883,-0.000328413574232,2.99476363445e-05,1793248883629290240
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881,784.66995322,814,651.33004678,630,652.66995322,0.44699436591,0.00454756706838,0.0697721156409,0.999999925333,0.000143488054586,-0.000357144023652,3.45317936269e-05,1793248883645957120
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881,784.092207339,814,651.907792661,630,652.092207339,0.446482681098,0.00454648400991,0.0697497736421,0.999999912441,0.00014675897669,-0.000389963615742,3.88316681058e-05,1793248883662624000
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.480899458,715,682,660.480899458,633,881,784,813.519100542,652,630,652.480899458,0.445982142786,0.00454331265472,0.0697527941068,0.999999921775,9.5707775123e-05,-0.000382916250402,2.58035294426e-05,1793248883679290368
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.945076951,715,682,661,633,881,784.054923049,813,652,630,653,0.445478257154,0.00453973752155,0.0697617419433,0.999999931954,4.10456012079e-05,-0.000366425695799,1.18451964137e-05,1793248883695956992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.353486317,715,682,661,633,881,784.646513683,813,652,630,653,0.444920979818,0.0045360920811,0.0697815442276,0.99999994344,5.19016519869e-05,-0.000331641767345,2.09521437848e-05,1793248883712623616
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.232638056,745,715,682,661,633,881,784.767361944,813,652,630.232638056,653,0.44434066723,0.00453416804596,0.0697960808354,0.999999951432,5.85839405846e-05,-0.000304821970955,2.80644387192e-05,1793248883729290240
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.810647263,745,715,682,661,633,881,784.189352737,813,652,630.810647263,653,0.44372615687,0.00453479958489,0.0698028000936,0.999999955737,5.90699206335e-05,-0.000289825614347,3.22155004991e-05,1793248883745956864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.613585828,744.613585828,715,682,661,633,881,784.386414172,813,652,630.613585828,653,0.443082966358,0.00453519143666,0.0698079455964,0.999999957041,4.45857819752e-05,-0.000287955915823,3.1818904846e-05,1793248883762623744
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.038911379,744.038911379,715,682,661,633,881,784.961088621,813,652,630.038911379,653,0.442425802946,0.00453546651326,0.0698123243682,0.999999956541,2.28082288689e-05,-0.000292481501418,2.92066986877e-05,1793248883779290624
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.549100327,744.549100327,715,682,660.450899673,633,880.450899673,784.450899673,812.450899673,651.450899673,630.549100327,652.450899673,0.441760435222,0.00456094200493,0.0698133514168,0.99999995771,4.01945274081e-05,-0.000287022048442,2.41416448858e-05,1793248883795956992
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.430869475,633.715434737,880.715434737,784.715434737,812.715434737,651.715434737,630.284565263,652.715434737,0.440354850161,0.00458534092161,0.0698300335466,0.999999967966,5.07925874453e-05,-0.000247067174237,2.11238337205e-05,1793248883829290240
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.133238489,745,715,682,662,634,881,785,812.133238489,651.133238489,630,653,0.438776016509,0.0045657795492,0.0697775458569,0.999999921951,0.000207289388657,-0.000335559206158,2.30080618874e-05,1793248883862624000
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.670419079,633.55680636,881.44319364,784.55680636,812,651.44319364,630.44319364,652.55680636,0.437959490653,0.00456629285297,0.0697356247616,0.999999897085,0.000216138522069,-0.000398321574985,2.12926141426e-05,1793248883879290624
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.02068763,745,715,682,659.04137526,633.02068763,881.97931237,784.02068763,812,652,630.97931237,652.02068763,0.437142834818,0.00457069845474,0.0696954956957,0.999999876916,0.000195635798946,-0.000455561031904,1.89490836344e-05,1793248883895957248
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.61046695,745,715,682,660.2209339,633.61046695,881.38953305,784.61046695,812,652,630.38953305,652.61046695,0.436375399135,0.00456255778962,0.0697287481446,0.99999990438,0.000166524905506,-0.000403775963418,2.17727017569e-05,1793248883912623872
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633.803250803,881,784.803250803,812,651.803250803,630,653,0.435590371267,0.00455583869386,0.0697677494644,0.999999929756,0.00013937171671,-0.000347083482614,2.44435564233e-05,1793248883929290752
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633.223771345,881,784.223771345,812,651.223771345,630,653,0.434771121897,0.00455188493446,0.0698179338869,0.999999953472,0.000116026793758,-0.000280844765208,2.68172448361e-05,1793248883945957376
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881,784,811.646892402,651,630,652.646892402,0.433933849308,0.00454831209339,0.0698398365282,0.999999962321,0.00010057256302,-0.000253840270083,2.8425560337e-05,1793248883962624000
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,881,784,811.071649433,651,630,652.071649433,0.433085238579,0.00454497888322,0.069843947469,0.999999963875,9.00822646731e-05,-0.000251517514157,2.9552389715e-05,1793248883979290624
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633.513498909,880.486501091,784,811,651,630,652,0.432236816588,0.00453780282713,0.0698435563891,0.999999965112,9.42495561648e-05,-0.000245021017555,2.93008510598e-05,1793248883995957248
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.901222363,745,715,682,660.901222363,633.901222363,880.098777637,784,811,651,629.901222363,652,0.431363947699,0.00453117886452,0.0698310385583,0.99999996115,9.78520469054e-05,-0.000259382776906,2.90618151035e-05,1793248884012623872
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.322162245,745,715,682,660.322162245,633.322162245,880.677837755,784,811,651,629.322162245,652,0.430372081375,0.00452989774684,0.0697626717471,0.999999924172,8.85684359794e-05,-0.000378050114566,2.98371038463e-05,1793248884029290496
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881,784,811,651,629,652,0.42941969201,0.00452462382083,0.0697258602446,0.999999900749,8.04436222195e-05,-0.000437196470686,2.98291323227e-05,1793248884045957376
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881,784,811,651,629,652,0.428516808522,0.00451434272044,0.0697286206116,0.999999907947,7.37719959196e-05,-0.000421700666994,2.88389151647e-05,1793248884062624000
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.792644156,633.396322078,880.603677922,784,811,651.396322078,629.396322078,652,0.42766614553,0.00450822074955,0.0697821376152,0.999999940078,6.8335760285e-05,-0.000338043161032,3.00203816995e-05,1793248884079290624
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661.896150957,633.948075479,880.051924521,784,811,651.948075479,629.948075479,652,0.426835962652,0.00450372992484,0.0698555605779,0.999999971564,6.33840252384e-05,-0.0002276536984,3.20535483744e-05,1793248884095957248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.555595658,745,715.555595658,681.444404342,661.444404342,633.444404342,880,784.555595658,811,651.444404342,630,652,0.425967120539,0.00449907974974,0.06986345942,0.99999997278,5.94817317749e-05,-0.00022293511473,3.46780397747e-05,1793248884112623616
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.840528153,681,660.840528153,633.159471847,880,784.840528153,811,651.159471847,629.840528153,652,0.42508076997,0.00449227217661,0.0698570662092,0.999999970096,5.25638642753e-05,-0.000236103306926,3.60649408031e-05,1793248884129290240
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.261481769,681,660.261481769,633.738518231,880,784.261481769,811,651.738518231,629.261481769,652,0.424158920702,0.00447983198805,0.0698309794912,0.999999962956,3.74251072774e-05,-0.000267449779546,3.4034086815e-05,1793248884145957120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.683791929,744.683791929,715,681,660.316208071,634,880,784.316208071,811,651.683791929,629.316208071,652,0.423183787187,0.00447371645366,0.0697823111675,0.999999936465,2.98513888976e-05,-0.000353609589399,3.37532032207e-05,1793248884162624000
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.107219091,744.107219091,715,681,660.892780909,634,880,784.892780909,811,651.107219091,629.892780909,652,0.42216477963,0.00447280862094,0.0697150492195,0.999999881419,2.85067007548e-05,-0.000484902529235,3.49132396209e-05,1793248884179290624
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.467854565,715,681,660.06429087,634,879.532145435,784.532145435,811,651,630,652,0.421269342118,0.00446395892171,0.0696965070445,0.999999871231,2.18987368088e-05,-0.000505778384088,3.53096282586e-05,1793248884195957248
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.043725006,745,715.043725006,681,659.087450012,634,879.043725006,784,811,651.043725006,630,652,0.42041130848,0.0044535859692,0.0696958869159,0.999999878478,1.30946058474e-05,-0.000491547009019,3.54091968935e-05,1793248884212624128
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.63383092,745,715.63383092,681,660.26766184,634,879.63383092,784,811,651.63383092,630,652,0.419667931935,0.00444684913469,0.0697801449415,0.999999936798,-8.12820455766e-06,-0.000353812059686,3.39796169119e-05,1793248884229290752
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.780183378,745,716,681,661,634,880,784.219816622,810.780183378,652,630,652,0.418897036143,0.00444088585539,0.0698461643668,0.999999968126,-2.08034733467e-05,-0.000249234520337,3.45910759267e-05,1793248884245957120
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.200934727,745,716,681,661,634,880,784.799065273,810.200934727,652,630,652,0.418081142277,0.0044361874499,0.0698823610509,0.999999979292,-1.95022765726e-05,-0.000198874137608,3.85399300461e-05,1793248884262623744
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.376922309,745,715.623077691,681,659.869233073,634,879.623077691,785,810,651.623077691,629.623077691,652,0.417225358097,0.00443254137567,0.0698681908443,0.999999975243,-1.2541094631e-05,-0.000218804093411,3.84827648276e-05,1793248884279290880
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.472559009,745,715.527440991,681,659.582322972,634,879,784.472559009,810.527440991,651.527440991,629,652,0.415525431787,0.004440619089,0.069802343108,0.999999951429,1.40937000317e-08,-0.000309618351257,3.5751315563e-05,1793248884312623872
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.103716252,745,715.896283748,681,660.896283748,634,879,784.103716252,811,652,629,652,0.414709363974,0.00445493496146,0.0697778440143,0.999999939354,7.07073845708e-06,-0.000346385820379,3.54778284867e-05,1793248884329290240
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,634,879,785,810.719614408,652,629,652,0.413162120778,0.00448451007393,0.0697529343438,0.999999917537,4.65190345871e-05,-0.000401905117994,3.51255490669e-05,1793248884362623488
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,634,879,785,810.140563765,652,629,652,0.412488798096,0.00447255081157,0.0697922678246,0.999999946506,3.07353109141e-05,-0.000323934713685,3.33217372669e-05,1793248884379290112
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.434932568,634,879,784.565067432,810.434932568,652,629,652,0.411832287027,0.00446396079088,0.0698387429421,0.999999969053,1.49504007678e-05,-0.000246057163985,3.35717518362e-05,1793248884395956736
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.990498335,745,715.009501665,681,660.990498335,634,879,784.009501665,811,652,629,652,0.411180786664,0.00445659425767,0.0698864007525,0.99999998494,-4.4823912581e-07,-0.000170090505568,3.4474020343e-05,1793248884412623616
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.403027164,745,715.596972836,681,660.403027164,634,879,784.596972836,811,652,629,652,0.410506264816,0.00445795204154,0.0698667415828,0.999999977611,7.67247449634e-06,-0.000208549818842,3.50032982496e-05,1793248884429290240
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.182753689,745,716,681,659.817246311,634,879,785,810.817246311,652,629,652,0.40983350094,0.00445870239992,0.0698388131238,0.999999965677,1.34799861975e-05,-0.000259328514316,3.48315875276e-05,1793248884445957120
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.764841152,745,716,681,659.235158848,634,879,785,810.235158848,652,629,652,0.409164578267,0.00445812547749,0.0697928154964,0.999999942557,1.42329385338e-05,-0.000337026210309,3.31281516529e-05,1793248884462624000
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.656778787,681,659.343221213,634,879.343221213,784.656778787,810,652,628.656778787,652,0.408548818247,0.0044602063455,0.069771441328,0.999999931883,1.18018047925e-05,-0.000367569292421,3.14179883304e-05,1793248884479290624
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.080911752,681,659.919088248,634,879.919088248,784.080911752,810,652,628.080911752,652,0.407969093537,0.00446408874509,0.0697667576952,0.9999999325,7.21240023366e-06,-0.00036614953309,2.97032651335e-05,1793248884495957248
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.507268064,660,634,879.014536128,784.492731936,810,652,628.492731936,652,0.407434921459,0.00446918850247,0.0697874079874,0.999999942739,1.76155155752e-05,-0.000336561650556,3.06150133468e-05,1793248884512623872
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.067880115,680,659.932119885,634,878.13576023,785,810,652,628.932119885,652,0.406912182235,0.00447409968843,0.0698092551239,0.999999951924,2.9389279499e-05,-0.000307048620708,3.17793586197e-05,1793248884529290496
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.657382476,680,659.342617524,634,879.314764951,785,810,652,628.342617524,652,0.406420075093,0.00447603255798,0.0698084748617,0.999999949821,3.28621221148e-05,-0.000313495623932,3.15854006742e-05,1793248884545957120
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879.756500827,785,810,652,628.243499173,652,0.405940639976,0.00447722869575,0.0698048361777,0.999999946517,3.23235618424e-05,-0.000323934809984,3.14202218011e-05,1793248884562624000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879.175082677,785,810,652,628.824917323,652,0.405478790661,0.00447740242474,0.0697972306835,0.999999941396,2.62181274701e-05,-0.000339914196383,3.12949814521e-05,1793248884579290624
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.598562109,652,0.405076871347,0.00447705750513,0.0698081117906,0.99999994815,2.35857478999e-05,-0.000319657487348,3.10356946689e-05,1793248884595956992
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.024151771,652,0.404700774763,0.00447648910909,0.0698269584447,0.999999959009,2.24498453077e-05,-0.000283787290504,3.07186496196e-05,1793248884612623616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628,652,0.404346598503,0.0044726801668,0.0698390590984,0.999999965253,1.95164015727e-05,-0.000261201104831,2.97757448558e-05,1793248884629290496
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.872902516,680.127097484,659.127097484,634,879,785,810,652,628,652,0.403999000466,0.004468726603,0.0698470990791,0.999999969278,1.51640204357e-05,-0.000245710137939,2.89796214746e-05,1793248884645957120
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.277350702,680.722649298,659.722649298,634,879,785,810,652,628,652,0.403672102098,0.00446476423456,0.0698412636215,0.999999967253,5.87253455498e-06,-0.000254221608307,2.88257515645e-05,1793248884662623744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.307536287,680.692463713,659.692463713,634,879,784.692463713,810,652,628,652,0.40336067484,0.00446355041919,0.0698329229173,0.999999963523,-2.09061914679e-06,-0.000268627011554,2.80945048702e-05,1793248884679290368
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.457456233,634,879,784.457456233,810,652,628.457456233,652,0.402798202408,0.00446413662891,0.0698154769495,0.999999954578,-1.50704718555e-05,-0.000299835751738,2.67392653363e-05,1793248884712623616
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,660,634,879,785,810,652,629,652,0.402544363765,0.00446303164393,0.0698094898426,0.999999951526,-2.09271543828e-05,-0.000309489849646,2.69452737256e-05,1793248884729290496
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,660,634,879,785,810,652,629,652,0.402328094541,0.00446095360417,0.069803789649,0.999999948423,-2.40750047326e-05,-0.000319054945704,2.78924794686e-05,1793248884745957376
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.366022097,634,878.366022097,784.633977903,810,652,628,652,0.401788999754,0.00448449857574,0.0697967416719,0.99999994414,4.31355751107e-05,-0.000330100232515,2.98966669028e-05,1793248884795957248
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.090212927,715,680.090212927,659,634,879.090212927,784.909787073,810,652,628,652,0.401422133977,0.00450879333848,0.0697984958611,0.999999943072,9.55878332371e-05,-0.000322890069804,2.14857145251e-05,1793248884845957120
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.684473984,715,680.684473984,659,634,879.684473984,784.315526016,810,652,628,652,0.401334267315,0.00450064095603,0.0697987490811,0.999999945781,7.04582218158e-05,-0.000321113743477,1.89842356101e-05,1793248884862624000
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715.269771057,680.730228943,659,634.269771057,879.730228943,784.269771057,810,652,628.269771057,652,0.401255718625,0.00449856238299,0.0697988041673,0.999999946904,6.01529375825e-05,-0.000319773068848,1.78531316376e-05,1793248884879290624
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715.84492093,680.15507907,659,634.84492093,879.15507907,784.84492093,810,652,628.84492093,652,0.401187717813,0.00450335931723,0.0697986349675,0.999999946757,6.66286823039e-05,-0.000318925548956,1.82732820021e-05,1793248884895957248
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715.59481074,680,659.40518926,634.59481074,879,785,810,652,628.59481074,652,0.40113388319,0.00450122826986,0.0697991015394,0.999999947251,6.23598143512e-05,-0.000318184353514,1.91746493178e-05,1793248884912623872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715.040036296,680,659.959963704,634.040036296,879,785,810,652,628.040036296,652,0.401085278352,0.00449653959437,0.0697998028213,0.999999947933,5.4124318746e-05,-0.000317482410256,2.02536692247e-05,1793248884929290752
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.444333894,745,715.555666106,680,659.444333894,634,879,784.444333894,810,652,628.555666106,652.555666106,0.401057048994,0.00449864622204,0.0698035529578,0.999999949765,5.74702359843e-05,-0.00031105162728,2.03621610757e-05,1793248884945957120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.153157471,745,716,680.153157471,659.153157471,634,879,784.153157471,809.846842529,652,628.846842529,652.846842529,0.401032807345,0.00450031531693,0.0698074199342,0.999999951757,5.96773065296e-05,-0.000304156035895,2.03542472863e-05,1793248884962623744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.746639825,745,716,680.746639825,659.746639825,634,879,784.746639825,809.253360175,652,628.253360175,652.253360175,0.401015474014,0.00449920697531,0.0698109410503,0.999999954061,5.60204258353e-05,-0.000297205189608,2.02286948922e-05,1793248884979290368
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.669759084,745,715.669759084,681,659.669759084,634,879,784.669759084,809.330240916,652,628.330240916,652.330240916,0.401001370224,0.00449767443298,0.069813768134,0.999999955413,5.35464127822e-05,-0.000293060620103,2.0530673833e-05,1793248884995956992
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.093518577,745,715.093518577,681,659.093518577,634,879,784.093518577,809.906481423,652,628.906481423,652.906481423,0.400989672149,0.00449582589941,0.0698160782269,0.999999956084,5.19535286769e-05,-0.000291006472077,2.11511249092e-05,1793248885012623616
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.480567501,744.519432499,715.480567501,680.038864998,659,634,878.519432499,784.480567501,810,652,628.519432499,652.519432499,0.400981804243,0.00449854632009,0.0698163173751,0.999999955931,5.48010015355e-05,-0.000291038755161,2.07767165002e-05,1793248885029290496
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,744.055935326,716,679.055935326,659,634,878.055935326,784.944064674,810,652,628,652.055935326,0.400975492679,0.00450157234358,0.0698164859807,0.999999955835,5.77103957172e-05,-0.000290839190904,2.02936109354e-05,1793248885045956864
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,744.647576466,716,679.647576466,659,634,878.647576466,784.352423534,810,652,628,652.647576466,0.400976980007,0.00449904789345,0.0698198214441,0.999999957901,5.29741227662e-05,-0.000284547974839,2.06153638493e-05,1793248885062623744
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.766401863,680.233598137,659,634,879,784.233598137,809.766401863,652,628,652.766401863,0.400976722701,0.00449793777855,0.0698215434837,0.999999958906,5.1581528044e-05,-0.00028124499704,2.07030247276e-05,1793248885079290624
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.188659021,680.811340979,659,634,879,784.811340979,809.188659021,652,628,652.188659021,0.400973895141,0.00449891131049,0.0698208885723,0.999999958413,5.51149538736e-05,-0.000282344393686,2.04458132547e-05,1793248885095957248
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.387863416,680.612136584,659.387863416,634,879,785,809.775726831,652.387863416,628.387863416,652,0.400972219047,0.00449841727143,0.0698213365084,0.999999958445,5.42533043618e-05,-0.000282402373952,2.03932659153e-05,1793248885112623872
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.963794085,680.036205915,659.963794085,634,879,785,810.927588169,652.963794085,628.963794085,652,0.400971101278,0.00449721163636,0.0698223191935,0.999999958728,5.12605701555e-05,-0.000281955392102,2.04399561499e-05,1793248885129290240
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.449395509,634,879,785,810.449395509,652.449395509,628.449395509,652,0.400971941844,0.00449754191794,0.0698227282096,0.999999959171,5.22793476108e-05,-0.000280205806707,2.02526556516e-05,1793248885145957120
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.136173067,652,0.400972630454,0.00449804658707,0.0698230960287,0.999999959551,5.29096705538e-05,-0.000278738946865,2.0055288607e-05,1793248885162623744
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.715327537,652,0.400972397379,0.00449878337905,0.0698234550185,0.999999959707,5.14009149583e-05,-0.000278476073935,1.98762366311e-05,1793248885179290368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.705972531,652,0.400972037763,0.00449865478749,0.0698238390834,0.999999959766,5.11768386776e-05,-0.000278298500188,1.99547006833e-05,1793248885195956736
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.127711928,652,0.400971555821,0.00449768963922,0.0698242473882,0.999999959734,5.21946476419e-05,-0.000278203384198,2.02821026382e-05,1793248885212623616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628,652,0.400971101293,0.00449822656695,0.0698239317219,0.999999959769,5.17071452115e-05,-0.00027817787199,2.01594469176e-05,1793248885229290496
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.97618715,784.97618715,810,652,628,652,0.400970745145,0.00449914405995,0.0698235111459,0.999999959836,5.09198611995e-05,-0.000278095920181,1.99347467322e-05,1793248885245957120
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.388625514,784.388625514,810,652,628,652,0.400972534094,0.00449899121827,0.0698254652295,0.999999960236,5.31371080827e-05,-0.000276210723293,2.03144064093e-05,1793248885262623488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878,784,810,652,628,652,0.400973420425,0.00449886578506,0.0698262082447,0.999999960481,5.34348219021e-05,-0.000275264818892,2.03129129267e-05,1793248885279290368
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878,784,810,652,628,652,0.400972543471,0.00449879389483,0.0698245854148,0.999999960429,4.99826914025e-05,-0.000276153840265,1.95668295067e-05,1793248885295957248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.650389581,745,715.650389581,680,659,634,878.349610419,784.349610419,810,652,628,652.349610419,0.400971965015,0.00449909124967,0.069824258577,0.999999960259,5.04991835194e-05,-0.00027668806735,1.94033585318e-05,1793248885312623872
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.071612112,745,715.071612112,680,659,634,878.928387888,784.928387888,810,652,628,652.928387888,0.400971582222,0.00449963064192,0.0698247812525,0.999999960008,5.36170786145e-05,-0.000276989729357,1.96217857451e-05,1793248885329290752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.504262067,745,715.504262067,680.504262067,659.504262067,634,879.504262067,785,810,652,628.504262067,652.495737933,0.40097144537,0.00449887972865,0.0698250285449,0.999999960157,5.32979196068e-05,-0.000276498584128,1.98628894538e-05,1793248885345957376
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,716,680.918315323,659.918315323,634,880,784.918315323,810,652,629,652,0.400971532456,0.00449806400351,0.06982535642,0.999999960403,5.25495231036e-05,-0.000275736791819,2.00548859165e-05,1793248885362624000
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,716,680.328715767,659.328715767,634,880,784.328715767,810,652,629,652,0.400972796053,0.0044979781482,0.0698264271399,0.999999960907,5.21498134543e-05,-0.000273988190787,1.99216240581e-05,1793248885379290624
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.743650124,745,716,679.743650124,659.256349876,634,879.487300248,784.256349876,810,652,629,652.256349876,0.40097297004,0.00449784451375,0.0698268085501,0.999999961082,5.15816893359e-05,-0.000273460461674,1.98764535515e-05,1793248885395957248
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.164297171,745,716,679.164297171,659.835702829,634,878.328594342,784.835702829,810,652,629,652.835702829,0.40097177111,0.00449765067712,0.0698263214243,0.999999960844,5.08013614658e-05,-0.000274471041575,1.99422788977e-05,1793248885412623616
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e178ef37438b84be6ed8db51a5239c5841ed0d95
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,401 @@
+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
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+397,6.616666667,pose2_to_pose3_retreat,0.583245390008,0.00992800719703,1.06004248021,0.553817180628,0.0186024627106,1.05966586625
+398,6.633333333,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689195,1.05966587446
+399,6.650000000,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689194,1.05966587446
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..734a1cf4207c8dc9a1d8e6134ce8a0b741d3f055
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d739fbd4eb44bedf318ab9c268a7d9c9c94f0bddd543243dd788a8090f04b157
+size 25558009
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0dd374ff3977f5cbcdf2f3a6e1a8bb037337f69
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
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+52,0.866666667,BASELINE,765.193580722,745,716,679.806419278,659,634,878.806419278,784.193580722,810,652,628,652,0.400971531221,0.00449941857923,0.0698279775939,0.99999996173,5.28711720268e-05,-0.000270897841912,1.89380225629e-05,1793248886428252416
+53,0.883333333,BASELINE,765.772400247,745,716,679.227599753,659,634,878.227599753,784.772400247,810,652,628,652,0.40097417327,0.00449907029016,0.0698301324689,0.999999962665,5.1124311293e-05,-0.000267749222601,1.91417615017e-05,1793248886444919296
+54,0.900000000,BASELINE,766,745,716,679.350825646,659.350825646,634,878.350825646,784.649174354,809.649174354,652,628.350825646,652,0.400974299889,0.00449893128972,0.0698305303103,0.999999962782,5.034654074e-05,-0.000267450700796,1.92648223771e-05,1793248886461585920
+55,0.916666667,BASELINE,766,745,716,679.928995618,659.928995618,634,878.928995618,784.071004382,809.071004382,652,628.928995618,652,0.400972796445,0.00449892791389,0.0698297895473,0.999999962373,5.01967664035e-05,-0.000268999117917,1.93356017192e-05,1793248886478252544
+56,0.933333333,BASELINE,766,745,716,680,659.497457926,634,879,784,809.502542074,652,629,652,0.400973470823,0.00449800574907,0.0698303508007,0.999999962499,5.14981988364e-05,-0.000268263285862,1.9633055861e-05,1793248886494919424
+57,0.950000000,BASELINE,766,745,715.921905388,680.078094612,659,634,879,784.078094612,810,652,629,652.078094612,0.400974174236,0.00449724900636,0.069830888904,0.999999962631,5.28240851552e-05,-0.000267495830025,1.98430221684e-05,1793248886511586048
+58,0.966666667,BASELINE,766,745,715.328856753,680.671143247,659,634,879,784.671143247,810,652,629,652.671143247,0.400973058601,0.00449843125412,0.0698300723704,0.999999962331,5.29715052687e-05,-0.000268628603731,1.92668357223e-05,1793248886528252672
+59,0.983333333,BASELINE,765.742696014,745,715.257303986,680.742696014,659.257303986,634,879,785,810,652,629,652.742696014,0.400972690112,0.00449842722413,0.069829608812,0.999999962236,5.18412632284e-05,-0.000269227373323,1.88937334685e-05,1793248886544919552
+60,1.000000000,BASELINE,765.165109007,745,715.834890993,680.165109007,659.834890993,634,879,785,810,652,629,652.165109007,0.400973251643,0.00449694655717,0.0698295846248,0.999999962393,4.9120631955e-05,-0.000269161433378,1.8773423251e-05,1793248886561586176
+61,1.016666667,BASELINE,765.410552766,745,716,679.589447234,659.589447234,634,879,784.589447234,810,652,628.589447234,652,0.400973541401,0.00449814870854,0.0698301175615,0.999999962546,5.07057251634e-05,-0.000268295687654,1.88423274873e-05,1793248886578252544
+62,1.033333333,BASELINE,765.98544386,745,716,679.01455614,659.01455614,634,879,784.01455614,810,652,628.01455614,652,0.400973722374,0.00450042475333,0.0698308735069,0.999999962687,5.40143377145e-05,-0.000267109791256,1.89869715373e-05,1793248886594919168
+63,1.050000000,BASELINE,766,745,715.426502235,679.573497765,659.573497765,634,879,784,810,652,628.573497765,652,0.40097276269,0.00449978285766,0.0698303279805,0.999999962355,5.33206796992e-05,-0.000268468911927,1.92567965097e-05,1793248886611586048
+64,1.066666667,BASELINE,766,745,715.159253489,680,659.840746511,634,879,784,810,652,628.840746511,652,0.40097216959,0.00449920260764,0.0698297707845,0.999999962082,5.2698885796e-05,-0.000269596090494,1.94297468498e-05,1793248886628252416
+65,1.083333333,BASELINE,766,745,715.738053898,680,659.261946102,634,879,784,810,652,628.261946102,652,0.400972620301,0.00449898445533,0.0698292719142,0.999999961999,5.25403178858e-05,-0.00026993805385,1.93389178588e-05,1793248886644919296
+66,1.100000000,BASELINE,765.684449779,745,716,680,659.315550221,634,879,784.315550221,810.315550221,652,628,652,0.400972292831,0.00449899923503,0.0698288598503,0.999999961885,5.29493989795e-05,-0.000270280023664,1.93850493941e-05,1793248886661586176
+67,1.116666667,BASELINE,765.108031582,745,716,680,659.891968418,634,879,784.891968418,810.891968418,652,628,652,0.400971322032,0.00449920658156,0.0698285195499,0.999999961742,5.38277602039e-05,-0.0002706219988,1.9544407333e-05,1793248886678252800
+68,1.133333333,BASELINE,765,745,715.532780168,680,660,634,878.532780168,784.532780168,810.532780168,652,628,652,0.400970911381,0.00449961288468,0.0698282570661,0.999999961666,5.32057075951e-05,-0.000271052984019,1.91733990173e-05,1793248886694919424
+69,1.150000000,BASELINE,765.043289646,745,715,680,659.956710354,634,878.043289646,784.043289646,810,652,628,652,0.400970652095,0.00449998392499,0.0698280390525,0.999999961613,5.22735735503e-05,-0.000271460832095,1.8730110598e-05,1793248886711586048
+70,1.166666667,BASELINE,765.633088231,745,715,680,659.366911769,634,878.633088231,784.633088231,810,652,628,652,0.400970672666,0.00449933047126,0.0698281558658,0.999999961673,5.17957102834e-05,-0.000271317407189,1.89186376384e-05,1793248886728252928
+71,1.183333333,BASELINE,766,745,715.218917913,680,659.218917913,634,879,785,810,652,628.218917913,652,0.400971255937,0.00449875238463,0.0698285290835,0.999999961947,5.10192972045e-05,-0.000270440226396,1.91050023113e-05,1793248886744919296
+72,1.200000000,BASELINE,766,745,715.798214159,680,659.798214159,634,879,785,810,652,628.798214159,652,0.400972765514,0.0044982983657,0.0698293243893,0.999999962569,4.97514172587e-05,-0.000268355151165,1.92878073676e-05,1793248886761585664
+73,1.216666667,BASELINE,766,745,716,680,660,634,879,785,810,652,629,652,0.400972187025,0.00449812687873,0.0698293198932,0.999999962403,5.03567594217e-05,-0.000268857179201,1.93318218658e-05,1793248886778252544
+74,1.233333333,BASELINE,766,745,716,680,660,634,879,785,810,652,629,652,0.400970492428,0.00449810640998,0.0698288878892,0.999999961813,5.19633710993e-05,-0.000270742058562,1.93016504123e-05,1793248886794919168
+75,1.250000000,BASELINE,766,745,715.47408438,680,660,634,879,785,810,652,629,652,0.400972380925,0.00449902404011,0.069829942889,0.999999962259,5.32868580327e-05,-0.000268839144213,1.91943096932e-05,1793248886811586048
+76,1.266666667,BASELINE,766,745,715.104555188,680,659.895444812,634,878.895444812,785,810,652,628.895444812,652,0.400973879243,0.00449973981061,0.0698305325115,0.999999962611,5.40905971578e-05,-0.000267375105761,1.90431959176e-05,1793248886828252672
+77,1.283333333,BASELINE,766,745,715.694345368,680,659.305654632,634,878.305654632,785,810,652,628.305654632,652,0.400971975657,0.00449910218865,0.0698283020231,0.999999962091,5.26079392013e-05,-0.000269629876438,1.87232015758e-05,1793248886844919296
+78,1.300000000,BASELINE,766,745,716,680,659.279480349,634,878,784.720519651,809.720519651,652,628,652,0.400971331946,0.00449902152382,0.0698277156287,0.999999961875,5.24025424169e-05,-0.000270467013624,1.87658558957e-05,1793248886861585664
+79,1.316666667,BASELINE,766,745,716,680,659.859607531,634,878,784.140392469,809.140392469,652,628,652,0.400972043525,0.00449953999739,0.0698288978442,0.99999996199,5.35711404628e-05,-0.000269779152496,1.91986241478e-05,1793248886878252544
+80,1.333333333,BASELINE,765.563759352,745,716,679.563759352,660,634,878.436240648,784,809.436240648,652,628,652,0.400972891252,0.00449843473888,0.0698296611203,0.999999962306,5.25110147208e-05,-0.000268800141688,1.94349901544e-05,1793248886894919168
+81,1.350000000,BASELINE,765.011950689,745,716,679.011950689,660.011950689,634,879,784.011950689,810,652,628,652.011950689,0.400973739461,0.00449685915932,0.0698302666242,0.999999962662,5.08021089853e-05,-0.000267786887331,1.96054266472e-05,1793248886911585792
+82,1.366666667,BASELINE,765.596886243,745,716,679.596886243,660.596886243,634,879,784.596886243,810,652,628,652.596886243,0.400972526629,0.00449758890743,0.0698297205137,0.999999962111,5.21030709219e-05,-0.000269588567425,1.96212423024e-05,1793248886928252672
+83,1.383333333,BASELINE,766.18101735,745,716,680,660.81898265,634,878.81898265,784.81898265,810,652,628,652.81898265,0.400971626368,0.00449796299729,0.0698294003569,0.999999961799,5.22451623182e-05,-0.000270722058751,1.95244760201e-05,1793248886944919296
+84,1.400000000,BASELINE,766.763365045,745,716,680,660.236634955,634,878.236634955,784.236634955,810,652,628,652.236634955,0.400971419101,0.0044975485637,0.0698295811578,0.999999962024,4.98179427139e-05,-0.000270374120993,1.91781063308e-05,1793248886961585920
+85,1.416666667,BASELINE,766.670749318,745,715.670749318,680,659.670749318,634,878.329250682,784,810,652,628,652,0.400970890924,0.00449731931832,0.0698292093751,0.999999961957,4.91649817845e-05,-0.000270755802277,1.89740003028e-05,1793248886978252544
+86,1.433333333,BASELINE,766.116131735,745,715.116131735,680,659.116131735,634,878.883868265,784,810,652,628,652,0.400970143088,0.00449721683137,0.0698284593576,0.999999961692,4.97264730871e-05,-0.000271636896309,1.88672715284e-05,1793248886994919168
+87,1.450000000,BASELINE,765.526920954,745,715,680,659.473079046,634,879,784,810,652,628.473079046,652,0.400969827914,0.00449758405117,0.0698279112431,0.999999961594,4.94659701645e-05,-0.000272051813651,1.87795040837e-05,1793248887011585792
+88,1.466666667,BASELINE,765.070486672,745,715.070486672,680,659.929513328,634,879,784.070486672,810,652,629,652,0.400969894139,0.00449797670353,0.0698277408001,0.999999961644,4.89714364542e-05,-0.000271961254064,1.87369744393e-05,1793248887028252160
+89,1.483333333,BASELINE,765.660777453,745,715.660777453,680,659.339222547,634,879,784.660777453,810,652,629,652,0.400971927956,0.0044976395165,0.0698299611562,0.999999962456,4.83564922577e-05,-0.00026905355099,1.89910173661e-05,1793248887044919040
+90,1.500000000,BASELINE,765.754363607,745,716,680,659,634,879,785,809.754363607,652,628.754363607,652,0.400973238718,0.00449759087419,0.0698311880272,0.999999962907,4.85975735615e-05,-0.000267320201182,1.90710885043e-05,1793248887061585664
+91,1.516666667,BASELINE,765.176843767,745,716,680,659,634,879,785,809.176843767,652,628.176843767,652,0.400973572549,0.00449793208951,0.0698310725836,0.99999996288,4.99952453134e-05,-0.000267173539989,1.8916103423e-05,1793248887078252288
+92,1.533333333,BASELINE,765.399181147,745,716,679.600818853,659,634,879,785,809.399181147,652,628.399181147,652.399181147,0.400972310887,0.00449766715946,0.069830324747,0.999999962536,4.99361359083e-05,-0.000268470980459,1.89168398114e-05,1793248887094919168
+93,1.550000000,BASELINE,765.974546306,745,716,679.025453694,659,634,879,785,809.974546306,652,628.974546306,652.974546306,0.400970345032,0.00449713469895,0.0698292977953,0.999999962048,4.92340565085e-05,-0.000270405794764,1.89863059684e-05,1793248887111586048
+94,1.566666667,BASELINE,766,745,716,679.561876615,659.561876615,634,879,784.438123385,810,652,628.438123385,652.438123385,0.400972128395,0.0044980695779,0.0698305294092,0.999999962495,4.99363062857e-05,-0.000268636239369,1.87596996289e-05,1793248887128252672
+95,1.583333333,BASELINE,765.852532482,745.147467518,716,680,660,634,879,784.147467518,810,652,628,652,0.400973445589,0.00449891780012,0.0698313793135,0.999999962827,5.10451420287e-05,-0.000267195718053,1.86315142622e-05,1793248887144919296
+96,1.600000000,BASELINE,765.273650278,745.726349722,716,680,660,634,879,784.726349722,810,652,628,652,0.400972891322,0.0044993138141,0.0698308066941,0.999999962707,5.3153278179e-05,-0.000267219397523,1.88313500869e-05,1793248887161585664
+97,1.616666667,BASELINE,765.304424803,745.695575197,716,680,660,634,879,785,810,652,628,652,0.400973278258,0.00449959749244,0.0698306068655,0.999999962782,5.35081559752e-05,-0.000266863863825,1.88639696508e-05,1793248887178252288
+98,1.633333333,BASELINE,765.881776238,745.118223762,716,680,660,634,879,785,810,652,628,652,0.400974509012,0.00449978045823,0.069830741256,0.999999963034,5.22911811118e-05,-0.000266168353317,1.87466744439e-05,1793248887194919168
+99,1.650000000,BASELINE,765.545110012,745,715.545110012,680,660,634,879,784.545110012,810,652,628,652,0.400974239637,0.00449907290984,0.0698308767578,0.999999963114,4.98463446339e-05,-0.000266352401232,1.85499061039e-05,1793248887211586048
+100,1.666666667,BASELINE,765,745,715.027838863,680,659.972161137,634,879,784.027838863,810,652,628.027838863,652,0.400973572794,0.0044982128867,0.0698309870934,0.999999963123,4.73170071575e-05,-0.000266791993547,1.83666044092e-05,1793248887228252672
+101,1.683333333,BASELINE,765,745,715.619550271,680,659.380449729,634,879,784.619550271,810,652,628.619550271,652,0.400972679311,0.00449890903534,0.069830581897,0.999999962734,4.94800954049e-05,-0.000267820216786,1.88705645217e-05,1793248887244919552
+102,1.700000000,BASELINE,765.206783695,745,716,680,659,634,878.793216305,784.793216305,810,652,628.793216305,652,0.400971608107,0.00449951348299,0.0698299796848,0.999999962247,5.11789406586e-05,-0.000269299630378,1.91121460602e-05,1793248887261585920
+103,1.716666667,BASELINE,765.785952898,745,716,680,659,634,878.214047102,784.214047102,810,652,628.214047102,652,0.400970216855,0.00449995279123,0.0698290226777,0.999999961587,5.20417557272e-05,-0.000271591568025,1.88812242444e-05,1793248887278252544
+104,1.733333333,BASELINE,766,745,716,680,659,634,878.364248432,784.364248432,810,652,628,652.364248432,0.40097028161,0.00450057236399,0.069829491266,0.999999961737,5.22710904454e-05,-0.000271009308586,1.86606989078e-05,1793248887294919168
+105,1.750000000,BASELINE,766,745,716,680,659,634,878.942031846,784.942031846,810,652,628,652.942031846,0.400971199925,0.00450129761407,0.0698307955873,0.99999996236,5.21290572336e-05,-0.000268742095983,1.84462683234e-05,1793248887311585792
+106,1.766666667,BASELINE,766,745,716,680,659.513792995,634,879,785,810,652,628.513792995,652.486207005,0.400971348085,0.00450001153953,0.0698302636009,0.999999962504,5.09865486341e-05,-0.000268431029028,1.83618782755e-05,1793248887328252160
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,660,634,879,785,810,652,629,652,0.400971422998,0.00449814540343,0.0698299977041,0.999999962378,4.89017964034e-05,-0.000269259586552,1.8742220512e-05,1793248887370618368
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,716,679.576229749,660,634,879,784.423770251,810,652,628.423770251,652,0.400971795914,0.00449747616447,0.0698304329607,0.999999962597,4.8724727806e-05,-0.000268481143237,1.86813104797e-05,1793248887387284992
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.84692914,745,716,680,660,634,879,784,809.84692914,652,628,652,0.400972126246,0.00449703290111,0.0698306980132,0.999999962742,4.88874450349e-05,-0.000267909907136,1.87308946712e-05,1793248887403951616
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.268388582,745,716,680,660,634,879,784,809.268388582,652,628,652,0.400972338212,0.00449721775042,0.0698304899736,0.999999962679,4.99946174494e-05,-0.000267914615825,1.90876042175e-05,1793248887420618240
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.305097784,745,716,679.694902216,659.694902216,634.305097784,879,784.305097784,809.305097784,652,628.305097784,652.305097784,0.400972273797,0.00449782590719,0.0698302816239,0.999999962562,5.07632137155e-05,-0.000268208070372,1.90721916009e-05,1793248887437285120
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.874210493,745,716,679.125789507,659.125789507,634.874210493,879,784.874210493,809.874210493,652,628.874210493,652.874210493,0.400971970216,0.00449880037104,0.0698300730059,0.999999962398,5.12388246462e-05,-0.000268751389781,1.87347648094e-05,1793248887453951744
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.5322745,679.4677255,659,634.5322745,879,785,810,652,629,652.5322745,0.400972337645,0.0044985432984,0.069830608523,0.999999962589,5.07481874363e-05,-0.000268121366709,1.88897690294e-05,1793248887470618368
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.934666594,715,680,659,634,878.934666594,785,810,652,628.934666594,652,0.400973080107,0.00449815321795,0.0698313176818,0.999999962842,5.02080523448e-05,-0.000267263073209,1.91249970399e-05,1793248887487284992
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.359165517,715,680,659,634,878.359165517,785,810,652,628.359165517,652,0.400975264352,0.00449945317859,0.0698317340089,0.999999962796,5.14222739116e-05,-0.000267222007735,1.88956111308e-05,1793248887503951616
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.215073903,715,680,659,634,878.215073903,785,810,652,628,652,0.400985389399,0.00449991243077,0.0698359384951,0.999999964499,5.17344073864e-05,-0.000260722879285,1.87027561518e-05,1793248887520618496
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.787218635,715,680,659,634,878.787218635,785,810,652,628,652,0.401008697952,0.00449897591857,0.0698464321735,0.999999968903,5.05488725465e-05,-0.000243501920471,1.85705507143e-05,1793248887537285376
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.372647682,680,659.372647682,634,879,784.627352318,810,652,628,652,0.401047243277,0.00449784667008,0.0698612194959,0.99999997487,4.89263689497e-05,-0.000217991127322,1.86244361339e-05,1793248887553952000
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.965942516,680,659.965942516,634,879,784.034057484,810,652,628,652,0.401094810396,0.00449660330108,0.0698785491141,0.999999981125,4.70451331251e-05,-0.000187571866792,1.87885071532e-05,1793248887570618880
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659.45753719,634,879,784.54246281,810,652,628.54246281,652,0.401157312981,0.00449873204947,0.0698929563386,0.999999983991,4.97835525718e-05,-0.000170905387935,1.81985725226e-05,1793248887587285248
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.118222397,634,879,785,810,652,628.881777603,652,0.401223081141,0.00450054343988,0.0699049963062,0.999999986268,5.16690466481e-05,-0.00015649768469,1.7384971684e-05,1793248887603951872
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659.694993947,634,879,785,810,652,628.305006053,652,0.401297987563,0.00450032735911,0.069908544705,0.999999987773,4.91550809562e-05,-0.000147602512475,1.58819420735e-05,1793248887620618240
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.727902229,745,716,679.727902229,659.727902229,634,878.727902229,784.727902229,810,652,628,652,0.401381683178,0.00449998992003,0.0699097521777,0.999999988479,4.5978147151e-05,-0.000143971044835,1.41520898863e-05,1793248887637284864
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.150425526,745,716,679.150425526,659.150425526,634,878.150425526,784.150425526,810,652,628,652,0.401475243019,0.00449951627894,0.0699083323976,0.999999988347,4.20571556039e-05,-0.00014624710311,1.21676718077e-05,1793248887653951488
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.436185643,745,716,679.872371287,659,634,878.436185643,784,810,652,628,652,0.401585707579,0.00450138970747,0.0699067402666,0.999999987675,4.16182595755e-05,-0.000151082983025,9.59564356007e-06,1793248887670618112
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974525864,745,716,680.974525864,659,634,879,784,810,652,628,652,0.401703780404,0.00450400606433,0.0699053690506,0.999999986869,4.22927071928e-05,-0.000156292541319,6.81846450739e-06,1793248887687284480
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.396945517,745,716,680.396945517,659,634,879,784,810,652,628,652,0.401857694383,0.00450480601059,0.0699101015357,0.999999987912,4.05137915871e-05,-0.000150058663942,4.08095508672e-06,1793248887703951616
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.179826692,745,716,680,659.179826692,634,878.820173308,784.179826692,810,652,628.179826692,652,0.402022155139,0.00450549320916,0.0699146464023,0.999999989062,3.72982938138e-05,-0.000143122270267,8.17005007514e-07,1793248887720618240
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.754822939,745,716,680,659.754822939,634,878.245177061,784.754822939,810,652,628.754822939,652,0.402209792444,0.00450593264433,0.0699187789762,0.999999990451,3.09259037639e-05,-0.000134642096284,-3.60379922983e-06,1793248887737284352
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,878.337448387,785,810,652,629,652.337448387,0.402416538794,0.00450695749373,0.0699214688624,0.999999991228,2.63750133634e-05,-0.000129543171689,-8.15484994733e-06,1793248887753950976
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,878.925745201,785,810,652,629,652.925745201,0.402637490223,0.00450841752156,0.0699230863006,0.99999999159,2.3178167358e-05,-0.000126957759753,-1.28027222292e-05,1793248887770617600
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.491495496,745,715.491495496,680,660,634,879,784.491495496,810,652,628.491495496,652.491495496,0.402893263176,0.00451108484499,0.0699261154881,0.999999992335,1.71500167367e-05,-0.000121164694266,-1.8829138272e-05,1793248887787284480
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.089049045,745,715.089049045,679.910950955,660,634,879,784.089049045,810,651.910950955,628.089049045,652,0.403161508302,0.00451366805611,0.0699305399655,0.999999993298,1.08065876381e-05,-0.000112560103409,-2.48325849882e-05,1793248887803951104
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.661906826,745,715.661906826,679.338093174,660,634,879,784.661906826,810,651.338093174,628.661906826,652,0.403470186934,0.00451484677086,0.0699414371663,0.99999999539,4.97229537482e-06,-9.11977585525e-05,-2.96293309659e-05,1793248887820617984
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.763518331,745,715.763518331,679.236481669,660,634,879,784.763518331,810,651.236481669,628.763518331,652,0.403789631205,0.00451670805891,0.0699494206542,0.99999999645,4.66172276826e-07,-7.6810055755e-05,-3.46338523879e-05,1793248887837284608
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.186470717,745,715.186470717,679.813529283,660,634,879,784.186470717,810,651.813529283,628.186470717,652,0.404124579449,0.00451955234579,0.0699532079965,0.999999996575,-2.12720523432e-06,-7.24667926834e-05,-3.9937598593e-05,1793248887853951232
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.400675055,745,715.400675055,680,660,634,879,784,810,652,628,652,0.404491564222,0.00452132344243,0.0699552660153,0.999999996408,1.64755501746e-06,-7.26580283285e-05,-4.36136612949e-05,1793248887870617600
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.992641911,745,715.992641911,680,660,634,879,784,810,652,628,652,0.404873843985,0.00452258217243,0.0699564984137,0.999999996069,8.46261576551e-06,-7.50141416271e-05,-4.65126290275e-05,1793248887887284224
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.428849116,745,716,680,659.428849116,634,879,784,810,652,628.571150884,652,0.405294479757,0.00452492365862,0.069958024625,0.999999995009,6.09795545129e-05,-7.07066099377e-05,-3.55462317667e-05,1793248887903951360
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.852015536,680,659.147984464,634,879,784.147984464,810,652,629,652.147984464,0.405722632532,0.00452154302683,0.0699580299718,0.999999992749,9.50420233048e-05,-6.87306455435e-05,-2.73066112529e-05,1793248887920617728
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.279502397,680,659.720497603,634,879,784.720497603,810,652,629,652.720497603,0.406170964629,0.00450170804162,0.0699536617476,0.999999994134,7.45132870203e-05,-7.36839421957e-05,-2.73900371589e-05,1793248887937284608
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.302047977,745,715,680,660,634,879,785,810,652,628.697952023,653,0.40663279081,0.00449446818299,0.0699433410893,0.999999994373,4.93144560795e-05,-8.95398050176e-05,-2.83743703207e-05,1793248887953951488
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.892219023,745,715,680,660,634,879,785,810,652,628.107780977,653,0.407107489027,0.00449924279257,0.0699273424133,0.999999992646,1.96608270764e-05,-0.000115795608282,-3.02180774173e-05,1793248887970617856
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.473600429,680,660,634,879.473600429,784.526399571,810.473600429,652,628,653,0.40766703074,0.00451035591052,0.0699252191944,0.999999992917,-1.44670225751e-05,-0.000113774365903,-3.18253570429e-05,1793248887987284480
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.947239667,784.052760333,811,652,628,652.947239667,0.408249786287,0.00452185470316,0.0699278436865,0.999999993177,-4.45602954398e-05,-0.000102670820548,-3.34400298816e-05,1793248888003951104
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,680,660,634,879.370637227,784.629362773,811,652,628,652.370637227,0.408874810239,0.00452312151412,0.0699468257451,0.999999997004,-2.46699065617e-05,-6.412104006e-05,-3.56525958818e-05,1793248888020617984
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,716,680.204735889,660,634,879,785,811,652,628.204735889,652,0.40949560048,0.00452768606755,0.0699575974018,0.999999998491,-6.82069044851e-07,-4.00296823633e-05,-3.76172693337e-05,1793248888037284608
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,716,680.777896785,660,634,879,785,811,652,628.777896785,652,0.410108772062,0.00453818495317,0.0699535943277,0.999999997883,3.06791815958e-05,-4.19564549395e-05,-3.91358567264e-05,1793248888053951232
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,716,680.637960471,660,634,879.362039529,785,811,652,629,652.362039529,0.410741185918,0.0045454686386,0.069948522775,0.999999996444,5.37661575546e-05,-5.12139083062e-05,-3.99775396712e-05,1793248888070617600
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,716,680.046869877,660,634,879.953130123,785,811,652,629,652.953130123,0.411385773736,0.00455071816724,0.0699427752294,0.9999999945,7.16182580367e-05,-6.51092535966e-05,-4.03909663283e-05,1793248888087284224
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.466556697,680.533443303,660,634,880.533443303,784.466556697,811,652,629,652.466556697,0.412137272554,0.00455800932175,0.0699637507245,0.999999996613,6.51090305034e-05,-2.92768592601e-05,-4.09676254725e-05,1793248888103951104
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.112297907,634.112297907,880.887702093,784.112297907,811,652,629,652,0.412898714475,0.00456574103776,0.0699873720045,0.999999997178,6.1826907224e-05,9.9247853425e-06,-4.1510748254e-05,1793248888120617728
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.68895912,634.68895912,880.31104088,784.68895912,811,652,629,652,0.413663198029,0.00457456744035,0.0700124170711,0.99999999485,8.05649203591e-05,4.53492186687e-05,-4.18570632901e-05,1793248888137284608
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.735924936,745,715,680.735924936,660.735924936,634.735924936,880,785,811,652,628.735924936,652,0.414407831953,0.00458224820246,0.070011946795,0.999999993588,9.77336274889e-05,3.82158815174e-05,-4.25640936131e-05,1793248888153951488
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.162618423,745,715,680.162618423,660.162618423,634.162618423,880,785,811,652,628.162618423,652,0.415129222093,0.00458858742266,0.0699815980995,0.999999992478,0.000113064682301,-1.8752527358e-05,-4.36935209173e-05,1793248888170618112
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.422996939,745,715,680.422996939,660,634,880.422996939,784.577003061,811,652,628.422996939,652,0.415863668318,0.00459450345668,0.0699403311217,0.999999989762,0.000105986916346,-8.4441774567e-05,-4.59583844448e-05,1793248888187284736
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.013261472,634,881,784,811.013261472,652,629,652,0.41660694582,0.00460024011179,0.0698963528254,0.999999983258,9.09496076234e-05,-0.000151163304828,-4.85936002324e-05,1793248888203951104
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.593913315,634,881,784,811.593913315,652,629,652,0.417506882774,0.00460547142198,0.0699213413767,0.99999998571,0.000114999805665,-0.000114308406073,-4.78384877107e-05,1793248888220617728
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,784.172479037,811.827520963,652,629,652.172479037,0.418398179377,0.00461049707568,0.06994849905,0.999999987105,0.000134299522287,-7.42340858251e-05,-4.73603985033e-05,1793248888237284608
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,881,784.746191835,811.253808165,652,629,652.746191835,0.419269376092,0.00461504431543,0.0699807026971,0.999999988355,0.000142548309132,-2.66705067081e-05,-4.75267420036e-05,1793248888253950976
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.321260471,681,661,634,880.678739529,784.678739529,811.321260471,652,629,653,0.420158858853,0.00461952512072,0.0700063050765,0.999999988737,0.000141450488198,1.3754739716e-05,-4.82562420279e-05,1793248888270617856
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.897404786,681,661,634,880.102595214,784.102595214,811.897404786,652,629,653,0.42106284948,0.00462395321757,0.0700266700952,0.999999988765,0.000132937190945,4.85165243568e-05,-4.94325430565e-05,1793248888287284736
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.512593102,681,661,634,880.974813796,784.487406898,812,652,629.487406898,653,0.42193240542,0.00460506860507,0.0700228386667,0.999999991097,0.000117130898131,3.92871548533e-05,-5.04307922221e-05,1793248888303951360
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.07810122,680.92189878,661,634,881.92189878,785,812,652,629.92189878,653,0.422787182612,0.00458254476754,0.0700030255183,0.99999999377,9.90457811788e-05,3.84537134167e-06,-5.13404742839e-05,1793248888320617728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.654069188,680.345930812,661,634,881.345930812,785,812,652,629.345930812,653,0.423595307187,0.0045690188205,0.0699147518651,0.999999986212,7.6506176645e-05,-0.000137935867072,-5.19314755441e-05,1793248888337284608
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.771619061,745,715.771619061,680.228380939,660.771619061,634,880.771619061,784.771619061,812,652,629.228380939,653,0.424447243151,0.00456514883261,0.0698614830258,0.9999999732,6.1230870706e-05,-0.000216720870282,-5.36884362145e-05,1793248888353951488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.19979785,745,715.19979785,680.80020215,660.19979785,634,880.19979785,784.19979785,812,652,629.80020215,653,0.425365062998,0.00457579951709,0.0698608545684,0.999999976592,5.68796477841e-05,-0.000200771879456,-5.71987732097e-05,1793248888370618624
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.385845902,745,715,681,661.157537707,634,880.385845902,784.385845902,812.385845902,652,629.614154098,653,0.426301613435,0.00458212386672,0.0699034505795,0.999999986775,7.36748268814e-05,-0.000133982700836,-5.54065103296e-05,1793248888387285248
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.978913115,745,715,681,662.936739345,634,880.978913115,784.978913115,812.978913115,652,629.021086885,653,0.427248223214,0.00458612472654,0.0699692606016,0.999999992731,0.000101826832579,-3.98894345034e-05,-5.07664474968e-05,1793248888403951872
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.442643494,745,715.557356506,681,661.885286989,633.442643494,881,784.442643494,813,652,629.557356506,653,0.42820291861,0.00458944435968,0.0700074860481,0.999999993443,0.000101661611469,1.12671160352e-05,-5.15047513189e-05,1793248888420618496
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.865271033,681,661.134728967,633.134728967,881,784.134728967,813,652,630,653,0.429153476899,0.00459244052688,0.0700363355614,0.99999999228,0.00010013016824,5.14886470901e-05,-5.25588595967e-05,1793248888437285120
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.289638929,681,661.710361071,633.710361071,881,784.710361071,813,652,630,653,0.430089520872,0.00459446033283,0.0700378301243,0.999999991918,9.75441025669e-05,6.11052644441e-05,-5.39975649559e-05,1793248888453951488
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.291913183,745,715,681.291913183,661.708086817,634,881,784.708086817,813.291913183,652,630,653,0.430942346752,0.00459567040899,0.0700024876071,0.999999993535,9.99522523527e-05,2.16198875816e-06,-5.41794784815e-05,1793248888470618112
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.879460733,745,715,681.879460733,661.120539267,634,881,784.120539267,813.879460733,652,630,653,0.431710893654,0.00459606043318,0.0699298384263,0.999999984856,0.000107418280682,-0.000126215153312,-5.30885783678e-05,1793248888487284736
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.539652826,745,715,681.539652826,660.539652826,634,881,784,813.539652826,652,629.539652826,653,0.432547978653,0.00459402193331,0.0698933060461,0.99999997697,0.00010052710645,-0.000181491755779,-5.49130337269e-05,1793248888503951360
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.117521264,633.960826245,881,784,813.039173755,652,629.039173755,653,0.433409106642,0.00459110892455,0.0698727189394,0.999999972877,9.03017537585e-05,-0.000206898995241,-5.73066207526e-05,1793248888520617984
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.840045759,633.386651414,881,784,813.613348586,652,629.613348586,653,0.434356992812,0.00458481326858,0.0699425855586,0.999999991372,8.51507389074e-05,-8.20583572349e-05,-5.71961793689e-05,1793248888537284608
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.187481446,681,662.812518554,633,881,784,814,652,630,653,0.435285025903,0.00457944578267,0.0699984319574,0.999999994943,8.18039161592e-05,1.40831789256e-05,-5.67857141617e-05,1793248888553951488
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.761527871,681,662.238472129,633,881,784,814,652,630,653,0.436172124426,0.00457599207453,0.0700253703018,0.999999993766,8.21771293574e-05,5.10505194762e-05,-5.5756636126e-05,1793248888570618368
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.653473356,681,661.653473356,633,881,784,814.346526644,652,630,653,0.437011310579,0.00457503854514,0.0700287547973,0.999999994008,7.12358446339e-05,6.12266018509e-05,-5.62169929507e-05,1793248888587284992
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.060691456,681,661.060691456,633,881,784,814.939308544,652,630,653,0.437816448291,0.00457586173983,0.0700154010135,0.999999995597,5.22540393735e-05,5.23637760792e-05,-5.77357999681e-05,1793248888603951360
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.520177722,745,715,681.520177722,661.520177722,633,881,784.520177722,815,652,630,653,0.43855390574,0.00457931160301,0.0699672456318,0.999999995939,6.73419653711e-05,-1.36820112346e-05,-5.82998522417e-05,1793248888620617984
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681.901015685,661.901015685,633.098984315,881,785,814.901015685,652,630,653,0.439276536208,0.00458290021436,0.0699159761858,0.999999990779,8.50563692391e-05,-8.81697277671e-05,-5.85960077005e-05,1793248888637284608
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681.325596628,661.325596628,633.674403372,881,785,814.325596628,652,630,653,0.439964957966,0.00458571458956,0.0698688243952,0.99999997886,9.67080534084e-05,-0.000171896492559,-5.81268825552e-05,1793248888653951488
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.248605665,661.248605665,634,881.248605665,785,814.497211329,652,630,652.751394335,0.440703111986,0.00458574067605,0.069861385865,0.99999997689,9.04803813237e-05,-0.000186141118914,-5.81821042487e-05,1793248888670618368
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681.82122209,661.82122209,634,881.82122209,785,815.642444179,652,630,652.17877791,0.441506082607,0.00458213275203,0.0699057061096,0.999999990376,6.09503279963e-05,-0.000109828830322,-5.89207136808e-05,1793248888687284992
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.407635592,715,682,662.407635592,634,881.592364408,784.592364408,815.592364408,651.592364408,630,652.407635592,0.442265160323,0.00458101193231,0.0699633703061,0.999999996315,5.82061173346e-05,-2.34999462847e-05,-5.85594759643e-05,1793248888703951872
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.99969482,715.00030518,682,662.99969482,633.99969482,881.00030518,784,815,651.00030518,630,653,0.443004261524,0.00458102082679,0.0700270569599,0.999999993783,6.76216445561e-05,6.73217727437e-05,-5.76984717778e-05,1793248888720618496
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.420254693,715.579745307,682,662.420254693,633.420254693,881.579745307,784,815,651.579745307,630,653,0.44364475937,0.00458240612267,0.0700245847627,0.999999993834,7.82703356888e-05,5.55220030072e-05,-5.58797373207e-05,1793248888737285120
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.841963766,682,662,633,881.841963766,784,815,651.841963766,630,652.841963766,0.444270532942,0.00458290466808,0.070013811391,0.999999994264,8.65542268362e-05,3.19208032897e-05,-5.44219618415e-05,1793248888753951744
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.26670664,682,662,633,881.26670664,784,815,651.26670664,630,652.26670664,0.444857434081,0.00458106216317,0.0699811226437,0.999999994361,8.85949698907e-05,-2.28365651806e-05,-5.39171295522e-05,1793248888770618368
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,682.314676681,662,633,881,784,815,651.314676681,630,652.314676681,0.445430230776,0.00457977185439,0.0699569678323,0.999999992926,8.90886247266e-05,-5.75243309449e-05,-5.38707109969e-05,1793248888787284736
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,682.901355362,662,633,881,784,815,651.901355362,630,652.901355362,0.445990835758,0.00457895885613,0.0699401896344,0.999999991834,8.82449987674e-05,-7.48642173431e-05,-5.42205388047e-05,1793248888803951360
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.518306686,745,715,682.036613371,662.481693314,633,881,784,814.518306686,652,630,653,0.44652003176,0.00458104311394,0.0699353840623,0.999999991155,9.12661690554e-05,-7.96631759241e-05,-5.49028469507e-05,1793248888820617984
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.060745612,745.060745612,715,681.060745612,662.939254388,633,881,784.060745612,814.060745612,652,630,653,0.447036402915,0.00458366682557,0.0699326303271,0.999999990382,9.53795349943e-05,-8.3996815046e-05,-5.55362159096e-05,1793248888837284608
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.639763591,745.639763591,715,681.639763591,662.360236409,633,881,784.639763591,814.639763591,652,630,653,0.447497519645,0.0045858967194,0.0699267356028,0.999999987644,0.000102146457065,-0.000105987413847,-5.51786764323e-05,1793248888853951744
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.78239594,715,682,661.78239594,633.21760406,881.21760406,784.78239594,815,652,630.21760406,653,0.447953661854,0.00458697455625,0.0699224938636,0.999999985525,0.000109200872901,-0.000118560662944,-5.44878518381e-05,1793248888870618624
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.206494366,715,682,661.206494366,633.793505634,881.793505634,784.206494366,815,652,630.793505634,653,0.448401613183,0.00458615546523,0.0699209738596,0.999999985085,0.000116728663046,-0.000115627705732,-5.32482543336e-05,1793248888887285248
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661.375759783,633.624240217,881.624240217,784,815,652,630.624240217,653,0.4488291472,0.00458797584961,0.0699311479054,0.999999985881,0.00012455137635,-9.99009812718e-05,-5.23902590382e-05,1793248888903951872
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,682,661.961565004,633.038434996,881.038434996,784,815,652,630.038434996,653,0.449245268214,0.00459127167058,0.0699478587917,0.999999986912,0.000132538948985,-7.70226863938e-05,-5.17455748891e-05,1793248888920618240
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.876418312,715,682,661.876418312,633,881.123581688,784,815,652,630,653,0.449952753337,0.00459893689864,0.0699482681335,0.999999986191,0.000134108373758,-8.13120470205e-05,-5.49601987504e-05,1793248888953951488
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.718265336,660.718265336,633,882,784,815,652,630,653,0.450495324174,0.00460568429485,0.0699047125626,0.999999983047,9.32042383333e-05,-0.000147664470523,-5.84379037911e-05,1793248888987284992
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.132440363,660.132440363,633,882,784,815,652,630,653,0.450717138451,0.00460884987075,0.0698671321538,0.999999975511,3.78999187619e-05,-0.000209555978819,-6.02236813564e-05,1793248889003951616
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.448052302,659.551947698,633,882,784,815,651.551947698,630.448052302,652.551947698,0.450927436459,0.00461359498585,0.0698387334241,0.999999965825,4.78728235604e-05,-0.000250621600713,-5.69892931298e-05,1793248889020618496
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.973052717,659,633,882,784,815,651.026947283,631,652.026947283,0.451133872954,0.00461877967748,0.0698139340109,0.99999995527,7.70006422958e-05,-0.000284259588875,-5.22295379729e-05,1793248889037285120
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.394976389,659,633,882,784,815,651.605023611,631,652.605023611,0.451330135792,0.00462351789554,0.0698078935163,0.99999995094,0.000107896954915,-0.000290408230351,-4.62651088461e-05,1793248889053951744
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.755868653,658.244131347,633,882,784,815,652,631,653,0.451678623742,0.00462648073073,0.0698034359573,0.999999947145,0.000126354528996,-0.0002962036627,-4.48149203217e-05,1793248889087284992
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+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.498154466,715,681.501845534,658,632,881.501845534,784,815,652,630.501845534,653,0.452068992677,0.00463030772782,0.0697902929832,0.999999941977,0.000126740524689,-0.000312266244611,-4.97354024884e-05,1793248889137285376
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.914276508,715,681.085723492,658,632,881.085723492,784,815,652,630,653,0.452170881073,0.00463241867677,0.0697843651338,0.999999939011,0.000130274795367,-0.000320032111588,-5.08590861612e-05,1793248889153952512
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.519642359,745,715,682,657.480357641,632.480357641,881.480357641,784,815,652,630.519642359,653,0.452591486708,0.0046370842532,0.0697475460459,0.9999999202,0.000138370191331,-0.000371269453272,-5.11198659875e-05,1793248889453951488
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657,632,881,784,815,651.892359867,630.892359867,653,0.452592018807,0.00463607216683,0.069747033569,0.999999920079,0.000138375344145,-0.000371637655421,-5.07848969875e-05,1793248889470618624
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,657,632,881,784,815,651.3169929,630.3169929,653,0.452590984457,0.00463602781446,0.0697467450449,0.999999919594,0.000139500213071,-0.000372544972909,-5.06150878641e-05,1793248889487284992
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.258312207,715,682.258312207,657.258312207,632,881.258312207,784,815,651.258312207,630,653,0.452590308213,0.00463632638861,0.0697464919887,0.99999991918,0.000140203037329,-0.000373401491175,-5.05421890336e-05,1793248889503951360
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.833541497,715,682.833541497,657.833541497,632,881.833541497,784,815,651.833541497,630,653,0.452590071318,0.0046370456911,0.0697462824472,0.999999918855,0.000140388065203,-0.000374195685207,-5.05881871068e-05,1793248889520617728
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.577488662,715,682.577488662,657.577488662,632.422511338,882.422511338,784,815.422511338,652,630,653,0.452590942154,0.00463720666671,0.0697466752115,0.99999991884,0.000140413289206,-0.000374207060379,-5.0734407299e-05,1793248889537284352
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682.01646836,657.01646836,633,882.98353164,784,815.98353164,652,630,652.98353164,0.452592258043,0.00463713265334,0.0697472802943,0.999999918953,0.000140383491203,-0.000373891586424,-5.09036588646e-05,1793248889553951232
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682.589858481,657.589858481,633,882.410141519,784,815.410141519,652,630,652.410141519,0.452593369902,0.00463680065659,0.0697467710599,0.999999919151,0.000140693658285,-0.000373303141946,-5.04716054256e-05,1793248889570618112
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682.836635519,657.836635519,632.836635519,881.836635519,784,815,652,630,652.163364481,0.452593780988,0.00463574975156,0.0697463495318,0.999999919375,0.000139785349377,-0.000373100470564,-5.00614503219e-05,1793248889587284736
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,682.262838421,657.262838421,632.262838421,881.262838421,784,815,652,630,652.737161579,0.452592431472,0.00463289268037,0.0697461483552,0.999999919653,0.000135815773493,-0.000373867005366,-4.97063120432e-05,1793248889603951360
+242,4.033333333,HOLD_POSE2,766,745,715,682,657,632,881,784,815,652,630,652,0.452591956623,0.00463350805169,0.0697460904222,0.999999919144,0.000137535832886,-0.000374642868139,-4.93770720271e-05,1793248889639654912
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+245,4.083333333,HOLD_POSE2,766,745.73270092,715,682,658,632,882,784,815,652,630,652.26729908,0.452591755589,0.00463475042448,0.0697455273614,0.999999918524,0.000139135209108,-0.00037560222874,-5.01551423234e-05,1793248889689654784
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+247,4.116666667,HOLD_POSE2,765.119310978,745.119310978,715,682,658,632,882,784,815,651.119310978,630.880689022,652.880689022,0.452593736646,0.0046343060478,0.0697465835793,0.99999991916,0.000138404442767,-0.000374171237326,-5.02055532061e-05,1793248889722988544
+248,4.133333333,HOLD_POSE2,765.469595707,745,715,682,658,632.469595707,882,784,815,651,631,652.530404293,0.452591926326,0.00463497575844,0.069744904258,0.9999999181,0.000139373507578,-0.000376642330579,-5.01514630216e-05,1793248889739655168
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+250,4.166666667,HOLD_POSE2,766,745,715,682,658,632.361816217,881.361816217,784,815,651.638183783,630.361816217,652.638183783,0.452591935912,0.00463514137436,0.0697444307984,0.999999918145,0.000139202730907,-0.000376640222891,-4.97483081004e-05,1793248889772988160
+251,4.183333333,HOLD_POSE2,766,745,715,682,657.78557943,632,881,784,815,652,630.21442057,653,0.452592979464,0.00463400915928,0.0697452557543,0.999999918848,0.000137980409146,-0.000375261905655,-4.9439906548e-05,1793248889789654784
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+256,4.266666667,HOLD_POSE2,766,745.120002271,715,681.879997729,658,632.120002271,881.120002271,784,815,652,630.879997729,653,0.452592336978,0.00463474363136,0.0697449388949,0.999999917557,0.00014041346459,-0.000377817888776,-4.92357391321e-05,1793248889872987904
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,765.405977835,745,715,682,657,632,881.405977835,784,815,652,630,653,0.452593619835,0.00463360318063,0.0697443937093,0.999999918296,0.000139217091032,-0.000376301539218,-4.92412527006e-05,1793248889944287488
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765.183365408,745,715,682,657.183365408,632,881.183365408,784,815,652,630,653,0.452593685649,0.0046347954056,0.0697446665273,0.999999918095,0.000140932826713,-0.0003761743589,-4.94046235107e-05,1793248889960954112
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,882,784,815,652,630,653,0.452591415364,0.00463515058202,0.0697436902094,0.999999916999,0.000139394471972,-0.000379536333067,-5.02267230806e-05,1793248889994286848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632,882,784,815,652,630,653,0.452592600643,0.00463539954479,0.0697446595125,0.999999917535,0.000138202376087,-0.000378581053829,-5.00574006464e-05,1793248890010953472
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.894267687,745,715,682,657.947133843,632.947133843,881.947133843,784,815,652,630.052866157,653,0.45259152485,0.00463292985884,0.069743254417,0.999999917813,0.000136828323676,-0.000378446433953,-4.93059336729e-05,1793248890044287232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.902486272,745,715,682,657.451243136,632.451243136,881.451243136,784,815,652,630.548756864,653,0.45259229339,0.00463230028568,0.0697435814376,0.999999918204,0.000135324537324,-0.000377938055349,-4.94151193975e-05,1793248890060953856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.064493056,745,715,682,657,632,881,784,815,652,630.935506944,653,0.452592232733,0.00463184688491,0.0697434793071,0.999999918344,0.000134182632647,-0.000377968367887,-4.94736082657e-05,1793248890077620480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.780802749,745,715,682,657,632,881,784,815,652,630.219197251,653,0.452583791555,0.00463317401882,0.0697390398432,0.999999915941,0.000136698184564,-0.000383443109457,-4.90197154837e-05,1793248890094286848
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.397124836,682,657,632.397124836,881,784,815,652,630,653,0.45256134081,0.00463318219059,0.0697293393713,0.999999909633,0.000137521389319,-0.000399257584485,-4.9148877983e-05,1793248890110953472
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.969358339,682,657,632.969358339,881,784,815,652,630,653,0.452532712669,0.00463260877785,0.0697173191044,0.999999901261,0.000137598368806,-0.000419631273429,-4.95351334709e-05,1793248890127620352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.456588044,682,657,632.456588044,881.543411956,784,815,652,630,652.456588044,0.452480954887,0.00463345170023,0.0696997359789,0.99999988933,0.000138304163273,-0.000446989007631,-4.91101949989e-05,1793248890144286976
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.121850407,632,882,784,815,652,630,652.121850407,0.452425029858,0.00463413738668,0.0696829921897,0.999999877641,0.000139219093133,-0.000472199457932,-4.86236137148e-05,1793248890160953344
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.716918006,632,882,784,815,652,630,652.716918006,0.452358003017,0.00463390123312,0.0696707303178,0.999999870085,0.000140808055417,-0.000487536195117,-4.80758741506e-05,1793248890177619968
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.69865125,632,881.69865125,784.30134875,815,652,630,653,0.452280036155,0.00463434154385,0.069660331746,0.999999862168,0.000142846518988,-0.000503010476776,-4.73293267243e-05,1793248890194286848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.123871955,632,881.123871955,784.876128045,815,652,630,653,0.452192142803,0.00463539564842,0.0696516238513,0.99999985389,0.000145292840071,-0.000518609559277,-4.64023898562e-05,1793248890210953728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.904900349,632,881.452450174,784.547549826,815,651.547549826,630.452450174,653,0.452088553773,0.00463504661533,0.0696459991367,0.999999848777,0.000145983825716,-0.00052827836507,-4.53544963284e-05,1793248890227620096
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.970153607,745,715,681.970153607,658.970153607,632,882,784,815,651.029846393,630.970153607,653,0.451979313429,0.00463429967887,0.0696413361141,0.999999844516,0.000146399249698,-0.000536269851753,-4.41609051037e-05,1793248890244286976
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.205624469,745,715,681.205624469,658,632,882,784,814.794375531,652,630,652.794375531,0.451699526047,0.00463215888715,0.0696365892829,0.999999836422,0.000153816508618,-0.000549605034161,-3.78367685385e-05,1793248890277620480
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.360847016,715,682,658,632,882,784,814.360847016,652,630,652.360847016,0.451358686637,0.00462848154676,0.0696394965096,0.999999836116,0.0001559673751,-0.000549933637941,-3.18456590037e-05,1793248890310953472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.933292413,715,682,658,632,882,784,814.933292413,652,630,652.933292413,0.451177738973,0.00462588324318,0.0696478667833,0.999999841346,0.000157195776428,-0.000540208133929,-2.77921682252e-05,1793248890327620096
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.743120888,661.256879112,633,880.770637337,784,813.256879112,651.256879112,630.743120888,652.743120888,0.448150386417,0.00456079374054,0.0698113067472,0.999999944537,0.00014888186844,-0.000297136221432,2.16703226864e-05,1793248890494286848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.670003212,745,715,682,660.670003212,633,880.329996788,784,813,651,630.670003212,652.670003212,0.447670485458,0.00457394116897,0.0698002082814,0.999999936295,0.000167625275292,-0.000314274072353,2.33185470146e-05,1793248890510953728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.092584394,745,715,682,660.092584394,633,880.907415606,784,813,651,630.092584394,652.092584394,0.447162697482,0.00459659576052,0.0697787683813,0.999999919288,0.000196320963167,-0.000349799455156,2.28761130038e-05,1793248890527620608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.482012578,633,881,784,813,651.482012578,630,652,0.446634918298,0.00460232987746,0.0697589957041,0.999999908938,0.000196909915517,-0.000377931724401,2.27777604993e-05,1793248890544287232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,881,784.057573291,813,652,630,652,0.446102262432,0.00460329548505,0.0697425511672,0.999999902401,0.000186461532452,-0.000399954385113,2.16189771351e-05,1793248890560953856
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,714.036026168,682,660.036026168,633,881,784,813,652,630,652.963973832,0.443128267423,0.00458648293414,0.0698072346675,0.99999995303,9.49664192821e-05,-0.000290615411475,2.15527924445e-05,1793248890644287232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,744.450326436,714.549673564,682,660.549673564,633.549673564,880.450326436,784,812.450326436,652,630,652.450326436,0.442460034894,0.004584294859,0.0698087852607,0.999999954094,6.92332759339e-05,-0.000294385482006,1.88673437868e-05,1793248890660953856
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,744.712999291,715,682,661,633.287000709,880.712999291,784,812,652,630,652.712999291,0.441067065545,0.00458197552809,0.0698206497181,0.999999963812,4.20452781189e-05,-0.000264936087305,2.04287699806e-05,1793248890694287360
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.708371532,745,715,682,661,633,881,784,812,652,630,652.708371532,0.440329192137,0.00457911405819,0.069824618805,0.999999966849,3.29143902082e-05,-0.000254367288574,2.27305126008e-05,1793248890710953984
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.554729096,633,880.554729096,784,812,651.554729096,630,652,0.438736230533,0.00457259550944,0.0697773506305,0.999999936391,0.000121323621492,-0.00033459488027,2.33618475314e-05,1793248890744287232
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.020121284,745,715,682,659.979878716,633,880.020121284,784,812,651,630,652.020121284,0.437886958937,0.0045722426563,0.0697194052711,0.999999877459,0.000250113734763,-0.000426663880813,2.19993277657e-05,1793248890760953600
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.583092714,633,881,784,812,651,630,652.805635762,0.436299684032,0.00456512246905,0.0697229212975,0.999999896687,0.000189458443846,-0.000412611959466,2.19709907076e-05,1793248890794287360
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.321417948,633,881,784,812,651,630,652.226194017,0.435485963134,0.00455757019621,0.0697751112329,0.999999931032,0.000161473474581,-0.000333485393322,2.55079203547e-05,1793248890810953728
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,633,880.659642511,784,811.329821256,652,629.670178744,653,0.431170440002,0.00453562096772,0.0698091859911,0.999999948655,0.000102457070601,-0.00030204009288,3.10528824531e-05,1793248890894286848
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.165823294,745,715,682,659.331646588,633,880,784,811,651.165823294,630,652.165823294,0.429237134563,0.00452410808673,0.0697090106849,0.999999892175,7.7524311742e-05,-0.000456853730399,3.04041959319e-05,1793248890927620096
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.998175642,745,715,682,660.996351284,633.998175642,880.998175642,784.998175642,811,651.998175642,630,652,0.427563055096,0.00450852441188,0.0697922982274,0.9999999425,8.29328170463e-05,-0.000327300292973,3.15855345324e-05,1793248890960953600
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.138600387,744.138600387,715,681.861399613,661.584198838,634,880,784.138600387,811,652,629.138600387,652,0.425789042435,0.00450127213781,0.0698732504945,0.999999976106,6.06507205468e-05,-0.00020697393673,3.56592356553e-05,1793248890994286848
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.783826983,634,880,784.108086508,811,651.108086508,630,652,0.422969789066,0.00447879224053,0.0697757482425,0.999999932233,3.777481893e-05,-0.000364642262078,3.37961306009e-05,1793248891044286720
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.529150866,745,715,681,660.058301732,634,880,784.470849134,811,651.470849134,630,652.470849134,0.422000601352,0.00447238305442,0.0697194698502,0.999999890808,3.12530015949e-05,-0.000464955211981,3.49781817654e-05,1793248891060953344
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.633389318,745,715,681,659,633.366610682,880,785,810.366610682,652,630,652.366610682,0.420278904998,0.00445495309348,0.0697254860195,0.999999897225,8.68128751558e-06,-0.000452008634458,3.40888435774e-05,1793248891094286592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.655667411,633.218555804,880,785,810.218555804,652,629.781444196,652,0.419501700405,0.00444624904546,0.0697867785521,0.999999939554,-5.87524785493e-06,-0.000346013990537,3.36311499235e-05,1793248891110952960
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.377968797,681.377968797,661.244062405,634,880,785,811,652,629,652,0.417873400451,0.00443334334488,0.0698719933266,0.999999975234,-2.16967249156e-05,-0.000218283514599,3.76023940747e-05,1793248891144286464
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.477134109,682,659.477134109,634,880,785,811,652,629,652,0.4161839605,0.00442149432888,0.0698259554372,0.999999959694,-1.85494566323e-05,-0.00028083509238,3.74015085338e-05,1793248891177619968
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.305219565,659.694780435,634,879.305219565,784.305219565,811,652,629,652,0.414527650287,0.00443623700159,0.0697621419278,0.999999926613,-1.71141236242e-05,-0.000381046139183,3.58574521689e-05,1793248891210953472
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.142131015,658.28426203,634,879,784.857868985,811,652,629,652.857868985,0.412999739253,0.00448731308273,0.069754102016,0.999999918048,6.54767073825e-05,-0.000397979020867,3.50695549098e-05,1793248891244286464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.433217714,680.433217714,658.866435428,634,879,785,810.566782286,652,629,653,0.412330532372,0.00448392340934,0.0698002278431,0.999999948364,5.36644245058e-05,-0.000314992940535,3.42405357711e-05,1793248891260953344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,716,681,660,634,879,784.991649954,810.008350046,652,629,652.991649954,0.411684082073,0.00447004250146,0.0698590975954,0.99999997721,2.06511731045e-05,-0.000209856681216,3.33851849617e-05,1793248891277620224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,660,634,879,784.417375233,810.582624767,652,629,652.417375233,0.411023216212,0.00446406770933,0.0698713907781,0.999999980242,9.75025041436e-06,-0.00019554567638,3.44014412542e-05,1793248891294287104
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.654497607,745,715.654497607,680,660,634,879,784.345502393,810,652,629,652.345502393,0.406811778948,0.00447630805792,0.0698057346847,0.99999994852,4.05821025514e-05,-0.000316733757993,3.15028405861e-05,1793248891410953728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,680.241084185,659.758915815,634,879,784.241084185,810,652,629,652,0.406320124533,0.00448178404783,0.0698116721832,0.999999948485,5.34778456747e-05,-0.000314879852231,3.19612034694e-05,1793248891427620352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,716,680.822321348,659.177678652,634,879,784.822321348,810,652,629,652,0.405831558109,0.00448259702677,0.0698033895293,0.999999942945,4.26962666308e-05,-0.000333570718752,3.1903710455e-05,1793248891444286976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.601084734,745,715.601084734,680.601084734,659,634,879,784.601084734,810,652,629,652,0.405400102525,0.00448146578783,0.0698056753267,0.999999945146,3.37524719979e-05,-0.000327978990048,3.15961997873e-05,1793248891460953600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.026535092,745,715.026535092,680.026535092,659,634,879,784.026535092,810,652,629,652,0.404993791654,0.00447947854889,0.0698126141999,0.999999950609,2.56178159729e-05,-0.000311696124217,3.11786113616e-05,1793248891477620480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.547207157,634,879,784.547207157,810,652,629,652,0.404626441176,0.00447918560386,0.0698287270049,0.999999959459,2.65307429741e-05,-0.000281842741793,3.07111854653e-05,1793248891494287104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.250453151,745,715,680,659.874773425,634,879,785,810,652,628.874773425,652,0.404267643161,0.0044774920265,0.0698427279105,0.999999966484,2.51947045582e-05,-0.000255892483852,3.02813928898e-05,1793248891510953984
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.438819972,745,715,680,659.280590014,634,879,785,810,652,628.280590014,652,0.403933808264,0.00447024604477,0.0698471565487,0.999999968945,1.37960107123e-05,-0.000247019613666,3.00015689698e-05,1793248891527620352
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.696307245,745,715.303692755,680,659,634,878.696307245,785,810,652,628,652,0.403611427977,0.00446652257093,0.06984344221,0.999999967662,1.95983125891e-06,-0.00025267706533,2.87388923777e-05,1793248891544286976
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.120883182,745,715.879116818,680,659,634,878.120883182,785,810,652,628,652,0.403299296806,0.00446595088717,0.069832441883,0.999999962782,-1.02677909487e-05,-0.000271335628917,2.65968011986e-05,1793248891560953600
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.455401795,784.544598205,810,652,628,652,0.403012945131,0.00446468822796,0.0698237472309,0.999999957785,-1.95665491611e-05,-0.000288708142521,2.63730946963e-05,1793248891577620224
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.032597932,634,879,784.032597932,810,652,628,652.032597932,0.402736159803,0.00446329889708,0.0698157737856,0.999999952706,-2.76766270508e-05,-0.000305139342101,2.66731501433e-05,1793248891594287104
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.621435091,634,879,784.621435091,810,652,628,652.621435091,0.402505623723,0.00446288373339,0.0698096435951,0.999999950748,-2.87946841538e-05,-0.000311344402053,2.72048589615e-05,1793248891610953728
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.793409852,634,879,784.793409852,810,652,628.206590148,652.793409852,0.40228755913,0.00446214056661,0.0698047552548,0.999999948976,-2.874010983e-05,-0.000316907736903,2.81490467992e-05,1793248891627620352
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.214883953,634,879,784.214883953,810,652,628.785116047,652.214883953,0.402091947675,0.00446080687768,0.0698021026873,0.99999994758,-2.65743817116e-05,-0.000321315737648,2.98358435351e-05,1793248891644287232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.638627663,680,659,634,879,784.361372337,809.638627663,652,628.638627663,652,0.401920798414,0.0044656200981,0.069801931934,0.999999947342,-1.64065655556e-05,-0.000322553557614,3.17325791787e-05,1793248891660954112
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715.063712479,680,659,634,879,784.936287521,809.063712479,652,628.063712479,652,0.401764104381,0.00447406566205,0.0698032277388,0.999999947614,-1.51013971178e-06,-0.000321918048531,3.37533724865e-05,1793248891677620736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.507182775,634,879,784.492817225,809.507182775,652,628.507182775,652,0.401635018886,0.00449611758884,0.0698029898502,0.999999944886,8.33628755658e-05,-0.000319693250796,3.27951236325e-05,1793248891694287360
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.08101907,680,660,634.08101907,879.08101907,784.08101907,810,652,628.91898093,652,0.401512378005,0.0045161703708,0.069802268966,0.999999936669,0.000157136358623,-0.000317919470842,2.99711889674e-05,1793248891710953984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715.676721698,680,660,634.676721698,879.676721698,784.676721698,810,652,628.323278302,652,0.401408818403,0.00451275060453,0.069799694084,0.999999943046,0.000104995254387,-0.000320269159167,1.76538945473e-05,1793248891727620608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.735424796,715.735424796,680,660,634.735424796,879.735424796,785,810,652,628.264575204,652,0.40131809971,0.00450694252051,0.069798333722,0.999999945591,7.27334089263e-05,-0.000321521450325,1.23186805245e-05,1793248891744287232
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.156885658,715.156885658,680,660,634.156885658,879.156885658,785,810,652,628.843114342,652,0.401242618967,0.00449830028736,0.0697984145966,0.99999994616,6.4061722764e-05,-0.000321471491886,1.52689052384e-05,1793248891760953856
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.582550613,744.417449387,715.417449387,680,660,634,879,784.582550613,810,652,629,652,0.40118166237,0.0045018642756,0.0697996109427,0.999999946499,7.06846846958e-05,-0.000318952148063,1.66042241757e-05,1793248891777620480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.009779809,744.990220191,715.990220191,680,660,634,879,784.009779809,810,652,629,652,0.40112610981,0.00450996986278,0.069801222325,0.999999946631,8.29983640565e-05,-0.000315514013925,1.73386810902e-05,1793248891794287104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.566938954,745,716,680,659.433061046,634,879,784.566938954,810,652,628.433061046,652,0.401090513787,0.00450365658653,0.0698053282658,0.999999949234,7.39197088478e-05,-0.000309391160338,1.85868545236e-05,1793248891810953728
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.851921608,745,716,680,659,634,878.851921608,785,810,652,628.148078392,652.148078392,0.401058082783,0.00449888692736,0.0698089894139,0.999999951511,6.66282343795e-05,-0.000303575329259,1.95005100476e-05,1793248891827620608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.257669005,745,716,680,659,634,878.257669005,785,810,652,628.742330995,652.742330995,0.401034143743,0.00449952303097,0.0698111797912,0.999999952996,6.58414017925e-05,-0.000298825108088,1.9379342807e-05,1793248891844286976
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.325323278,745,715.674676722,680,659.325323278,634,878.325323278,785,810,652,629,652.674676722,0.40101526793,0.00449925160312,0.0698129883796,0.9999999541,6.55201159553e-05,-0.000295170544589,1.95488615079e-05,1793248891860953600
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.89969537,745,715.10030463,680,659.89969537,634,878.89969537,785,810,652,629,652.10030463,0.401000268231,0.00449828542139,0.0698145046925,0.999999954917,6.5555225884e-05,-0.000292354753159,1.99409126548e-05,1793248891877620224
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.524597892,745,715,680,659.049195783,634,878.524597892,785,810,652,628.524597892,652,0.400991465995,0.0044971383882,0.0698167575203,0.999999955819,6.38174921591e-05,-0.000289601280702,2.05033681938e-05,1793248891894286848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.105783107,634,878.052891553,785,810,652,628.052891553,652,0.400984236114,0.00449610913842,0.0698189596558,0.999999956658,6.1848341293e-05,-0.000287084547742,2.09950616221e-05,1793248891910953984
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.291393069,634,878.645696535,785,810,652,628.645696535,652,0.400979671289,0.00449667282049,0.0698190535878,0.999999956769,6.1345931058e-05,-0.000286849835788,2.03963768467e-05,1793248891927620608
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.232616449,744.767383551,715.232616449,680,659.767383551,634,878.767383551,785,810,652,628.767383551,652.232616449,0.400976480045,0.00449686278522,0.0698196141387,0.999999957105,6.08020763821e-05,-0.000285810992991,2.01259420409e-05,1793248891944286976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.810793827,744.189206173,715.810793827,680,659.189206173,634,878.189206173,785,810,652,628.189206173,652.810793827,0.400975329309,0.00449649757805,0.0698208678704,0.999999957773,6.01966543813e-05,-0.000283577582057,2.03431355765e-05,1793248891960953856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.387478681,716,680,659,634,878.387478681,784.612521319,810,652,628,652.612521319,0.40097402939,0.00449731633402,0.0698212924196,0.999999957976,6.13027572636e-05,-0.000282627444641,2.02666451833e-05,1793248891977620480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.963437512,716,680,659,634,878.963437512,784.036562488,810,652,628,652.036562488,0.400972656906,0.00449871100182,0.0698213136318,0.999999957952,6.32413923372e-05,-0.000282301526376,2.0047298947e-05,1793248891994287104
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.465621179,680,659.534378821,634,879,784.534378821,809.465621179,652,628,652.534378821,0.400971756114,0.00449687839245,0.0698218736627,0.999999958131,6.114059154e-05,-0.000282113668062,2.02889060899e-05,1793248892010953984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.108969301,680,659.891030699,634,879,784.891030699,809,652,628,652.891030699,0.400971328489,0.00449556260116,0.069822536498,0.999999958409,5.94030694708e-05,-0.000281489418635,2.04227341276e-05,1793248892027620352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.701253392,680,659.298746608,634,879,784.298746608,809,652,628,652.298746608,0.400972857707,0.00449750933311,0.0698234933113,0.999999959082,6.04912443298e-05,-0.000278888123755,1.99399429874e-05,1793248892044286720
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.711307407,745,715.711307407,680.288692593,659,634,879,784,809.288692593,652,628,652,0.400973229768,0.00449860042564,0.0698239323041,0.999999959344,6.07518304427e-05,-0.000277917653116,1.95602005196e-05,1793248892060953856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.128799002,745,715.128799002,680.871200998,659,634,879,784,809.871200998,652,628,652,0.400972424135,0.00449882069456,0.0698238442872,0.999999959193,6.01701413203e-05,-0.000278606947469,1.92853353964e-05,1793248892077621248
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.446813809,745.446813809,715,680.553186191,659,634,879,784.446813809,810,652,628.446813809,652,0.40097370916,0.00449809245062,0.0698248926076,0.999999959754,5.89712188398e-05,-0.000276834271246,1.93986106068e-05,1793248892094287872
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.979021571,715.020978429,680,659.020978429,634,879,785,810,652,628.979021571,652,0.400975439846,0.00449713016042,0.0698261585131,0.999999960455,5.77209943846e-05,-0.000274540900276,1.96172134456e-05,1793248892110954496
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.391091104,715.608908896,680,659.608908896,634,879,785,810,652,628.391091104,652,0.400973175225,0.00449711963875,0.0698245867919,0.999999959635,5.98197160362e-05,-0.000277063717377,1.97045369189e-05,1793248892127620864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.806086742,745,715.806086742,680,660,634,878.806086742,785,810,652,628.193913258,652,0.40097194006,0.00449715465679,0.0698237786063,0.99999995927,6.06331747249e-05,-0.000278195723986,1.97674869963e-05,1793248892144287488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.226896159,745,715.226896159,680,660,634,878.226896159,785,810,652,628.773103841,652,0.400972750274,0.00449728015559,0.0698244874545,0.999999959826,5.88930034824e-05,-0.000276564393118,1.97820106908e-05,1793248892160954112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715.351623673,680,659.648376327,634,878.351623673,785,810,652,628.648376327,652,0.400972843561,0.00449707069378,0.0698249589152,0.999999960066,5.77431793062e-05,-0.000275948700237,1.96245841059e-05,1793248892177620992
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715.929711484,680,659.070288516,634,878.929711484,785,810,652,628.070288516,652,0.400972475109,0.00449664549973,0.0698252774857,0.999999960105,5.69735697555e-05,-0.0002759871317,1.93564124972e-05,1793248892194287872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.503787716,745,716,680,659,634,879,785,810,652,628,652.503787716,0.400973843725,0.00449583753914,0.0698264224892,0.999999960545,5.62965154188e-05,-0.000274511897257,1.96191009779e-05,1793248892210954240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.079450739,652.920549261,0.400974982122,0.00449522385466,0.069827369294,0.999999960901,5.60019551369e-05,-0.000273249158818,1.99109202241e-05,1793248892227620864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.668862532,652.331137468,0.40097309954,0.00449619721536,0.0698263097019,0.999999960386,5.80802340765e-05,-0.000274695155451,1.9918076658e-05,1793248892244287232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.746738276,652,0.400972083092,0.00449669534761,0.0698256953046,0.999999960094,5.8524100259e-05,-0.000275668952196,1.98491939635e-05,1793248892260953600
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628.168765736,652,0.400972177129,0.00449658418219,0.0698256516986,0.999999960091,5.68724605832e-05,-0.000276037334282,1.9682820315e-05,1793248892277620224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.408443329,634,878.591556671,784.591556671,810,652,628.408443329,652,0.400972621264,0.00449591890668,0.0698263423065,0.999999960419,5.6444890843e-05,-0.00027493194287,1.96981404125e-05,1793248892294286848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.985337484,634,878.014662516,784.014662516,810,652,628.985337484,652,0.400973209787,0.00449502510426,0.06982733572,0.999999960883,5.65221540119e-05,-0.000273218735498,1.97883949349e-05,1793248892310953728
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3e976f65a279527c2a241aa366db2557df139c8
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+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
+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
+88,1.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+89,1.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+90,1.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+91,1.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+92,1.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+93,1.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+94,1.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+95,1.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+96,1.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+97,1.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+98,1.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+99,1.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+100,1.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+101,1.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+102,1.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+103,1.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+104,1.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+105,1.750000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+106,1.766666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+107,1.783333333,pose1_to_pose2_press,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+108,1.800000000,pose1_to_pose2_press,0.583245469377,0.00992793956007,1.0600424832,0.553817261086,0.0186023988175,1.05966587037
+109,1.816666667,pose1_to_pose2_press,0.583245546792,0.00992787062713,1.06004247833,0.553817339597,0.0186023336498,1.05966586656
+110,1.833333333,pose1_to_pose2_press,0.583245596042,0.0099278639954,1.06004247796,0.553817389051,0.0186023277138,1.05966586629
+111,1.850000000,pose1_to_pose2_press,0.583245644578,0.00992787271616,1.06004247873,0.553817437587,0.0186023364235,1.0596658669
+112,1.866666667,pose1_to_pose2_press,0.58324573004,0.00992788807136,1.06004248008,0.553817523046,0.0186023517594,1.05966586798
+113,1.883333333,pose1_to_pose2_press,0.583245998077,0.00992793363671,1.06004248721,0.553817791045,0.0186023971648,1.05966587442
+114,1.900000000,pose1_to_pose2_press,0.583247763518,0.00992799739178,1.06004263523,0.553819554405,0.0186024541461,1.05966602898
+115,1.916666667,pose1_to_pose2_press,0.583253381064,0.00992797882886,1.06004245809,0.553825171911,0.0186024353119,1.05966584868
+116,1.933333333,pose1_to_pose2_press,0.583266150855,0.0099278695287,1.06004242005,0.553837941455,0.0186023250898,1.05966580863
+117,1.950000000,pose1_to_pose2_press,0.58328735446,0.00992788017075,1.06004261109,0.553859145395,0.0186023364997,1.05966599115
+118,1.966666667,pose1_to_pose2_press,0.583319925912,0.00992794863309,1.06004245673,0.553891716028,0.0186024023026,1.05966583952
+119,1.983333333,pose1_to_pose2_press,0.58336291246,0.00992786826839,1.06004249146,0.553934703722,0.018602325564,1.05966586818
+120,2.000000000,pose1_to_pose2_press,0.583415595514,0.00992760660368,1.0600423475,0.553987389927,0.0186020752306,1.05966573894
+121,2.016666667,pose1_to_pose2_press,0.583476922093,0.00992789316177,1.06004238306,0.55404871105,0.0186023428733,1.05966576506
+122,2.033333333,pose1_to_pose2_press,0.583546877175,0.00992772613407,1.06004238487,0.554118670689,0.0186021915609,1.05966577272
+123,2.050000000,pose1_to_pose2_press,0.583625846034,0.00992805347743,1.06004259367,0.554197634934,0.0186025033477,1.05966598369
+124,2.066666667,pose1_to_pose2_press,0.583714834313,0.00992796395809,1.06004256819,0.554286625307,0.0186024209938,1.05966595959
+125,2.083333333,pose1_to_pose2_press,0.583818529174,0.00992783786869,1.0600423168,0.554390321818,0.0186023006965,1.0596657126
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+365,6.083333333,pose2_to_pose3_retreat,0.583752332402,0.00992793372816,1.06004243261,0.554324159042,0.018602384623,1.05966581522
+366,6.100000000,pose2_to_pose3_retreat,0.583655898789,0.00992782728253,1.0600423028,0.554227727437,0.0186022847557,1.0596656891
+367,6.116666667,pose2_to_pose3_retreat,0.583572432358,0.00992791002454,1.06004246137,0.554144260489,0.0186023657039,1.05966584747
+368,6.133333333,pose2_to_pose3_retreat,0.583501293068,0.00992785177795,1.06004237181,0.554073121759,0.0186023090459,1.05966575802
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+370,6.166666667,pose2_to_pose3_retreat,0.583395503072,0.00992786636561,1.06004236699,0.553967330128,0.0186023178251,1.05966575234
+371,6.183333333,pose2_to_pose3_retreat,0.583357705355,0.00992798333665,1.06004238989,0.553929531689,0.0186024322988,1.05966577082
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+373,6.216666667,pose2_to_pose3_retreat,0.583305211289,0.00992790461417,1.06004233244,0.553877038492,0.0186023567139,1.05966572363
+374,6.233333333,pose2_to_pose3_retreat,0.583287677149,0.00992790553969,1.06004231251,0.55385950416,0.0186023569459,1.05966570191
+375,6.250000000,pose2_to_pose3_retreat,0.583274769703,0.00992798679009,1.06004248343,0.553846596049,0.0186024359146,1.05966586998
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+377,6.283333333,pose2_to_pose3_retreat,0.583258855347,0.00992802181408,1.06004235394,0.553830681402,0.0186024698964,1.0596657424
+378,6.300000000,pose2_to_pose3_retreat,0.583254744424,0.00992801299927,1.06004226114,0.553826570358,0.0186024606903,1.05966565073
+379,6.316666667,pose2_to_pose3_retreat,0.583252040023,0.00992798704365,1.06004248303,0.553823867263,0.0186024388459,1.05966586526
+380,6.333333333,pose2_to_pose3_retreat,0.583250244099,0.00992796980718,1.06004263039,0.553822072206,0.0186024243396,1.05966600773
+381,6.350000000,pose2_to_pose3_retreat,0.583249038228,0.00992797596357,1.06004265854,0.553820866345,0.0186024307848,1.05966604184
+382,6.366666667,pose2_to_pose3_retreat,0.583248255356,0.00992798158824,1.06004267032,0.553820083427,0.0186024364552,1.05966605833
+383,6.383333333,pose2_to_pose3_retreat,0.583247879751,0.00992798428683,1.06004267597,0.5538197078,0.0186024391757,1.05966606624
+384,6.400000000,pose2_to_pose3_retreat,0.583247758234,0.00992798515989,1.0600426778,0.553819586276,0.0186024400558,1.0596660688
+385,6.416666667,pose2_to_pose3_retreat,0.58324772286,0.00992798541404,1.06004267833,0.5538195509,0.0186024403121,1.05966606955
+386,6.433333333,pose2_to_pose3_retreat,0.583247426059,0.00992798754645,1.06004268279,0.553819254082,0.0186024424618,1.0596660758
+387,6.450000000,pose2_to_pose3_retreat,0.58324687401,0.00992798663212,1.06004266891,0.553818702329,0.018602442475,1.05966606039
+388,6.466666667,pose2_to_pose3_retreat,0.583246834507,0.00992798632891,1.06004266684,0.553818662863,0.0186024422818,1.05966605797
+389,6.483333333,pose2_to_pose3_retreat,0.583246674053,0.00992798509729,1.06004265841,0.553818502559,0.018602441497,1.05966604813
+390,6.500000000,pose2_to_pose3_retreat,0.583246633477,0.00992798478585,1.06004265628,0.553818462022,0.0186024412985,1.05966604565
+391,6.516666667,pose2_to_pose3_retreat,0.583246525787,0.00992798395924,1.06004265063,0.553818354433,0.0186024407717,1.05966603905
+392,6.533333333,pose2_to_pose3_retreat,0.58324615694,0.00992798112805,1.06004263126,0.553817985933,0.0186024389676,1.05966601644
+393,6.550000000,pose2_to_pose3_retreat,0.58324607377,0.00992798048966,1.06004262689,0.553817902842,0.0186024385608,1.05966601135
+394,6.566666667,pose2_to_pose3_retreat,0.583245777487,0.00992795422316,1.06004250903,0.553817606543,0.0186024123794,1.05966589682
+395,6.583333333,pose2_to_pose3_retreat,0.583245749894,0.00992794938121,1.06004248784,0.55381757892,0.0186024074715,1.05966587653
+396,6.600000000,pose2_to_pose3_retreat,0.583245689816,0.00992793883865,1.06004244169,0.553817518775,0.0186023967853,1.05966583235
+397,6.616666667,pose2_to_pose3_retreat,0.583245666275,0.00992793470768,1.06004242361,0.553817495207,0.0186023925981,1.05966581504
+398,6.633333333,pose2_to_pose3_retreat,0.583245569699,0.00992791776042,1.06004234944,0.553817398524,0.01860237542,1.05966574403
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+400,6.666666667,pose2_to_pose3_retreat,0.583245426953,0.00992798506007,1.06004244155,0.553817254826,0.0186024393572,1.05966583079
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd0b3ba1cd9e07573b148079a87b92579aade0de
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619dbb7e45034cc1fb7ba4d7bfbf8f49901e0dca287a0317d51db9be55208f29
+size 25697175
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8984d268f0c10739aa6e824c608e2125485e157
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+33,0.550000000,BASELINE,765.206426714,745,716,680,659,634,878.793573286,784.206426714,809.206426714,652,628,652,0.400974971683,0.00449533707117,0.0698302576838,0.999999962113,5.62887533584e-05,-0.0002687444915,1.95344667509e-05,1793248892977664768
+34,0.566666667,BASELINE,765.785347424,745,716,680,659,634,878.214652576,784.785347424,809.785347424,652,628,652,0.400974943497,0.00449371255036,0.069830393324,0.999999962385,5.45545481715e-05,-0.000268076343186,1.97079741844e-05,1793248892994331392
+35,0.583333333,BASELINE,765.637022881,745,716,680,659,634,878.362977119,784.637022881,810,652,628.362977119,652.362977119,0.400974641571,0.00449487766795,0.0698301368013,0.999999962096,5.57799165513e-05,-0.000268912829932,1.95707267537e-05,1793248893010998272
+36,0.600000000,BASELINE,765.06015389,745,716,680,659,634,878.93984611,784.06015389,810,652,628.93984611,652.93984611,0.400974178339,0.00449768663826,0.0698296491885,0.999999961467,5.8749275501e-05,-0.000270635954346,1.92503605244e-05,1793248893027664896
+37,0.616666667,BASELINE,765,745,716,679.486676307,659.513323693,634,879,784,810,652,628.486676307,652.486676307,0.400975374732,0.00449656016646,0.0698296423879,0.999999961951,5.70619380345e-05,-0.000269204504564,1.9269289826e-05,1793248893044331264
+38,0.633333333,BASELINE,765.089204282,745,716,679.089204282,659.910795718,634,879,784.089204282,810,652,628.089204282,652,0.400976482831,0.00449529709105,0.0698298326342,0.999999962475,5.51463842493e-05,-0.000267648635495,1.92988490055e-05,1793248893060998144
+39,0.650000000,BASELINE,765.680843574,745,716,679.680843574,659.319156426,634,879,784.680843574,810,652,628.680843574,652,0.400976005398,0.00449584508627,0.0698308174594,0.999999962536,5.499882877e-05,-0.000267460447172,1.91658031475e-05,1793248893077664768
+40,0.666666667,BASELINE,766,744.732679446,716,680,659,634,879,785,810,651.732679446,628.732679446,652,0.400976120323,0.00449613289334,0.0698314413953,0.999999962689,5.54398450317e-05,-0.000266789395366,1.9294689535e-05,1793248893094331136
+41,0.683333333,BASELINE,766,744.152249066,716,680,659,634,879,785,810,651.152249066,628.152249066,652,0.400976929072,0.00449611594466,0.0698316426253,0.999999962946,5.65702493525e-05,-0.000265552770517,1.97303744862e-05,1793248893110997504
+42,0.700000000,BASELINE,765.577928186,744.422071814,716,680,659,634,879,785,810,651.422071814,628,652,0.400976440676,0.00449700730252,0.0698314094148,0.999999962736,5.80020199604e-05,-0.000266048521935,1.95521839438e-05,1793248893127664384
+43,0.716666667,BASELINE,765.005779684,744.994220316,716,680,659,634,879,785,810,651.994220316,628,652,0.400975491051,0.00449822162826,0.0698310217297,0.999999962357,5.95409477935e-05,-0.000267160256927,1.91557167892e-05,1793248893144331520
+44,0.733333333,BASELINE,765,745,716,680,659.569631586,634,879,784.430368414,810,652,628.569631586,652,0.400975922139,0.00449803839363,0.0698312280252,0.999999962456,6.08532075232e-05,-0.000266443615057,1.97927697653e-05,1793248893160998400
+45,0.750000000,BASELINE,765,745,716,680,659.849946296,634,879,784.150053704,810,652,628.849946296,652,0.40097617964,0.00449796855574,0.0698312696587,0.999999962504,6.15589010332e-05,-0.000266077225197,2.01341232304e-05,1793248893177664768
+46,0.766666667,BASELINE,765,745,716,680,659.254758376,634,879,784.745241624,810,652,628.254758376,652,0.400975880398,0.00449827741698,0.0698308048411,0.999999962388,6.04720778366e-05,-0.000266805207453,1.95669968835e-05,1793248893194331136
+47,0.783333333,BASELINE,765.331452738,745,716,680,659.331452738,634,878.668547262,784.668547262,810,652,628,652,0.400975299434,0.00449791160333,0.0698305776847,0.999999962277,5.91743115696e-05,-0.000267526930764,1.93209834367e-05,1793248893210997760
+48,0.800000000,BASELINE,765.910946174,745,716,680,659.910946174,634,878.089053826,784.089053826,810,652,628,652,0.400974507645,0.00449704090077,0.0698305283806,0.99999996217,5.77186871883e-05,-0.000268243970308,1.93152728716e-05,1793248893227664384
+49,0.816666667,BASELINE,766,745,716,680,659.516878432,634,878,784.483121568,810,652,628,652,0.400975060239,0.00449683794638,0.069830833274,0.999999962427,5.67321666095e-05,-0.000267487844617,1.94167137356e-05,1793248893244331008
+50,0.833333333,BASELINE,765.944128243,745,716,680,659.055871757,634,878,784.944128243,810,652,628,652,0.400975831741,0.00449680478389,0.06983124806,0.999999962748,5.58712307366e-05,-0.000266463689871,1.94935996211e-05,1793248893260998144
+51,0.850000000,BASELINE,765.353145989,745,716,680,659.646854011,634,878,784.353145989,810,652,628,652,0.400976361849,0.00449723653575,0.0698320993648,0.999999963055,5.53972725345e-05,-0.000265434436299,1.91489665069e-05,1793248893277664768
+52,0.866666667,BASELINE,765,745,716,680,659.767240487,634,878,784,810,652,628.232759513,652,0.40097542689,0.00449747753475,0.0698316491899,0.99999996275,5.58494580785e-05,-0.000266488790265,1.91091949411e-05,1793248893294331648
+53,0.883333333,BASELINE,765,745,716,680,659.188873123,634,878,784,810,652,628.811126877,652,0.400972316561,0.00449743529853,0.0698292665414,0.999999961524,5.76768078508e-05,-0.000270636943177,1.95220903698e-05,1793248893310998272
+54,0.900000000,BASELINE,765.386761635,745,715.613238365,680,659,634,878,784,810,652,628.613238365,652,0.400973063514,0.00449794005236,0.0698295365563,0.999999961701,5.86274668972e-05,-0.000269776005882,1.95198021493e-05,1793248893327664896
+55,0.916666667,BASELINE,765.961071283,745,715.038928717,680,659,634,878,784,810,652,628.038928717,652,0.400975680937,0.00449871005198,0.0698310928978,0.999999962556,5.91530020163e-05,-0.000266486066117,1.93161835318e-05,1793248893344331520
+56,0.933333333,BASELINE,766,745,715,679.463703196,659,634,878,784,810,652,628,652,0.400976168737,0.00449766681033,0.0698307780544,0.99999996273,5.78730838934e-05,-0.000266116512993,1.92951190731e-05,1793248893360997888
+57,0.950000000,BASELINE,765.885124863,745,715,679.114875137,659.114875137,634,878,784,810,652,628.114875137,652,0.400976082643,0.00449684261367,0.0698303098062,0.999999962692,5.68438380432e-05,-0.000266481257978,1.92972575469e-05,1793248893377664512
+58,0.966666667,BASELINE,765.292890947,745,715,679.707109053,659.707109053,634,878,784,810,652,628.707109053,652,0.400974255226,0.00449747652479,0.0698297694734,0.999999961981,5.7401772671e-05,-0.000269014945922,1.93406556492e-05,1793248893394331392
+59,0.983333333,BASELINE,765.291865736,745,715,680,659.708134264,634,878,784,810,652,628.708134264,652,0.400974454063,0.00449705928764,0.0698304207513,0.999999962088,5.65906726953e-05,-0.000268791715574,1.92974610695e-05,1793248893410998016
+60,1.000000000,BASELINE,765.869306421,745,715,680,659.130693579,634,878,784,810,652,628.130693579,652,0.40097663548,0.00449561355846,0.0698322379561,0.999999962991,5.44400459538e-05,-0.000265870989046,1.9169540206e-05,1793248893427664896
+61,1.016666667,BASELINE,766,745,715,680,659,634,878.443919495,784.443919495,810,652,628,652,0.400975804068,0.00449746566765,0.0698318651695,0.999999962755,5.74105954432e-05,-0.000266148172536,1.89319850958e-05,1793248893444331520
+62,1.033333333,BASELINE,765.9817994,745,715.0182006,680,659.0182006,634,878.9817994,784.9817994,810,652,628.0182006,652,0.400974124394,0.00450012145137,0.0698308453188,0.999999962184,6.16650013818e-05,-0.000267359207079,1.86900651718e-05,1793248893460998400
+63,1.050000000,BASELINE,765.391963161,745,715.608036839,680,659.608036839,634,878.391963161,784.391963161,810,652,628.608036839,652,0.400973485131,0.0044977177655,0.0698296246702,0.999999962011,5.91882372129e-05,-0.000268517443069,1.93183880784e-05,1793248893477664768
+64,1.066666667,BASELINE,765.194280606,745,716,680,659.805719394,634,878.194280606,784.194280606,809.805719394,652,629,652,0.400973475895,0.00449622705034,0.0698293464699,0.999999962043,5.74996750258e-05,-0.000268738993215,1.96535166334e-05,1793248893494331136
+65,1.083333333,BASELINE,765.773408076,745,716,680,659.226591924,634,878.773408076,784.773408076,809.226591924,652,629,652,0.400974714669,0.00449654482213,0.0698309351481,0.999999962493,5.73724477277e-05,-0.000267105079619,1.94078618779e-05,1793248893510997760
+66,1.100000000,BASELINE,766,745,716,680,659,634,879,785,809.3504583,652,629,652,0.400974423497,0.00449629355412,0.0698307593925,0.999999962397,5.64272303641e-05,-0.000267671012598,1.93490776809e-05,1793248893527664640
+67,1.116666667,BASELINE,766,745,716,680,659,634,879,785,809.926173354,652,629,652,0.400973148952,0.00449567653629,0.0698294495484,0.999999961946,5.49562506311e-05,-0.000269650895034,1.94104043757e-05,1793248893544331264
+68,1.133333333,BASELINE,766,745,715.499621688,679.499621688,659,634,879,785,810,652,628.499621688,652,0.400974076554,0.00449695533448,0.069829801319,0.999999962115,5.67549555604e-05,-0.000268664670086,1.92011548688e-05,1793248893560998144
+69,1.150000000,BASELINE,766,745,715.076664298,679.076664298,659,634.076664298,878.923335702,784.923335702,810,652,628,652,0.400975051332,0.00449814716446,0.0698303020532,0.999999962338,5.8405330574e-05,-0.000267493863541,1.8983581567e-05,1793248893577664768
+70,1.166666667,BASELINE,766,745,715.668424609,679.668424609,659,634.668424609,878.331575391,784.331575391,810,652,628,652,0.400974166639,0.00449688097971,0.069830161432,0.999999962346,5.58275777815e-05,-0.000268014367646,1.89775000127e-05,1793248893594331392
+71,1.183333333,BASELINE,766,745,716,679.745815234,659,634.745815234,878,784,810,652,628,652,0.400974227635,0.00449612667874,0.069830620589,0.999999962561,5.44892823944e-05,-0.000267488378629,1.89690613816e-05,1793248893610998016
+72,1.200000000,BASELINE,766,745,716,679.167701496,659,634.167701496,878,784,810,652,628,652,0.4009754938,0.00449602471404,0.0698318440938,0.999999963043,5.47305312136e-05,-0.000265628755698,1.89576189286e-05,1793248893627664640
+73,1.216666667,BASELINE,765.59012818,745,715.59012818,679.81974364,659,634,878.81974364,784.40987182,810,652,628.40987182,652,0.400974696764,0.00449674189295,0.0698310142436,0.999999962568,5.70105481889e-05,-0.000266925773191,1.91012976385e-05,1793248893644331264
+74,1.233333333,BASELINE,765.012775725,745,715.012775725,680.97444855,659,634,879.97444855,784.987224275,810,652,628.987224275,652,0.400973056667,0.00449779378794,0.0698293453575,0.999999961688,6.01236406859e-05,-0.000269512648055,1.9308361509e-05,1793248893660997888
+75,1.250000000,BASELINE,765.562231307,745,715.562231307,680.437768693,659,634,878.875537385,784.437768693,810,652,628.437768693,652,0.400974598197,0.00449773419754,0.0698306448696,0.99999996216,5.95024261562e-05,-0.00026789543117,1.92520504612e-05,1793248893677664512
+76,1.266666667,BASELINE,765.859104173,745,716,680,659.140895827,634,878.140895827,784.140895827,810,652,628,652,0.400975672211,0.00449755465307,0.0698315400406,0.999999962547,5.84402451413e-05,-0.000266689417512,1.91721050889e-05,1793248893694330880
+77,1.283333333,BASELINE,765.268599,745,716,680,659.731401,634,878.731401,784.731401,810,652,628,652,0.400975024603,0.00449707258681,0.069830930579,0.999999962566,5.62405622523e-05,-0.000267099164019,1.90357591953e-05,1793248893710997760
+78,1.300000000,BASELINE,765.314597073,745,716,680,659.685402927,634,879,785,810,652,628,652,0.400975349594,0.00449735303469,0.0698314325432,0.999999962716,5.61446957195e-05,-0.000266554840127,1.9069458129e-05,1793248893727664896
+79,1.316666667,BASELINE,765.891694394,745,716,680,659.108305606,634,879,785,810,652,628,652,0.400976486124,0.0044982697255,0.0698328618826,0.999999962975,5.78042566767e-05,-0.000265214438506,1.9245042717e-05,1793248893744331520
+80,1.333333333,BASELINE,766,745,716,680,659.470111729,634,879,784.529888271,810,652,628,652,0.400976493115,0.0044980126267,0.0698325009276,0.999999962926,5.8544226074e-05,-0.000265227878202,1.93413691007e-05,1793248893760997888
+81,1.350000000,BASELINE,766,745,716,679.951524092,659.951524092,634.048475908,879,784.048475908,810,652,628,652.048475908,0.400976104668,0.0044974161239,0.0698317300826,0.999999962789,5.88831561994e-05,-0.000265666776904,1.94037081023e-05,1793248893777664512
+82,1.366666667,BASELINE,766,745,716,679.37704628,659.37704628,634.62295372,879,784.62295372,810,652,628,652.62295372,0.40097425702,0.00449607936166,0.0698309996475,0.999999962447,5.71757923817e-05,-0.000267328333169,1.92959473592e-05,1793248893794330880
+83,1.383333333,BASELINE,766,745,715.796185432,679.203814568,659,634.796185432,878.796185432,784.796185432,810,652,628.203814568,652.796185432,0.400973939751,0.00449542569652,0.0698306888136,0.999999962473,5.60230526663e-05,-0.000267483127811,1.9207974398e-05,1793248893810997504
+84,1.400000000,BASELINE,766,745,715.203134433,679.796865567,659,634.203134433,878.203134433,784.203134433,810,652,628.796865567,652.203134433,0.400976545136,0.00449607658103,0.0698311793161,0.999999963203,5.59295102764e-05,-0.000264760373205,1.91577912861e-05,1793248893827664384
+85,1.416666667,BASELINE,766,745,715,680,659,634,878.376696572,784,810,652,629,652,0.400976560959,0.00449746253202,0.0698309648561,0.999999962944,5.79038653553e-05,-0.000265315886774,1.91532023903e-05,1793248893844331264
+86,1.433333333,BASELINE,766,745,715,680,659,634,878.949640338,784,810,652,629,652,0.400975227701,0.00449923142972,0.0698303831326,0.999999962159,6.09555306757e-05,-0.000267579276216,1.91723666651e-05,1793248893860998144
+87,1.450000000,BASELINE,766,745,715,680,659,634,879.522798976,784.522798976,810,652,628.477201024,652,0.400975228372,0.00449739426124,0.0698308860218,0.99999996259,5.6737484231e-05,-0.000266897582182,1.91599661527e-05,1793248893877664768
+88,1.466666667,BASELINE,765.900789587,745,715,680,659,634,879.900789587,784.900789587,810,652,628,652,0.400975458227,0.0044954623589,0.0698314325009,0.999999963028,5.28849614411e-05,-0.000266045002995,1.91583050592e-05,1793248893894331392
+89,1.483333333,BASELINE,765.30830831,745,715,680,659,634,879.30830831,784.30830831,810,652,628,652,0.400976188456,0.00449478722333,0.0698316760356,0.999999963027,5.43329588758e-05,-0.000265753871153,1.92251636883e-05,1793248893910998016
+90,1.500000000,BASELINE,765,745,715,679.721076302,659,634,879,784,810,652,628,652,0.400975959918,0.00449577025054,0.0698314569107,0.999999962824,5.54738528871e-05,-0.000266287635608,1.90974729363e-05,1793248893927664384
+91,1.516666667,BASELINE,765,745,715,679.139539432,659,634,879,784,810,652,628,652,0.400974691185,0.00449855227123,0.0698307358319,0.999999962404,5.62815605535e-05,-0.00026771635625,1.87587093823e-05,1793248893944331264
+92,1.533333333,BASELINE,765.436359114,745,715,679,659,634,879,784.436359114,809.563640886,652,628,652,0.400975499502,0.00449858002409,0.0698310427165,0.999999962781,5.6857201271e-05,-0.000266174002375,1.88806999566e-05,1793248893960998144
+93,1.550000000,BASELINE,766,745,715,679.010481531,659,634,878.989518469,784.989518469,809,652,628,652,0.400976922941,0.0044977256216,0.0698316655155,0.999999963389,5.73379313639e-05,-0.000263758834132,1.91438802021e-05,1793248893977664512
+94,1.566666667,BASELINE,766,745,715,679.584811386,659,634,878.415188614,784.415188614,809,652,628,652,0.400976161996,0.00449619191935,0.0698318248375,0.999999963139,5.66541896027e-05,-0.000264848897222,1.91772879211e-05,1793248893994331136
+95,1.583333333,BASELINE,765.835438324,745,715,680,659.164561676,634,878.164561676,784.164561676,809.164561676,652,628.164561676,652,0.400975904559,0.00449525279848,0.0698320836989,0.999999963009,5.60536768854e-05,-0.000265465971569,1.91805635155e-05,1793248894010998016
+96,1.600000000,BASELINE,765.241546358,745,715,680,659.758453642,634,878.758453642,784.758453642,809.758453642,652,628.758453642,652,0.40097696074,0.00449586489996,0.069832602252,0.999999963195,5.56703029698e-05,-0.000264849050486,1.91052264411e-05,1793248894027664896
+97,1.616666667,BASELINE,765.342470757,745,715.342470757,680,659.657529243,634,879,784.657529243,810,652,628.657529243,652,0.400976323262,0.00449593610238,0.069832280836,0.999999963053,5.50443739297e-05,-0.000265520126195,1.90659273312e-05,1793248894044331520
+98,1.633333333,BASELINE,765.919718251,745,715.919718251,680,659.080281749,634,879,784.080281749,810,652,628.080281749,652,0.400974524717,0.00449563649788,0.0698313835892,0.999999962683,5.42521641447e-05,-0.000267074172753,1.90513336216e-05,1793248894060998144
+99,1.650000000,BASELINE,766,745,715.506228681,680,659,634,879,784,810,652,628.493771319,652,0.400975572641,0.00449614495214,0.0698315143679,0.999999962816,5.43905666144e-05,-0.000266563182057,1.8807597836e-05,1793248894077664512
+100,1.666666667,BASELINE,765.930706158,745,715.069293842,680,659.069293842,634,878.930706158,784,810,652,629,652,0.400976996848,0.00449674210678,0.0698319017955,0.999999963039,5.50704487514e-05,-0.000265600926461,1.86060874565e-05,1793248894094331136
+101,1.683333333,BASELINE,765.34025065,745,715.65974935,680,659.65974935,634,878.34025065,784,810,652,629,652,0.400977792703,0.00449702460722,0.0698329704617,0.999999963314,5.8692147581e-05,-0.000263753663644,1.90005584282e-05,1793248894110998016
+102,1.700000000,BASELINE,765.244931577,745,715.755068423,680.244931577,659.755068423,634,878,784.244931577,810,652,628.755068423,652,0.400977528206,0.00449746420927,0.0698330870509,0.999999963266,6.03890067922e-05,-0.000263542237636,1.91579884827e-05,1793248894127664896
+103,1.716666667,BASELINE,765.822942682,745,715.177057318,680.822942682,659.177057318,634,878,784.822942682,810,652,628.177057318,652,0.400975821752,0.0044981174519,0.0698319089219,0.999999962792,5.94682992792e-05,-0.00026555536674,1.89930693904e-05,1793248894144331520
+104,1.733333333,BASELINE,766,745,715.398148728,680.601851272,659.398148728,634,878.398148728,785,809.601851272,652,628,652,0.400975290677,0.00449775919585,0.0698316260989,0.999999962651,5.84077209893e-05,-0.000266314167729,1.90782453162e-05,1793248894160998400
+105,1.750000000,BASELINE,766,745,715.972116136,680.027883864,659.972116136,634,878.972116136,785,809.027883864,652,628,652,0.400975278639,0.0044969542717,0.0698317386344,0.999999962657,5.72853770191e-05,-0.000266519069563,1.92738608021e-05,1793248894177665536
+106,1.766666667,BASELINE,766,745,715.450480299,680,659.450480299,634,879,785,809.549519701,652,628.549519701,652,0.400974047892,0.00449776809084,0.0698310970937,0.999999962372,5.76211929428e-05,-0.000267542787969,1.88602483866e-05,1793248894194331648
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,880,785,810,652,628,653,0.400974873181,0.0044979206644,0.0698310501397,0.999999962531,5.71044018867e-05,-0.000267068937385,1.87574099924e-05,1793248894237620736
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659.619857543,634,878.760284915,785,810,652,628,652.380142457,0.400975498758,0.00449924371087,0.0698319999499,0.99999996273,5.90900404388e-05,-0.000265887819971,1.87780696137e-05,1793248894254287360
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.777430415,634,878.222569585,785,810,652,628,652,0.400975642241,0.0044991764198,0.0698324097989,0.999999962839,5.94811703693e-05,-0.000265384669613,1.88197279819e-05,1793248894270954240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659.201907782,634,878.798092218,785,810,652,628,652,0.400975021217,0.00449690431794,0.0698319633725,0.999999962811,5.7343713062e-05,-0.000265956645938,1.88946863743e-05,1793248894287621120
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659.382738357,634,879,785,810,652,628,652,0.400974733693,0.00449629767125,0.0698315643964,0.999999962774,5.55284246761e-05,-0.000266474663549,1.89466694897e-05,1793248894304287744
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.972314956,634,879,785,810,652,628,652,0.4009746264,0.00449659106466,0.0698311910634,0.999999962733,5.38872419197e-05,-0.000266963520929,1.89862363748e-05,1793248894320954368
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,716,680.5520171,659.4479829,634,879,785,810,652,628.5520171,652.5520171,0.400975266463,0.00449654500157,0.0698317309377,0.999999962911,5.41820603887e-05,-0.000266234604469,1.89894245941e-05,1793248894337620992
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.869149354,745,716,680.869149354,659.130850646,634,879,784.869149354,809.869149354,652,628.869149354,652.869149354,0.400975485466,0.004496639971,0.0698320202592,0.999999962924,5.48549627721e-05,-0.000266049347971,1.89998467096e-05,1793248894354287616
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.291620103,745,716,680.291620103,659.708379897,634,879,784.291620103,809.291620103,652,628.291620103,652.291620103,0.400974141412,0.0044972734712,0.0698313006837,0.999999962331,5.64928872361e-05,-0.000267924780535,1.90410815249e-05,1793248894370954240
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.714981963,680,659.714981963,634,879,784,809.285018037,652,628.285018037,652,0.400977683256,0.00449715071513,0.0698329270689,0.999999962881,5.63599583665e-05,-0.000265889386746,1.90706607771e-05,1793248894387620608
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.139252769,680,659.139252769,634,879,784,809.860747231,652,628.860747231,652,0.400986208592,0.00449625659684,0.0698369462746,0.999999964572,5.44208039758e-05,-0.000259865049292,1.90883516483e-05,1793248894404287232
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.445563557,745,715.445563557,680,659,634,878.554436443,784,810,652,628.554436443,652,0.401012206893,0.00449650882512,0.0698475348601,0.999999969176,5.59990739053e-05,-0.000241126953327,1.9222413146e-05,1793248894420954112
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967225349,745,716,680,659,634,878,784,810,652,628.032774651,652.032774651,0.40104519069,0.00449711601644,0.0698605277546,0.999999974355,5.84828864269e-05,-0.000217935676772,1.93503323025e-05,1793248894437620736
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.388418031,745,716,680,659,634,878,784,810,652,628.611581969,652.611581969,0.401101681117,0.00449754384964,0.0698786590414,0.999999980483,5.73572429038e-05,-0.000188130284311,1.87573798262e-05,1793248894454287360
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.189976711,784.189976711,810,652,628.810023289,652.810023289,0.401160011217,0.00449777754148,0.0698934207357,0.999999984394,5.67197350592e-05,-0.000166318757203,1.82538647955e-05,1793248894470954240
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.767529852,784.767529852,810,652,628.232470148,652.232470148,0.401222094492,0.00449761516054,0.0699013080399,0.999999985279,5.70780853915e-05,-0.0001608157176,1.79328133443e-05,1793248894487621120
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.34262705,745,715.65737295,680,659,634,878.65737295,784.65737295,810,652,628,652,0.401299219503,0.00449764667821,0.0699075559645,0.999999986697,5.55594681357e-05,-0.000152459766433,1.66061094088e-05,1793248894504287744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.916069733,745,715.083930267,680,659,634,878.083930267,784.083930267,810,652,628,652,0.401386477594,0.00449780881847,0.0699126994969,0.999999988393,5.27764046887e-05,-0.000142181910749,1.46019332561e-05,1793248894520954112
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.504364288,680,659.504364288,634,878.504364288,784,810,652,628,652.504364288,0.401483611619,0.00449684057384,0.0699095965881,0.999999987962,4.71639371022e-05,-0.000147293685359,1.25144137649e-05,1793248894537620480
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,716,679.906643847,659.906643847,634,879,784,810,652,628,652.906643847,0.40158757359,0.00449626335757,0.0699057901465,0.999999987186,4.21719406498e-05,-0.000154092939344,1.02710837106e-05,1793248894554287360
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,716,679.327278584,659.327278584,634,879,784,810,652,628,652.327278584,0.401718266381,0.00449873080268,0.0699056819016,0.999999986893,4.29356199805e-05,-0.000155940388949,7.29100109901e-06,1793248894570953984
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,679.250364241,659,634,879.250364241,784.250364241,810,652,628,652,0.401862883415,0.00450132680746,0.0699072167612,0.999999987093,4.26516222538e-05,-0.000154849222732,3.96565525712e-06,1793248894587620864
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,679.825770817,659,634,879.825770817,784.825770817,810,652,628,652,0.402025577973,0.00450408971821,0.0699108848272,0.999999987918,4.10074486071e-05,-0.000149942916701,1.92062061987e-07,1793248894604287744
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879.178411073,784.589205537,810,652,628.410794463,652.410794463,0.402218945673,0.00450317623476,0.0699168428643,0.999999989631,3.50056908395e-05,-0.000139641141149,-3.56282981235e-06,1793248894620954368
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,878.000010393,784.000005197,810,652,628.999994803,652.999994803,0.402425634573,0.00450066611288,0.0699237954242,0.999999991542,2.71114570437e-05,-0.000126996141094,-7.3096001254e-06,1793248894637621248
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.421885124,680,659,634,878.578114876,784.578114876,810,652,628.421885124,652.421885124,0.402655620709,0.0045024850735,0.0699237343118,0.999999991762,2.05695203233e-05,-0.00012609650345,-1.23733259682e-05,1793248894654287360
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.155338833,680,659,634,879.155338833,785,810,652,628.155338833,652,0.402896843176,0.00450390301618,0.0699243757907,0.999999992054,1.38147293702e-05,-0.000124074262501,-1.74854641133e-05,1793248894670953728
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.730143377,680,659,634,879.730143377,785,810,652,628.730143377,652,0.403168406914,0.00450423797638,0.0699269146629,0.999999992638,6.48512863473e-06,-0.000119020345126,-2.27283010858e-05,1793248894687620352
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,716,680.306032771,659,634,879.693967229,785,810,652,628.693967229,652,0.403465082262,0.00450474670429,0.0699319242573,0.999999993643,-6.96423881271e-07,-0.000109239549059,-2.7919241622e-05,1793248894704286976
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,716,680.882882141,659,634,879.117117859,785,810,652,628.117117859,652,0.403783979531,0.00450540920388,0.06993912026,0.999999994885,-7.74696412059e-06,-9.52758116546e-05,-3.30642572925e-05,1793248894720953856
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,716,680.529259369,659.470740631,634,879,784.529259369,810,652,628.470740631,652,0.40413381701,0.00449310776508,0.0699439863816,0.999999994929,-2.79602975405e-05,-8.97931755408e-05,-3.60097095527e-05,1793248894737620480
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659.939872692,634,879,784,809.939872692,652,628.939872692,652,0.404495882628,0.00447862578108,0.0699484861425,0.999999994366,-4.94831750153e-05,-8.57031656806e-05,-3.84083670651e-05,1793248894754287104
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.361487826,634,879,784,809.361487826,652,628.361487826,652,0.404895408228,0.00447381515413,0.0699549440709,0.999999994925,-5.33905981352e-05,-7.49938712339e-05,-4.09238172856e-05,1793248894770953984
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.78408582,745,716,680,659.21591418,634,879,784,809.21591418,652,628.21591418,652,0.405307560163,0.00447791918779,0.0699594561781,0.999999996796,-2.22555109828e-05,-6.71963026834e-05,-3.73882122542e-05,1793248894787620608
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.208321939,745,716,680,659.791678061,634,879,784,809.791678061,652,628.791678061,652,0.405740755525,0.00449688068958,0.0699607253148,0.99999999539,6.72825813641e-05,-6.42515133379e-05,-2.37677182886e-05,1793248894804287232
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.37460349,745,715.62539651,680,660,634,879,784,810,652,628.62539651,652,0.406183015261,0.00450172475707,0.0699543681612,0.999999992563,9.37274036215e-05,-7.47850193587e-05,-2.22655887624e-05,1793248894820954112
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.961589227,745,715.038410773,680,660,634,879,784,810,652,628.038410773,652,0.406630414104,0.00449856491683,0.0699436872662,0.999999991736,8.44013704641e-05,-9.29600735964e-05,-2.76339905864e-05,1793248894837620480
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.541082328,680,659.458917672,634,879,784,810,652,628,652,0.407147085714,0.00450483432858,0.0699292008989,0.999999993165,-1.02001416114e-05,-0.000112552483638,-2.99502194519e-05,1793248894854287104
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.880200449,745,715.880200449,680,659,634,879,784,810,652,628.119799551,652.119799551,0.407683501855,0.00451238912755,0.0699200984294,0.999999988431,-8.44080400402e-05,-0.000122403815343,-3.20873954909e-05,1793248894870953728
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.302443513,745,715.302443513,680,659,634,879,784,810,652,628.697556487,652.697556487,0.408276853811,0.00452233372067,0.0699325955463,0.999999993259,-5.7832344925e-05,-9.46385929162e-05,-3.43570595734e-05,1793248894887620352
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.271617846,634,879,784.271617846,810,652,628.728382154,652.728382154,0.408885080519,0.0045283731249,0.0699458724486,0.999999996701,-3.33590469627e-05,-6.4527702163e-05,-3.63534757911e-05,1793248894904287232
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.841619424,634,879,784.841619424,810,652,628.158380576,652.158380576,0.409509647738,0.00453012251282,0.0699600059776,0.999999998707,-1.11953231046e-05,-3.18399969039e-05,-3.80497174995e-05,1793248894920954112
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.428482075,680,660,634,879.428482075,785,810.428482075,652,628,652.428482075,0.410123192307,0.00453939024215,0.069954477872,0.999999998227,1.95330649658e-05,-3.93953361698e-05,-4.01679467477e-05,1793248894937620736
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.978644409,680.021355591,660,634,880,785,811,652,628,653,0.410735969702,0.00455121713169,0.0699419470915,0.999999995796,5.30647680124e-05,-6.16393583751e-05,-4.23416190635e-05,1793248894954287360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.398252493,680.601747507,660,634,880,785,811,652,628,653,0.411439689191,0.00455430876696,0.0699441434576,0.999999994425,7.37136163044e-05,-6.30527129294e-05,-4.1716229555e-05,1793248894970953984
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680.819528184,660,634,880,784.819528184,811,652,628.180471816,652.819528184,0.412160673814,0.00455859144988,0.0699561222786,0.999999994817,8.02251844465e-05,-4.69918857548e-05,-4.14877034817e-05,1793248894987620608
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.244450216,660,634,880,784.244450216,811,652,628.755549784,652.244450216,0.412919408991,0.00456547838797,0.0699894906824,0.999999997528,5.58252319661e-05,7.27667850697e-06,-4.21269292864e-05,1793248895004287488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.329691209,680,660.329691209,634,880.329691209,784,811,651.670308791,629,652.329691209,0.41368159797,0.00457392319354,0.0700124844524,0.999999996163,6.26764545523e-05,4.37564595613e-05,-4.27899400718e-05,1793248895020954112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.90314026,680,660.90314026,634,880.90314026,784,811,651.09685974,629,652.90314026,0.414446340604,0.00458351981221,0.07002780772,0.999999992515,9.26332920645e-05,6.70840746001e-05,-4.34705364264e-05,1793248895037620736
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.493837189,745,715.506162811,680.493837189,660.506162811,634,881,784,811,651.493837189,629,653,0.415159226416,0.00459042924232,0.0699854470154,0.999999992215,0.000116358305209,-8.73083329087e-06,-4.42111227253e-05,1793248895054287360
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680.914415904,660,634,880.914415904,784,811,652,629,652.914415904,0.415881065897,0.00459653019599,0.0699361703294,0.999999985775,0.000131999155811,-9.47540451463e-05,-4.52433075986e-05,1793248895070953984
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680.336785518,660,634,880.336785518,784,811,652,629,652.336785518,0.416714975088,0.00460112285905,0.0699145328711,0.999999985332,0.000108443572147,-0.000123624066109,-4.78818789054e-05,1793248895087620608
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.239684603,680.239684603,660.479369206,634,880,784,811.239684603,652,629,652,0.417561163688,0.0046064003374,0.069916505564,0.999999986166,0.000106481342041,-0.000118022921415,-4.90000491517e-05,1793248895104287232
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.814532234,680.814532234,661.629064468,634,880,784,811.814532234,652,629,652,0.418424523152,0.00461263542711,0.0699514935192,0.999999987712,0.000134714184844,-6.42190113365e-05,-4.79921659652e-05,1793248895120954112
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.610797498,745,715.610797498,681,661.610797498,634,880,784,811.610797498,652,629,652.389202502,0.419305667491,0.00461723187738,0.069980624909,0.999999988861,0.000139384643288,-2.15991223799e-05,-4.88160840612e-05,1793248895137620480
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.036211728,745,715.036211728,681,661.036211728,634,880,784,811.036211728,652,629,652.963788272,0.42019528302,0.00462104781776,0.0700069667237,0.999999989779,0.000132831966892,1.56936399641e-05,-5.05125179264e-05,1793248895154287104
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.555683621,744.444316379,715.555683621,681,661,634,880,784,811,652,629,653,0.421083774767,0.00461217034609,0.0700222420348,0.999999990766,0.000120936914521,3.53694662128e-05,-5.09101288979e-05,1793248895170953728
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.144667551,716,681,661,634,880,784.144667551,811.144667551,651.855332449,629.144667551,653,0.421966520367,0.0045977122585,0.0700238964731,0.999999992527,0.000105791093263,3.40841081111e-05,-5.09133442574e-05,1793248895187620608
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.721476748,716,681,661,634,880,784.721476748,811.721476748,651.278523252,629.721476748,653,0.422832327066,0.00456913445658,0.0699870869754,0.999999995042,8.20081681122e-05,-2.62755917162e-05,-4.99994038189e-05,1793248895204287744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.703827038,681,660.703827038,634,880.296172962,784.703827038,812.296172962,651.296172962,630,653,0.42367177917,0.00455813206318,0.0699287860986,0.999999990353,5.97390876815e-05,-0.000114506186801,-5.11189823569e-05,1793248895220954368
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.131103747,681,660.131103747,634,880.868896253,784.131103747,812.868896253,651.868896253,630,653,0.424486622875,0.00456354063446,0.0698504177277,0.999999971613,3.88835505558e-05,-0.000228761126,-5.41373506959e-05,1793248895237620992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.543214264,745,715,681,660.913571472,634,881,784,813,652,629.543214264,653,0.42540180101,0.00457253210846,0.0698625547297,0.999999976616,5.1756944803e-05,-0.000202556495309,-5.53096811311e-05,1793248895254287360
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,634,881,784.048088316,813,652,629.048088316,653,0.426348850634,0.00458199826344,0.0699033990185,0.99999998673,7.45763447256e-05,-0.000133755023703,-5.55719249811e-05,1793248895270953984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,634,881,784.627358993,813,652,629.627358993,653,0.427318933699,0.00458495860489,0.0699645560604,0.999999992471,9.66544247863e-05,-5.50280345384e-05,-5.18349452757e-05,1793248895287620352
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.205106389,745,715,681,661.794893611,634,880.794893611,785,813,652,629.794893611,653,0.428291372539,0.00458756022767,0.0700141527945,0.999999993117,0.000105269359741,1.39127592317e-05,-4.99103466065e-05,1793248895304286976
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.780106629,745,715,681,661.219893371,634,880.219893371,785,813,652,629.219893371,653,0.429268059785,0.00458951492831,0.0700429013851,0.999999992546,8.96045307318e-05,6.52048849649e-05,-5.12542406276e-05,1793248895320953600
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661.362189986,633.637810014,880.362189986,785,813,652,629.362189986,653,0.430167980942,0.00459078542707,0.0700372877716,0.999999993075,8.75978584522e-05,5.82094577316e-05,-5.28068502179e-05,1793248895337620480
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.948659412,633.051340588,880.948659412,785,813,652,629.948659412,653,0.431020366086,0.00459163224643,0.0700103959987,0.999999993979,9.40487472736e-05,1.51205411539e-05,-5.44887029913e-05,1793248895354287360
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.471482996,745,715,680.471482996,661.471482996,633,881,784.471482996,813,652,630,653,0.431805125606,0.00458927625316,0.0699313809021,0.999999986943,9.4941524861e-05,-0.000118889307844,-5.44468870565e-05,1793248895370953984
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.10759841,745,715,680.10759841,661,633,881,784,813,652,630,652.89240159,0.43261479634,0.00458551884854,0.0698695781631,0.999999969677,9.20523610097e-05,-0.000221829359793,-5.44484114484e-05,1793248895387620608
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.686058931,745,715,680.686058931,661,633,881,784,813,652,630,652.313941069,0.433561873354,0.00457697340835,0.0699049823474,0.999999984314,7.49465777786e-05,-0.000150631813708,-5.53632777925e-05,1793248895404287232
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.737656934,745,715,681.262343066,661.524686133,633,881,784,813.262343066,652,630,652.262343066,0.434502912387,0.0045712852674,0.0699507433572,0.999999993578,6.92479443311e-05,-7.06997465753e-05,-5.52338624273e-05,1793248895420953856
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.163955733,745,715,681.836044267,662.672088533,633,881,784,813.836044267,652,630,652.836044267,0.435436785452,0.00456898827026,0.0700087962227,0.999999995386,7.70877219305e-05,1.95987717732e-05,-5.38650562404e-05,1793248895437620736
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.579091815,662.15818363,633,881,784,814,651.579091815,630,652.579091815,0.436305460052,0.00457100063874,0.070029491203,0.99999999424,7.48419832879e-05,5.46758706558e-05,-5.41217560849e-05,1793248895454287360
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.010052847,661.010052847,633,881,784,814,651.010052847,630,652,0.43714706379,0.00457472945245,0.070034554502,0.999999993897,6.86418539736e-05,6.68139138483e-05,-5.50500941122e-05,1793248895470953728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.588684595,661.588684595,633,881,784,814,651.588684595,630,652,0.437933111467,0.00457801110936,0.070000972162,0.999999995629,6.70361104783e-05,3.12879036334e-05,-5.71779028854e-05,1793248895487620608
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,682,662,633,881,784,814,652,630,652,0.438696381373,0.00458073174782,0.0699602140058,0.999999995513,7.09348572805e-05,-2.29498378886e-05,-5.84490000289e-05,1793248895504287488
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,682,662,633,881,784,814,652,630,652,0.439403656418,0.00458207322899,0.0699018154741,0.999999986849,8.83653452337e-05,-0.000123186805897,-5.76140343876e-05,1793248895520954112
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.319140857,745,715,682,661.680859143,633,881,784.319140857,814.319140857,652,630,652.319140857,0.440142154497,0.00458128189741,0.0698698115809,0.999999979632,8.44951133189e-05,-0.000174157746503,-5.71532291666e-05,1793248895537620736
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.893232088,745,715,682,661.106767912,633,881,784.893232088,814.893232088,652,630,652.893232088,0.440905595524,0.00457878673687,0.0698588934363,0.999999979097,6.36084872758e-05,-0.000185771791492,-5.69913278657e-05,1793248895554287360
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661.480778168,633,881,784.519221832,814.519221832,651.519221832,630,652.519221832,0.441702350374,0.00457548603141,0.0699215343492,0.999999992842,5.75402140134e-05,-8.80703727613e-05,-5.69960264665e-05,1793248895570953984
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,633,881.140547114,784,814.070273557,651,630,652,0.442494653862,0.00457236316596,0.0699949032302,0.999999996528,5.59707851545e-05,2.392698104e-05,-5.69147037124e-05,1793248895587620608
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,633,882.303179487,784,814.651589743,651,630,652,0.443199236368,0.00457187196499,0.0700240728487,0.999999994786,6.24977914333e-05,5.82643262563e-05,-5.59310243618e-05,1793248895604287232
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.77187807,661.77187807,633.22812193,882.543756139,784,814.77187807,651,630.22812193,652,0.443869798854,0.0045718809067,0.0700315426997,0.999999994205,6.97036602157e-05,6.10634762149e-05,-5.47944989233e-05,1793248895620953856
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.202502311,661.202502311,633.797497689,881.405004622,784,814.202502311,651,630.797497689,652,0.44448946997,0.00457263802543,0.0700065512801,0.999999995397,7.79250589392e-05,1.6683783369e-05,-5.34293267015e-05,1793248895637620736
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681.373168862,661.373168862,633.626831138,881,784,814.373168862,651.373168862,630.626831138,652.373168862,0.445096566291,0.00457342387546,0.0699785336836,0.999999994848,8.1817484023e-05,-2.76433525563e-05,-5.33362934872e-05,1793248895654287616
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.952314865,661.952314865,633.047685135,881,784,814.952314865,651.952314865,630.047685135,652.952314865,0.445696721694,0.00457422558419,0.0699488457367,0.999999992486,8.33204551173e-05,-7.19414760608e-05,-5.39454398933e-05,1793248895670954240
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.454551057,745,715,682.545448943,661.454551057,633,881.545448943,784,815,652,630,652.454551057,0.446251994924,0.00457507450793,0.0699382272863,0.999999991656,8.53765705792e-05,-8.01969208305e-05,-5.44753895582e-05,1793248895687620864
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.135527641,745,715,683,661.135527641,633,881.864472359,784.135527641,815,652,630,652.135527641,0.446791247021,0.00457639618636,0.0699309141651,0.999999990812,8.80636662463e-05,-8.7199471882e-05,-5.4927568547e-05,1793248895704287488
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.711594953,745,715,683,661.711594953,633,881.288405047,784.711594953,815,652,630,652.711594953,0.447291511659,0.00457924080806,0.0699287834828,0.999999989124,9.26404687816e-05,-0.000100641440192,-5.51500479467e-05,1793248895720954112
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.713592143,745,715,682.427184287,662,633,881,784.713592143,815,651.713592143,630,653,0.44777779402,0.00458078916436,0.0699237369655,0.999999987226,9.80526004153e-05,-0.000113744600136,-5.47326032071e-05,1793248895737620736
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.140036923,745,715,681.280073845,662,633,881,784.140036923,815,651.140036923,630,653,0.448250057972,0.00458103790811,0.0699157670848,0.999999985118,0.000104302217698,-0.000126508076098,-5.36735820247e-05,1793248895754287360
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.444491177,745,715,681,662,633,881.444491177,784,815,651.444491177,630,652.555508823,0.448709687155,0.00458233889028,0.0699248369206,0.999999985678,0.000114568763945,-0.000113456052088,-5.14433189804e-05,1793248895770954240
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.032160792,662,633,882,784,815,652,630,652.032160792,0.449162655271,0.00458413930996,0.069939199983,0.99999998666,0.00012546485649,-9.23368734251e-05,-4.91212712032e-05,1793248895787620864
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.612954984,662,633,882,784,815,652,630,652.612954984,0.449571614952,0.00458866131481,0.0699499633057,0.999999987979,0.000124965144652,-7.58557093857e-05,-5.16875872838e-05,1793248895804287488
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661.61510335,633,881.807551675,784,815,652,630,652.807551675,0.44995225755,0.00459312418041,0.0699519680949,0.999999988135,0.000124261150338,-7.31600825616e-05,-5.41837778096e-05,1793248895820954112
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.461313771,633,881.230656885,784,815,652,630,652.230656885,0.450276332296,0.00459746890666,0.0699364763073,0.999999986016,0.000123149068854,-9.80032793319e-05,-5.65398817308e-05,1793248895837620736
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.65570897,659.65570897,633,881,784,815,652,630,652.34429103,0.450556614995,0.00460228492812,0.0699053837261,0.999999980815,0.000114474308827,-0.000147673917044,-5.88066244257e-05,1793248895854287360
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.082058059,659.082058059,633,881,784,815,652,630,652.917941941,0.450807724278,0.00460741491687,0.0698638982054,0.999999970189,0.000100761441452,-0.000213884103404,-6.10138360981e-05,1793248895870953728
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.507624454,632.492375546,881,784,815,651.492375546,630,653,0.451051335103,0.00461181464023,0.0698352859675,0.999999963493,7.08720215518e-05,-0.000253743893694,-6.00432458816e-05,1793248895887620352
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.902251976,745,715,681.097748024,659.804503952,632.097748024,881.097748024,784,815,651.097748024,630.097748024,652.902251976,0.451290618838,0.00461663069607,0.0698115238621,0.999999956289,5.17255819772e-05,-0.000285443900491,-5.71702252222e-05,1793248895904287232
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.32313479,745,715,681.67686521,658.646269579,632.67686521,881.67686521,784,815,651.67686521,630.67686521,652.32313479,0.451514757347,0.00462409731726,0.0698010644991,0.999999949404,9.87815000195e-05,-0.000298621032476,-4.7540748888e-05,1793248895920953856
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,632.746493839,882,784,815,652,630.746493839,652,0.451725212683,0.00462905023752,0.0697951606877,0.999999944447,0.000124964097896,-0.000305947170867,-4.34315904041e-05,1793248895937620736
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,632.172978762,882,784,815,652,630.172978762,652,0.451918395296,0.00463083003232,0.0697950074951,0.999999944358,0.000124797634498,-0.000305887413109,-4.62909060989e-05,1793248895954287360
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.146792405,657,632,881,784,815,652,630,652,0.45291784004,0.00465875588664,0.0696764301421,0.999999867813,0.000163779768322,-0.000484365635408,-5.422436277e-05,1793248897054734592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.723116223,657,632,881,784,815,652,630,652,0.452853390117,0.00465845510189,0.069664210752,0.999999860595,0.000166787149238,-0.000498122548188,-5.35365125497e-05,1793248897071400960
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,632,881.872268018,784,815,651.127731982,630,652.872268018,0.452698090659,0.00465977272696,0.0696469323691,0.999999846541,0.000170718247335,-0.000524452815594,-5.21865891403e-05,1793248897104734464
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,632.458912954,882,784,815,651.458912954,630,653,0.45259695658,0.00465981902734,0.069640468872,0.999999840237,0.000173263604797,-0.000535656394229,-5.07666782672e-05,1793248897121401344
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.048220572,632.951779428,881.951779428,784,815,651.951779428,630,653,0.452488538475,0.00465966574829,0.0696343802032,0.999999834137,0.000176100409847,-0.000546172927055,-4.90929494454e-05,1793248897138067968
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.627077006,632.372922994,881.372922994,784,815,651.372922994,630,653,0.452360785169,0.00466020088362,0.0696291288931,0.99999982897,0.000179280864865,-0.000554717672208,-4.6985192229e-05,1793248897154734592
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.93220149,745,715,681.06779851,658,632,881.93220149,784,815,651.06779851,630.06779851,653,0.451703588335,0.00465667913766,0.0696271765984,0.999999822537,0.000186693799716,-0.000564596304807,-3.60790130153e-05,1793248897221400832
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632.10826809,881.10826809,784,815,652,630,652,0.451270722215,0.00465378943053,0.0696472058995,0.999999832728,0.000195989609256,-0.000543528769156,-2.66084726289e-05,1793248897254734080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,632.685373444,881.685373444,784,815,652,630,652,0.451025701438,0.00465106325646,0.0696600485103,0.999999841855,0.000199702194078,-0.000525294164317,-2.18141130241e-05,1793248897271400960
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.739271429,745,715,682,658.260728571,633,881.739271429,784.260728571,815,652,630,652.260728571,0.450765163295,0.0046479777389,0.0696746197054,0.999999851013,0.000203560712696,-0.000506226973732,-1.64876771303e-05,1793248897288067840
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.166014289,745,715,682,658.833985711,633,881.166014289,784.833985711,815,652,630,652.833985711,0.450486024905,0.00464446148577,0.0696912629088,0.99999986022,0.000207594158145,-0.000486161785331,-1.052345549e-05,1793248897304734464
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.409621948,745,715,681.590378052,659,633,881.409621948,784.590378052,814.590378052,652,630.409621948,653,0.4501792221,0.00464040621992,0.0697069686849,0.999999870153,0.000210919922124,-0.000463882372006,-4.55753408634e-06,1793248897321401344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.986228018,745,715,681.013771982,659,633,881.986228018,784.013771982,814.013771982,652,630.986228018,653,0.449861141785,0.00463613122333,0.0697222923144,0.999999880002,0.000213957196575,-0.000440700320823,1.40908008865e-06,1793248897338068224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.421407941,745,715,681.578592059,659,633,881.421407941,784,814,652,630.421407941,653,0.449513790364,0.00462518290014,0.0697506132198,0.99999990058,0.000208148777793,-0.000394305713316,6.0826817054e-06,1793248897354734848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.16744318,745,715,682,659.33488636,633,881.16744318,784,814,652,630,652.83255682,0.449151655997,0.0046101216352,0.0697789726217,0.999999919875,0.000196657042374,-0.000348516322082,1.05660197204e-05,1793248897371401216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.746706005,745,715,682,660.493412009,633,881.746706005,784,814,652,630,652.253293995,0.448754925183,0.00458534636412,0.0698066445174,0.999999938449,0.000171719762035,-0.000305612386638,1.46592256278e-05,1793248897388068096
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.676801547,745,715,681.676801547,660.676801547,633,881.676801547,784,814,652,630,652.323198453,0.448316925337,0.00457895108492,0.0698183599869,0.999999944312,0.000167186749081,-0.000288263317814,1.81508960845e-05,1793248897404734976
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.102461757,745,715,681.102461757,660.102461757,633,881.102461757,784,814,652,630,652.897538243,0.447846857351,0.00458683797455,0.0698176765195,0.999999941569,0.000178508868297,-0.000290771652201,2.11751439156e-05,1793248897421401344
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.930847203,745,715.930847203,682,660.861694407,633,881.069152797,784,813.930847203,652,630,653,0.446745572334,0.00459835617636,0.0697637997676,0.999999916003,0.000170389052775,-0.000372394907922,1.68260209955e-05,1793248897454735616
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.609389631,633,881.195305184,784,813,652,630,653,0.445049878914,0.00459180872963,0.06976622774,0.99999993175,0.000102833446709,-0.000354778735624,7.51555029838e-06,1793248897504734720
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,881,784,812.046177895,651.046177895,630,652.046177895,0.443830851683,0.0045869370175,0.0698069847785,0.999999955083,9.9439013175e-05,-0.000282087371449,1.93025132586e-05,1793248897538067712
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.545302984,745,715,682,660.454697016,633.545302984,881,784.545302984,812.545302984,651.545302984,630,652,0.443136551891,0.00458420615591,0.0698119505525,0.999999956783,7.59283269481e-05,-0.000283433765142,1.82700814906e-05,1793248897554734592
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.287717652,745,715.712282348,682,661,633,881,784,812,651.712282348,630,653,0.441006754711,0.00457932605991,0.0698181043128,0.99999996196,2.7748056551e-05,-0.00027365444303,2.05891133441e-05,1793248897604734720
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.860901546,745,715.139098454,682,661,633,881,784,812,651.139098454,630,653,0.440285044557,0.00457791325297,0.0698309628765,0.999999970207,1.71454885101e-05,-0.000242463062198,2.24400785498e-05,1793248897621401344
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.805873468,744.805873468,715,682,659.194126532,634,881,784,812,652,630,652.805873468,0.436952463193,0.00456329947486,0.0697034066515,0.999999877323,0.000222831448601,-0.00044184299597,2.17984311383e-05,1793248897688067840
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744.346771677,715,682,660.346771677,634,881,784,812,652,630,652,0.435340830812,0.00455390275437,0.0697760399018,0.999999928183,0.000167400849202,-0.000338985518122,2.64461646461e-05,1793248897721401344
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.216859311,715,682,661,634,880.783140689,784,812,652,630,652.783140689,0.431007237803,0.00453137199959,0.0698167773522,0.999999952609,0.000104738826529,-0.000287907045754,3.03608616154e-05,1793248897804734208
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.608192148,715.391807852,682,660.216384296,634,880.391807852,784,812,652,630,652,0.429074163272,0.00452312172035,0.0697227413738,0.999999900916,8.30023160667e-05,-0.000436315567095,3.0132142069e-05,1793248897838067968
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744.638767578,715.361232422,682,659.722464843,634,880,785,811,652,630,652,0.420897071815,0.00446142085002,0.0696943014889,0.999999870611,2.55465564484e-05,-0.000506836591737,3.52365861254e-05,1793248897988067584
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.782511688,745,715.217488312,681.782511688,659.434976623,634,880,785,811,652,629.782511688,652,0.420055487722,0.00445257584108,0.0697280111035,0.999999901189,1.32926384023e-05,-0.000442989385114,3.47274079903e-05,1793248898004734208
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.204889931,745,715.795110069,681.204889931,660.590220138,634,880,785,811,652,629.204889931,652,0.419271321774,0.00444536328311,0.0698158064728,0.99999995445,-1.1913831821e-05,-0.00029965278338,3.41644953985e-05,1793248898021401088
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.368961188,745,715.631038812,681,661,634,880,785,810.631038812,652,629,652,0.418470329598,0.00443848921743,0.0698619773275,0.999999972536,-2.34015908377e-05,-0.000230427801341,3.58343441908e-05,1793248898038067456
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.940739561,745,715.059260439,681,661,634,880,785,810.059260439,652,629,652,0.417660088128,0.00443180122068,0.0698852672692,0.999999978486,-2.73482019834e-05,-0.000201941830154,3.87315374668e-05,1793248898054734080
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.530393459,681.530393459,659.408819624,634,880.530393459,784.469606541,810,652,629,652.530393459,0.416827729712,0.00442565358977,0.0698518327798,0.99999996948,-1.48285763747e-05,-0.000243805618556,3.71306234486e-05,1793248898071400960
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.880465018,681.760930036,658.239069964,634,880.760930036,784.119534982,810,652,629,652.880465018,0.41599195795,0.00442213344898,0.0698151140526,0.999999956987,-6.02273867409e-06,-0.000291069514972,3.56052692984e-05,1793248898088067584
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.30124237,680.60248474,659.39751526,634,879.60248474,784.69875763,810,652,629,652.30124237,0.415152894157,0.00442847739437,0.0697909881821,0.999999945429,-1.88205688749e-05,-0.000327818840002,3.63705990051e-05,1793248898104733952
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.275264185,680.275264185,659.724735815,634,879.275264185,785,810.275264185,652,629,652,0.414319944153,0.0044484945564,0.069766163656,0.999999929524,-1.98521960396e-06,-0.000373661776327,3.63975798192e-05,1793248898121400832
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.848827321,680.848827321,659.151172679,634,879.848827321,785,810.848827321,652,629,652,0.413493619608,0.00448332914214,0.0697405820109,0.999999906088,4.69630853395e-05,-0.000429359295658,3.56244247863e-05,1793248898138067456
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,659.433266716,633.566733284,879.566733284,784.566733284,810.566733284,652,629,652,0.4128115719,0.00448932489176,0.0697701900195,0.999999928957,5.81363419551e-05,-0.000370872196688,3.40515625287e-05,1793248898154734080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.978746548,681,660.021253452,633.021253452,879,784.021253452,810,652,629,652.021253452,0.412180829555,0.00448471105028,0.0698193746147,0.999999960814,5.47279564261e-05,-0.000272639774911,3.23051184862e-05,1793248898171400704
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.399820167,681,660.600179833,633.600179833,879,784.600179833,810,652,629,652.600179833,0.411541402886,0.00447253428254,0.0698639494731,0.999999978391,2.34528081524e-05,-0.000203824840033,3.35140493245e-05,1793248898188067584
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.82086602,715,680.82086602,660.641732039,634,879,785,810,652,629,652.82086602,0.410883796764,0.00446496970581,0.069886248795,0.999999984553,8.3628978986e-06,-0.00017219779646,3.42271071753e-05,1793248898204734464
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.241849776,715,680.241849776,659.483699552,634,879,785,810,652,629,652.241849776,0.41018560838,0.00446770095877,0.0698588222616,0.999999974,2.94034222135e-05,-0.000223585578043,3.38332241905e-05,1793248898221401088
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,879,785,810,652,629,652,0.408825787688,0.00446208805847,0.0697785464654,0.999999933212,2.18024072378e-05,-0.00036336130657,3.27089822448e-05,1793248898254734080
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.495862556,715,680,659.495862556,634,879,785,810,652,628.504137444,652,0.408254858186,0.00446271740924,0.0697721186388,0.999999932459,8.98850474983e-06,-0.000366140958677,3.07080854882e-05,1793248898271400960
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.081488258,680.081488258,660,634,879,785,810,652,628.081488258,652,0.407708513517,0.00446527539574,0.0697757608659,0.99999993738,2.19427749084e-06,-0.000352698755253,2.89601603061e-05,1793248898288067840
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.660498814,680.660498814,660,634,879,785,810,652,628.660498814,652,0.407195764125,0.00447413021408,0.0697994246791,0.999999947493,3.49000503496e-05,-0.000320743046389,3.03164412761e-05,1793248898304734464
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,659.760983918,634,879,785,810,652,629,652,0.4066858026,0.00448011423829,0.069812236346,0.999999950854,5.26769602741e-05,-0.000307469631462,3.13047612729e-05,1793248898321401344
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,716,681,659.18316593,634,879,785,810,652,629,652,0.406179792879,0.00448202895178,0.0698096652473,0.999999946863,4.92924159904e-05,-0.000320678106692,3.17715017602e-05,1793248898338067968
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.60989339,680.60989339,659,634,879,785,810,652,629,652,0.40571169065,0.00448261414381,0.0698063049874,0.999999944267,4.09206627468e-05,-0.000329855072868,3.14228800744e-05,1793248898354734336
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.038730434,680.038730434,659,634,879,785,810,652,629,652,0.405261182008,0.00448258227828,0.0698025784618,0.999999942233,3.02342449357e-05,-0.000337160935509,3.06958323972e-05,1793248898371400960
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.447379981,745,715,680.552620019,659,634,878.447379981,785,810,652,628.447379981,652,0.404890015592,0.00448305895227,0.0698175958567,0.999999952398,2.83239823876e-05,-0.000305746728517,3.03286355365e-05,1793248898388067584
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.141782606,745,715.141782606,680.858217394,659,634,878,784.858217394,810,652,628,652,0.404530849501,0.0044823637442,0.0698335085435,0.999999961724,2.63668369744e-05,-0.000273774116129,3.00706347239e-05,1793248898404734208
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.719698149,745,715.719698149,680.280301851,659,634,878,784.280301851,810,652,628,652,0.404190843468,0.00447794995622,0.0698479810614,0.999999968362,2.23017182435e-05,-0.000248747831139,3.00680079229e-05,1793248898421401088
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.297988957,784,810,652,628,652,0.403856992627,0.00447379099883,0.0698511337247,0.999999970189,1.22432302891e-05,-0.000242127803995,2.9104621022e-05,1793248898438067712
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.876633165,784,810,652,628,652,0.403528938958,0.00446987204906,0.0698436249967,0.999999967658,-3.45999864804e-06,-0.000252843363557,2.72363604327e-05,1793248898454734592
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.548968289,745,716,680,659,634,879,784,810,652,628,652,0.403225447232,0.00446949074297,0.069835937404,0.999999963884,-8.92088465758e-06,-0.000267269473673,2.68120962069e-05,1793248898471401216
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.025022826,745,716,680,659.025022826,634,879,784.025022826,810,652,628,652,0.402930516711,0.00447004585336,0.069828079763,0.999999959589,-1.16167918067e-05,-0.000282785777798,2.68080498382e-05,1793248898488067840
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.615813865,745,716,680,659.615813865,634,879,784.615813865,810,652,628,652,0.402678672715,0.00447009944182,0.0698174731601,0.999999954452,-1.45477565368e-05,-0.000300218144894,2.74582746028e-05,1793248898504734464
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.79764397,680,659.79764397,634,879,784.79764397,810,652,628,652,0.402441140071,0.00446955107297,0.0698083809236,0.999999950038,-1.62936779158e-05,-0.000314418741658,2.82646621881e-05,1793248898521401088
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715.21900274,680,659.21900274,634,879,784.21900274,810,652,628,652,0.402230219709,0.00446788335216,0.0698021046839,0.999999947405,-1.58359864924e-05,-0.00032260979321,2.93614376895e-05,1793248898538067712
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.644600192,745,715.355399808,680,659,634,878.644600192,784.355399808,810,652,628,652,0.402045629977,0.00447176315764,0.0698012171732,0.99999994702,-7.27680599172e-06,-0.000323938021234,3.11487837628e-05,1793248898554734336
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.072778745,745,715.927221255,680,659,634,878.072778745,784.927221255,810,652,628,652,0.40187707433,0.00447902114353,0.0698036111425,0.999999947876,6.21579742968e-06,-0.000321087115743,3.33566546864e-05,1793248898571400960
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.515465804,744.484534196,715.484534196,679.484534196,659,634,878.515465804,784.484534196,810,652,628,652,0.401732522678,0.00449590825731,0.0698039273672,0.999999947656,3.81240159381e-05,-0.000319480032713,3.41767771021e-05,1793248898588067840
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744,715,679.104595965,659.104595965,634,878.895404035,784,810,652,628,652,0.40159633302,0.00451195529248,0.0698036171915,0.999999945624,7.81301805709e-05,-0.000318516648483,3.45642804321e-05,1793248898604734976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744,715,679.686833234,659.686833234,634,878.313166766,784,810,652,628,652,0.401482342756,0.00451775338668,0.0698018302489,0.999999938129,0.000142851701548,-0.000319664391799,3.39004101716e-05,1793248898621401600
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744,715.266447737,680,659.733552263,634,878.266447737,784.266447737,810,652,628,652,0.401380433827,0.00451625977538,0.0697998743359,0.999999936978,0.000146718446073,-0.000322141475196,2.72502698253e-05,1793248898638067968
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744,715.84300961,680,659.15699039,634,878.84300961,784.84300961,810,652,628,652,0.401292586174,0.00450627946769,0.0697977217614,0.999999943534,7.9757313814e-05,-0.00032616575567,1.36328082938e-05,1793248898654734080
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.416579056,715.583420944,680,659,634,879,784.583420944,810,652,628,652,0.401224227867,0.00450469006893,0.069798660765,0.999999945783,6.54254444332e-05,-0.000322542015168,1.09799527244e-05,1793248898671400704
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744.989028817,715.010971183,680,659,634,879,784.010971183,810,652,628,652,0.401163161858,0.00450624028309,0.0698007565393,0.999999947472,7.07857819566e-05,-0.000316056627401,1.24297061764e-05,1793248898688067328
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.170141051,680.170141051,659,634,878.170141051,784,810,652,628.829858949,652,0.401075344696,0.00450620443137,0.0698044472781,0.999999948365,7.26200606257e-05,-0.000312675100531,1.51619668277e-05,1793248898721400832
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.748099361,680.748099361,659,634,878.748099361,784,810,652,628.251900639,652,0.401047061574,0.00450558791913,0.0698068892219,0.999999950085,7.11997158135e-05,-0.000307427663888,1.57528301897e-05,1793248898738067712
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.6761897,745,716,680.6761897,659,634,879,784,810,652,628.3238103,652,0.401026513024,0.0045060146493,0.0698104791316,0.999999952086,7.19126242096e-05,-0.000300653254637,1.62594773671e-05,1793248898754734336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.102214939,745,716,680.102214939,659,634,879,784,810,652,628.897785061,652,0.401011939932,0.00450724735182,0.0698149559196,0.999999954266,7.42736089298e-05,-0.000292699159428,1.67010621416e-05,1793248898771400960
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.472770709,745,716,680,659,634,879,784.472770709,810,652,628.527229291,652,0.400998052539,0.0045060417217,0.0698164675435,0.999999954922,7.24175416298e-05,-0.000290907388684,1.68570857478e-05,1793248898788067584
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628,652,0.400985116471,0.00450454198356,0.0698174700069,0.999999955314,6.99414715441e-05,-0.000290157060961,1.69820877194e-05,1793248898804734464
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,810,652,628,652,0.400981002354,0.00450561599479,0.0698199373121,0.9999999564,7.06929821955e-05,-0.000286178746373,1.74461201002e-05,1793248898821401088
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.773033244,680,659,634,879,785,810,652,628,652,0.400978478571,0.00450580512051,0.0698219154136,0.999999957356,7.07608084065e-05,-0.000282781834601,1.7750752679e-05,1793248898838067456
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.199045826,680,659,634,879,785,810,652,628,652,0.400978386326,0.0045046413011,0.069823145547,0.99999995813,6.97833157349e-05,-0.000280273858498,1.78116710162e-05,1793248898854734080
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.37790901,680,659,634,878.62209099,784.62209099,810,651.62209099,628,652,0.400977797018,0.00450379863752,0.0698245054051,0.999999958782,6.88387075041e-05,-0.000278178931371,1.77184148183e-05,1793248898871400704
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.956439146,680,659,634,878.043560854,784.043560854,810,651.043560854,628,652,0.400976943832,0.00450312646647,0.0698259341303,0.999999959368,6.79115567172e-05,-0.000276303280255,1.75433117505e-05,1793248898888067328
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.132172176,659,634.132172176,878.867827824,784.132172176,810,652,628.867827824,652,0.400974602025,0.0045042783883,0.06982599196,0.999999959225,6.73009052758e-05,-0.000277001931393,1.70528902828e-05,1793248898921400576
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.711379339,659,634.711379339,878.288620661,784.711379339,810,652,628.288620661,652,0.40097421227,0.00450323033507,0.0698261452927,0.999999959364,6.58976543243e-05,-0.000276833296318,1.70872861327e-05,1793248898938067456
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.288469793,745,715.288469793,680,659,634.711530207,878,785,810,652,628,652,0.400974510436,0.0045031146652,0.069826689718,0.99999995966,6.62335814999e-05,-0.000275671395756,1.72843547204e-05,1793248898954734336
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.863457927,745,715.863457927,680,659,634.136542073,878,785,810,652,628,652,0.400975491867,0.00450392507112,0.0698276225901,0.999999960105,6.82969213713e-05,-0.000273522948968,1.76429955946e-05,1793248898971400960
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.552733331,680,659.447266669,634,878,784.552733331,810,652,628,652,0.400974995365,0.00450474081988,0.0698275331595,0.999999960103,6.83976144819e-05,-0.000273516510223,1.74325109008e-05,1793248898988067584
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.966619133,634,878.033380867,784.033380867,809.966619133,652,628,652,0.400974161607,0.00450547775284,0.0698272073179,0.99999996,6.78992297332e-05,-0.00027404075239,1.70662086691e-05,1793248899004733952
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.387719135,634,878.612280865,784.612280865,809.387719135,652,628,652,0.400975338065,0.00450489946609,0.069828220845,0.999999960486,6.75991573968e-05,-0.000272336087792,1.70499755137e-05,1793248899021400576
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.808921676,745,715,680,659.191078324,634,879,784.808921676,809.191078324,652,628,652,0.400976071443,0.004504761979,0.0698290904866,0.99999996082,6.75053388438e-05,-0.000271127827847,1.71086690313e-05,1793248899038067456
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.230332207,745,715,680,659.769667793,634,879,784.230332207,809.769667793,652,628,652,0.400975906245,0.00450551844357,0.0698296683253,0.999999960849,6.78298076293e-05,-0.000270926287821,1.73193155311e-05,1793248899054734336
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.655140278,659.655140278,634,878.655140278,784,809.655140278,652,628,652,0.400975773622,0.00450568233469,0.0698295459431,0.999999960752,6.83177163066e-05,-0.00027116581809,1.72523061672e-05,1793248899071401216
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.082195453,659.082195453,634,878.082195453,784,809.082195453,652,628,652,0.400975662544,0.00450545430649,0.0698289604453,0.999999960571,6.89137216895e-05,-0.000271697065713,1.70016593279e-05,1793248899088067840
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.505051883,745,715,679.505051883,659.505051883,634,878.505051883,784,809.505051883,652,628,652,0.400974199204,0.00450580503063,0.0698286252641,0.999999960372,7.07812930981e-05,-0.000271942597424,1.71342245246e-05,1793248899104734208
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.906545007,745,715,680,659.906545007,634,879,784,810,651.906545007,628,652,0.400972955804,0.00450611155657,0.0698284659709,0.999999960231,7.22327128753e-05,-0.000272067315391,1.72920472146e-05,1793248899121400832
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.324622004,745,715,680,659.324622004,634,879,784,810,651.324622004,628,652,0.400974045797,0.00450568041097,0.0698290068698,0.999999960433,7.03958342577e-05,-0.000271810691723,1.7246409516e-05,1793248899138067456
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715.254524736,679.745475264,659,634,878.745475264,784,810,651.254524736,628.254524736,652,0.40097487467,0.00450515278759,0.0698295588825,0.999999960749,6.87185793764e-05,-0.000271083121632,1.71408448293e-05,1793248899154734336
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715.830168902,679.169831098,659,634,878.169831098,784,810,651.830168902,628.830168902,652,0.400975374103,0.00450450344361,0.0698301249169,0.99999996121,6.72427124656e-05,-0.000269761385104,1.69596736524e-05,1793248899171401216
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.402197812,745,716,679.402197812,659.402197812,634,878,784,810,652,628.597802188,652,0.400974893966,0.00450561559942,0.0698297017701,0.99999996113,6.82425188655e-05,-0.000269820130418,1.67235026552e-05,1793248899188067584
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.972713718,745,716,679.972713718,659.972713718,634,878,784,810,652,628.027286282,652,0.400974003883,0.00450746493551,0.0698288646551,0.999999960822,7.0278384226e-05,-0.00027045660166,1.64643144751e-05,1793248899204733952
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2344b4825a245e2765a28bd5f2b317a1708127e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_04/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,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+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
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+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
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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
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+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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+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
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..774c5fee5a5c3c3be0d25ee9d52f2d01bc5b6a6d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47494fa946bbd3e163731310d6a5d542d426087a296f09ae79e28efbb0461be7
+size 25750151
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d14e145abae006083d12753a5e120c204f9e148a
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+11,0.183333333,BASELINE,765,744.374001715,715.625998285,679.625998285,659,634,879.374001715,784,809.374001715,652,628,652,0.400972936695,0.00450697139036,0.0698301106414,0.999999960961,6.81557362682e-05,-0.000270478480427,1.65317461327e-05,1793248899531842816
+12,0.200000000,BASELINE,765,744.96394696,715.03605304,679.03605304,659,634,879.96394696,784,809.96394696,652,628,652,0.400973624668,0.00450531356571,0.0698306137665,0.999999961235,6.65763383627e-05,-0.00026984230435,1.67912276529e-05,1793248899548509440
+13,0.216666667,BASELINE,765.539253298,745,715,679.539253298,659,634,878.921493404,784,810,652,628,652,0.40097562028,0.00450474709162,0.0698321102335,0.99999996204,6.54175920088e-05,-0.000267123843865,1.68910510308e-05,1793248899565175808
+14,0.233333333,BASELINE,765.886239048,745,715.113760952,680,659,634,878.113760952,784,809.886239048,652,628.113760952,652,0.400976957208,0.00450414992093,0.0698332084677,0.999999962609,6.43140139585e-05,-0.000265247235345,1.69947404308e-05,1793248899581842176
+15,0.250000000,BASELINE,765.31110597,745,715.68889403,680,659,634,878.68889403,784,809.31110597,652,628.68889403,652,0.400975277568,0.00450314015896,0.0698324293933,0.999999962114,6.33231331404e-05,-0.000267334550703,1.71562559265e-05,1793248899598508800
+16,0.266666667,BASELINE,765.271759684,745,715.728240316,679.728240316,659,634,878.728240316,784,809,652,628.728240316,652,0.400974482653,0.0045030641471,0.0698320011235,0.99999996181,6.43810314939e-05,-0.000268203480307,1.73950080962e-05,1793248899615175680
+17,0.283333333,BASELINE,765.863736681,745,715.136263319,679.136263319,659,634,878.136263319,784,809,652,628.136263319,652,0.40097473022,0.00450408838296,0.0698319862107,0.999999961726,6.7853028094e-05,-0.000267636772952,1.77247690469e-05,1793248899631842560
+18,0.300000000,BASELINE,765.554832833,745,715,679.445167167,659,634,878,784.445167167,809.445167167,652,628,652,0.400974527608,0.00450469739332,0.0698316960427,0.999999961614,6.79743202054e-05,-0.000268050024072,1.73300219096e-05,1793248899648509440
+19,0.316666667,BASELINE,765.0231833,744.9768167,715.0231833,679.9768167,659,634,878.0231833,785,809.9768167,652,628,652,0.400974202231,0.00450508338564,0.0698313567348,0.999999961509,6.7059798828e-05,-0.000268709512024,1.67667279358e-05,1793248899665176064
+20,0.333333333,BASELINE,765.595026726,744.404973274,715.595026726,679.404973274,659,634,878.595026726,785,809.404973274,652,628,652,0.400974157154,0.00450312971318,0.0698318023001,0.999999961733,6.53426006825e-05,-0.000268261864342,1.73415147005e-05,1793248899681842688
+21,0.350000000,BASELINE,766,744.168669686,715.831330314,679.168669686,659,634,878.831330314,785,809.168669686,652,628.168669686,652,0.400974220444,0.00450248999327,0.0698320759728,0.999999961882,6.44469195252e-05,-0.000267901301911,1.76254721033e-05,1793248899698509056
+22,0.366666667,BASELINE,766,744.746679809,715.253320191,679.746679809,659,634,878.253320191,785,809.746679809,652,628.746679809,652,0.400974546731,0.00450503907373,0.0698319324833,0.999999961858,6.55449586062e-05,-0.000267752084665,1.72036225795e-05,1793248899715175680
+23,0.383333333,BASELINE,766,744.667464722,715,680,659,634,878,784.667464722,809.667464722,652,628.667464722,652,0.400974736649,0.00450658027483,0.0698318273758,0.999999961823,6.70359819646e-05,-0.000267541074444,1.68203035193e-05,1793248899731842304
+24,0.400000000,BASELINE,766,744.07548832,715,680,659,634,878,784.07548832,809.07548832,652,628.07548832,652,0.400974820175,0.00450733513752,0.0698317522134,0.999999961776,6.88336083457e-05,-0.000267281853868,1.64670455457e-05,1793248899748509184
+25,0.416666667,BASELINE,765.495998796,744.504001204,715.504001204,680,659.504001204,633.495998796,878,784.504001204,809.504001204,652,628,652,0.400974888388,0.00450567390738,0.0698320140623,0.999999961871,6.74911139855e-05,-0.000267241300768,1.68820124393e-05,1793248899765175808
+26,0.433333333,BASELINE,765,745,716,680,660,633.081909723,878.081909723,785,809.918090277,652,628,652,0.400974723127,0.00450419058682,0.0698321579071,0.999999961913,6.62608356192e-05,-0.000267364443405,1.73136189964e-05,1793248899781842432
+27,0.450000000,BASELINE,765,745,716,680,660,633.661300661,878.661300661,785,809.338699339,652,628,652,0.400973153454,0.00450593254287,0.0698312858888,0.999999961517,6.84995534051e-05,-0.000268287688465,1.71643427639e-05,1793248899798509312
+28,0.466666667,BASELINE,765.23832936,745,716,680,659.76167064,634,879,785,809.23832936,652,628.23832936,652,0.400973028734,0.00450700327184,0.0698313445506,0.999999961419,7.04355197444e-05,-0.000268164358327,1.70096829919e-05,1793248899815176192
+29,0.483333333,BASELINE,765.812033903,745,716,680,659.187966097,634,879,785,809.812033903,652,628.812033903,652,0.400974937338,0.00450712945531,0.0698327128578,0.999999961741,7.19454565195e-05,-0.000266568295827,1.68474475547e-05,1793248899831842816
+30,0.500000000,BASELINE,766,744.603478679,715.603478679,680,659,634,879,785,810,651.603478679,628.603478679,652,0.400974314066,0.00450677604765,0.0698317335297,0.999999961531,7.09322513725e-05,-0.000267634822361,1.6705365146e-05,1793248899848509440
+31,0.516666667,BASELINE,766,744.013736902,715.013736902,680,659,634,879,785,810,651.013736902,628.013736902,652,0.400972457038,0.00450618894054,0.0698296102249,0.999999961054,6.86895470159e-05,-0.00026999879914,1.65731030899e-05,1793248899865176064
+32,0.533333333,BASELINE,766,744.565707333,715.565707333,680,659,634,878.434292667,784.434292667,809.434292667,651.565707333,628,652,0.400974264379,0.00450588779563,0.0698317670864,0.99999996164,6.94124292638e-05,-0.000267607067867,1.70025801364e-05,1793248899881842432
+33,0.550000000,BASELINE,765.856022372,744.856022372,715.856022372,679.856022372,659.143977628,634,878,784.143977628,809.143977628,652,628,652,0.400975628801,0.00450554496169,0.0698333949038,0.999999962153,6.94500275542e-05,-0.000265654127463,1.73004971105e-05,1793248899898509312
+34,0.566666667,BASELINE,765.280534535,744.280534535,715.280534535,679.280534535,659.719465465,634,878,784.719465465,809.719465465,652,628,652,0.400975403851,0.00450505674374,0.0698331312135,0.999999962386,6.72218180839e-05,-0.000265356189772,1.71639692828e-05,1793248899915175936
+35,0.583333333,BASELINE,765.291512256,744.291512256,715,679.291512256,659.708487744,634,878.291512256,785,810,652,628.291512256,652,0.400975077029,0.004505414517,0.0698326058877,0.999999962303,6.71273673134e-05,-0.000265701587736,1.7017375927e-05,1793248899931842816
+36,0.600000000,BASELINE,765.860286283,744.860286283,715,679.860286283,659.139713717,634,878.860286283,785,810,652,628.860286283,652,0.400974653314,0.00450657692539,0.0698318317163,0.99999996192,6.90623668579e-05,-0.000266658872061,1.68612090773e-05,1793248899948509440
+37,0.616666667,BASELINE,766,744.5480029,715.4519971,679.5480029,659,634,878.5480029,784.5480029,809.5480029,652,628.5480029,652,0.400975975436,0.00450491112689,0.0698326661042,0.999999962298,6.85459560333e-05,-0.00026535618396,1.70640803309e-05,1793248899965175808
+38,0.633333333,BASELINE,766,744.045852398,716,679.045852398,659,634,878.045852398,784.045852398,809.045852398,652,628,652,0.400977471024,0.00450272376784,0.0698338363514,0.999999962819,6.73892563839e-05,-0.000263666549048,1.73334043509e-05,1793248899981842432
+39,0.650000000,BASELINE,766,744.582694577,716,679.582694577,659,634,878.582694577,784.582694577,809.582694577,652,628,652,0.400974736671,0.00450481299462,0.0698329942207,0.999999962246,6.79239686653e-05,-0.000265713612503,1.70624023674e-05,1793248899998509056
+40,0.666666667,BASELINE,765.861697229,745,715.861697229,680,659.138302771,634,879,784.861697229,810,652,628,652,0.400972598933,0.00450657925318,0.069832109307,0.999999961694,6.8416812804e-05,-0.000267676077511,1.67667316429e-05,1793248900015176192
+41,0.683333333,BASELINE,765.240576502,745,715.240576502,680,659.759423498,634,879,784.240576502,810,652,628,652,0.400972543989,0.00450721802261,0.0698310750368,0.999999961229,6.87634943234e-05,-0.0002693432074,1.6384941828e-05,1793248900031842816
+42,0.700000000,BASELINE,765,745,715.361991371,680,659.638008629,634,878.638008629,784,810,652,628,652,0.400973545037,0.00450639622357,0.0698315955481,0.999999961527,6.80539842278e-05,-0.000268397805253,1.66265263161e-05,1793248900048509440
+43,0.716666667,BASELINE,765,745,715.952830282,680,659.047169718,634,878.047169718,784,810,652,628,652,0.400975213672,0.00450465106687,0.0698330989777,0.999999962303,6.66767597174e-05,-0.000265800784869,1.72622021875e-05,1793248900065176064
+44,0.733333333,BASELINE,765.531128225,745,716,680,659,634,878.531128225,784.531128225,810,652,628.531128225,652,0.400974771527,0.00450524044847,0.0698330014586,0.999999962114,6.77530264998e-05,-0.000266243454793,1.72074619125e-05,1793248900081842944
+45,0.750000000,BASELINE,766,745,716,680,659.1077809,634,879,785,810,652,628.8922191,652,0.400974190346,0.00450597990957,0.0698327737846,0.999999961882,6.90410284579e-05,-0.000266790486458,1.70722460006e-05,1793248900098509568
+46,0.766666667,BASELINE,766,745,716,680,659.682021964,634,879,785,810,652,628.317978036,652,0.400973800021,0.00450649229112,0.0698325839634,0.999999961835,7.03241216315e-05,-0.000266647799428,1.68479893011e-05,1793248900115175936
+47,0.783333333,BASELINE,765.736772851,745,716,680,659.736772851,634,879.263227149,784.736772851,810,652,628,652,0.400974003068,0.00450730720607,0.0698326595197,0.999999961924,7.13641016727e-05,-0.00026605485383,1.65625282406e-05,1793248900131842816
+48,0.800000000,BASELINE,765.14692632,745,716,680,659.14692632,634,879.85307368,784.14692632,810,652,628,652,0.400974942388,0.00450849751272,0.0698330643637,0.999999962183,7.21024205214e-05,-0.000264903215177,1.62011231198e-05,1793248900148509440
+49,0.816666667,BASELINE,765,745,715.565908251,679.565908251,659.434091749,634,879.565908251,784,810,652,628,652,0.40097593494,0.00450827490609,0.069833469093,0.999999962512,7.01552712435e-05,-0.000264173288447,1.63091295713e-05,1793248900165176064
+50,0.833333333,BASELINE,765,744.987806523,715.012193477,679,659.987806523,634,879,784.012193477,810,652,628,652,0.400976873688,0.0045076093474,0.0698338297127,0.999999962836,6.74037817043e-05,-0.000263647452379,1.6569857313e-05,1793248900181842432
+51,0.850000000,BASELINE,765,744.409133891,715.590866109,679,659.409133891,634,879,784.590866109,810,652,628,652,0.400974492466,0.00450813970527,0.0698321428731,0.999999962097,6.86703168184e-05,-0.000266104171044,1.66915478944e-05,1793248900198509056
+52,0.866666667,BASELINE,765.168022246,744.168022246,716,679.168022246,659,634,879,784.831977754,810,652,628,652,0.400973394626,0.00450821596869,0.0698313427844,0.999999961738,6.92318439933e-05,-0.000267297129527,1.68085402083e-05,1793248900215175936
+53,0.883333333,BASELINE,765.741518718,744.741518718,716,679.741518718,659,634,879,784.258481282,810,652,628,652,0.400975393868,0.00450719640338,0.0698326826186,0.999999962309,6.8092033591e-05,-0.000265440359662,1.69141945739e-05,1793248900231842560
+54,0.900000000,BASELINE,765.675952867,745,715.675952867,680,659,634,879,784,810,652,628,652,0.400975657341,0.00450537853365,0.0698332941788,0.999999962618,6.60446724415e-05,-0.000264796113781,1.68911172223e-05,1793248900248509184
+55,0.916666667,BASELINE,765.086013449,745,715.086013449,680,659,634,879,784,810,652,628,652,0.400974496554,0.00450290562659,0.069833308164,0.999999962708,6.32526334331e-05,-0.000265146787378,1.67624108776e-05,1793248900265175808
+56,0.933333333,BASELINE,765.494631004,745,715,680,659.494631004,634,879.494631004,784,810,652,628,652,0.400974788926,0.00450417546072,0.0698329968211,0.999999962468,6.58395290806e-05,-0.000265422826234,1.67453645902e-05,1793248900281842432
+57,0.950000000,BASELINE,766,745,715.073269778,680,659.926730222,634,879.926730222,784.073269778,810,652,628,652,0.400975243507,0.00450589823886,0.0698326782616,0.999999962201,6.87551243409e-05,-0.000265688945585,1.67316781108e-05,1793248900298509056
+58,0.966666667,BASELINE,766,745,715.649033679,680,659.350966321,634,879.350966321,784.649033679,810,652,628,652,0.400975109491,0.00450634614313,0.0698326910361,0.999999962204,6.76284441736e-05,-0.000265974402372,1.66103252288e-05,1793248900315175680
+59,0.983333333,BASELINE,765.771153668,744.771153668,715.771153668,679.771153668,659.228846332,634,879.228846332,785,810,651.771153668,628.228846332,652,0.400974733893,0.00450627536954,0.0698322109564,0.999999962094,6.70710511686e-05,-0.00026653052517,1.66074136643e-05,1793248900331842304
+60,1.000000000,BASELINE,765.18501979,744.18501979,715.18501979,679.18501979,659.81498021,634,879.81498021,785,810,651.18501979,628.81498021,652,0.400973981123,0.00450539480749,0.0698309614052,0.999999961807,6.74024605829e-05,-0.000267509226752,1.67894192142e-05,1793248900348508928
+61,1.016666667,BASELINE,765.396083857,744,715,679,659.603916143,634,879.207832286,785,810,651.396083857,629,652,0.400974571849,0.00450440958083,0.0698315554172,0.999999961975,6.68203988509e-05,-0.000267013032411,1.70163085524e-05,1793248900365175808
+62,1.033333333,BASELINE,765.9748672,744,715,679,659.0251328,634,878.050265599,785,810,651.9748672,629,652,0.400975782284,0.00450337607612,0.0698329997998,0.999999962351,6.58169851382e-05,-0.000265836520638,1.72639011852e-05,1793248900381842432
+63,1.050000000,BASELINE,766,744,715.55590772,679.55590772,659,634,878.55590772,784.44409228,809.44409228,652,628.44409228,652,0.400975236202,0.0045040109218,0.0698335991222,0.99999996256,6.62123328811e-05,-0.000264963091921,1.70603162047e-05,1793248900398509056
+64,1.066666667,BASELINE,766,744.135188481,715.864811519,680,659.135188481,634,878.864811519,784.135188481,809.135188481,652,628,652,0.400974888028,0.00450453536806,0.0698340233407,0.999999962732,6.64875811545e-05,-0.000264254438814,1.68700812984e-05,1793248900415175680
+65,1.083333333,BASELINE,766,744.708434954,715.291565046,680,659.708434954,634,878.291565046,784.708434954,809.708434954,652,628,652,0.400975439522,0.00450445667599,0.0698340044657,0.999999962813,6.61679146764e-05,-0.000264035134485,1.67894711567e-05,1793248900431842304
+66,1.100000000,BASELINE,765.717582308,745,715,680,660,634,878.282417692,785,809.717582308,652,628,652,0.400974823577,0.0045052382103,0.0698334672786,0.99999996253,6.7006446901e-05,-0.000264891884589,1.68199078496e-05,1793248900448508928
+67,1.116666667,BASELINE,765.142837506,745,715,680,660,634,878.857162494,785,809.142837506,652,628,652,0.400972999229,0.00450691015445,0.069832393593,0.999999961865,6.90438164957e-05,-0.000266862445526,1.69652877713e-05,1793248900465175552
+68,1.133333333,BASELINE,765,745,715.44633465,679.55366535,659.55366535,634,878.55366535,784.55366535,809.44633465,651.55366535,628,652,0.400973017756,0.00450621854717,0.0698322811687,0.999999961888,6.81775900579e-05,-0.000267009231201,1.68108830574e-05,1793248900481842176
+69,1.150000000,BASELINE,765.039101082,745,716,679.039101082,659,634,878.078202164,784.039101082,810,651.039101082,628.039101082,652,0.400973694154,0.00450484146122,0.0698325398719,0.999999962146,6.64830610607e-05,-0.000266481716648,1.65860497438e-05,1793248900498508800
+70,1.166666667,BASELINE,765.615687185,745,716,679.615687185,659,634,879.231374369,784.615687185,810,651.615687185,628.615687185,652,0.400975035977,0.00450478646159,0.0698335302139,0.999999962536,6.66023981882e-05,-0.000264976125011,1.67559229595e-05,1793248900515175680
+71,1.183333333,BASELINE,765.804525927,745,715.804525927,680,659.195474073,634,879.804525927,785,810,652,628.804525927,652,0.400976140259,0.00450450528945,0.0698340757126,0.999999962852,6.6529590807e-05,-0.000263787181427,1.69158789782e-05,1793248900531842304
+72,1.200000000,BASELINE,765.218341254,745,715.218341254,680,659.781658746,634,879.218341254,785,810,652,628.218341254,652,0.400976769747,0.00450377204714,0.0698337320655,0.999999963026,6.60727279294e-05,-0.00026323114888,1.7056012685e-05,1793248900548508928
+73,1.216666667,BASELINE,765,745,715.363397696,679.636602304,659.636602304,634,878.636602304,785,810,652,628,652,0.400977016515,0.00450582296298,0.0698339807235,0.999999962962,6.76274752967e-05,-0.000263095039608,1.68254872381e-05,1793248900565175552
+74,1.233333333,BASELINE,765,745,715.942497759,679.057502241,659.057502241,634,878.057502241,785,810,652,628,652,0.400977036112,0.00450952647466,0.0698345809567,0.99999996275,7.03762563724e-05,-0.000263208184682,1.63749492257e-05,1793248900581842176
+75,1.250000000,BASELINE,765.52088054,745,716,679.52088054,659.52088054,634,878.52088054,784.47911946,810,652,628,652,0.400976561671,0.0045087714918,0.0698344292143,0.999999962938,6.96138495941e-05,-0.000262710467791,1.61766989557e-05,1793248900598508544
+76,1.266666667,BASELINE,766,745,716,680,659.901736644,634.098263356,879,784,810,652,628,652,0.40097587341,0.00450735622691,0.0698341143808,0.999999963078,6.82670447417e-05,-0.000262533046656,1.61258582882e-05,1793248900615175424
+77,1.283333333,BASELINE,766,745,716,680,659.328802293,634.671197707,879,784,810,652,628,652,0.400974415362,0.00450512571858,0.0698334121748,0.999999962777,6.59670852273e-05,-0.000264228153144,1.66527418387e-05,1793248900631842048
+78,1.300000000,BASELINE,766,745,715.748603921,680,659,634.748603921,879,784.251396079,809.748603921,652,628.251396079,652,0.400973532364,0.00450417820853,0.0698327953448,0.999999962491,6.4535810406e-05,-0.000265646588996,1.68957342394e-05,1793248900648508672
+79,1.316666667,BASELINE,766,745,715.158622255,680,659,634.158622255,879,784.841377745,809.158622255,652,628.841377745,652,0.400973423857,0.004504958668,0.0698322935012,0.999999962232,6.42744987889e-05,-0.000266692398812,1.675637596e-05,1793248900665175552
+80,1.333333333,BASELINE,765.577367075,745,715.422632925,680,659,634,879,785,809,652,628.577367075,652,0.400973557893,0.00450510800606,0.0698323202684,0.999999962223,6.46794834024e-05,-0.000266623054755,1.68136296441e-05,1793248900681841920
+81,1.350000000,BASELINE,765.000678182,745,715.999321818,680,659,634,879,785,809.000678182,652,628.000678182,652,0.400973782021,0.00450502470588,0.0698325420787,0.999999962307,6.53290972578e-05,-0.000266142654374,1.6943095462e-05,1793248900698508544
+82,1.366666667,BASELINE,765.577863858,745,715.422136142,680,659,634,879,785,809.577863858,652,628.577863858,652,0.400974772367,0.00450446688599,0.0698333239325,0.999999962634,6.56509687004e-05,-0.000264825152494,1.69983562578e-05,1793248900715175424
+83,1.383333333,BASELINE,766,745,715.155007275,680,659,634,879,784.844992725,810,652,628.844992725,652,0.400975962864,0.00450440494694,0.0698341108184,0.99999996301,6.62521191018e-05,-0.00026325280655,1.69991787019e-05,1793248900731842048
+84,1.400000000,BASELINE,766,745,715.732035765,680,659,634,879,784.267964235,810,652,628.267964235,652,0.40097769829,0.00450569308787,0.0698349114052,0.999999963515,6.76136315968e-05,-0.000260986624476,1.68517878616e-05,1793248900748508672
+85,1.416666667,BASELINE,765.685271549,745,716,680,659,634,879.314728451,784,810,652,628,652,0.4009775113,0.00450577161433,0.0698348262098,0.999999963408,6.80389877913e-05,-0.000261284600843,1.69106001807e-05,1793248900765175552
+86,1.433333333,BASELINE,765.097667939,745,716,680,659,634,879.902332061,784,810,652,628,652,0.400975657538,0.00450480138348,0.0698339730257,0.999999962768,6.76526797557e-05,-0.000263805748283,1.71481943123e-05,1793248900781842176
+87,1.450000000,BASELINE,765.480132197,745,715.519867803,680,659,634,879.519867803,784.480132197,810,652,628,652,0.400974367779,0.00450488026962,0.0698328795468,0.999999962493,6.7979442312e-05,-0.000264763955857,1.71009811434e-05,1793248900798508800
+88,1.466666667,BASELINE,765.943843299,745,715,680,659,634,879,784.943843299,810,652,628,652,0.400973564889,0.00450515444779,0.0698321016751,0.999999962381,6.8447776432e-05,-0.000265071668743,1.70119981857e-05,1793248900815175680
+89,1.483333333,BASELINE,765.366159391,745,715,680,659,634,879,784.366159391,810,652,628,652,0.400976239397,0.00450530002098,0.0698346997172,0.999999963097,6.89107428276e-05,-0.00026223178585,1.70623770176e-05,1793248900831842304
+90,1.500000000,BASELINE,765.210876912,744.789123088,715,679.789123088,659,634,878.789123088,784,810,652,628.210876912,652,0.400977267194,0.00450539223955,0.0698355887779,0.999999963301,6.90046383592e-05,-0.000261434221922,1.69722248137e-05,1793248900848508928
+91,1.516666667,BASELINE,765.786792118,744.213207882,715,679.213207882,659,634,878.213207882,784,810,652,628.786792118,652,0.400975444453,0.00450539209865,0.0698335195076,0.999999962625,6.84596540458e-05,-0.000264172012753,1.66388064778e-05,1793248900865175552
+92,1.533333333,BASELINE,766,744.371974806,715.371974806,679.371974806,659,634,878.371974806,784,810,652,628.628025194,652,0.400974846481,0.0045057983224,0.0698330825035,0.999999962556,6.79376646696e-05,-0.000264569757596,1.65659344362e-05,1793248900881842176
+93,1.550000000,BASELINE,766,744.962605195,715.962605195,679.962605195,659,634,878.962605195,784,810,652,628.037394805,652,0.400974968458,0.0045064434169,0.0698336049837,0.999999962848,6.74291922093e-05,-0.000263591968363,1.66462176327e-05,1793248900898509056
+94,1.566666667,BASELINE,766,745,716,680,659.539898043,634,878.460101957,784,810,652,628.539898043,652,0.400974661085,0.00450540133496,0.0698334994213,0.999999962616,6.80368775129e-05,-0.000264298811443,1.69121262867e-05,1793248900915175680
+95,1.583333333,BASELINE,766,745,716,679.883476822,659.883476822,634,878.116523178,784.116523178,810,652,628.883476822,652,0.400974371621,0.00450456545719,0.0698334048126,0.999999962413,6.81800319853e-05,-0.000265016354618,1.71045499432e-05,1793248900931842560
+96,1.600000000,BASELINE,766,745,716,679.305926443,659.305926443,634,878.694073557,784.694073557,810,652,628.305926443,652,0.400974267831,0.00450499663864,0.0698335215022,0.999999962467,6.61867597756e-05,-0.000265325706567,1.69565858218e-05,1793248900948510208
+97,1.616666667,BASELINE,766,745,716,679.275994426,659,634,878.724005574,784.724005574,810,652,628,652,0.400974394471,0.00450530032465,0.069833814686,0.999999962524,6.61872117995e-05,-0.000265115136019,1.68911336377e-05,1793248900965177600
+98,1.633333333,BASELINE,766,745,716,679.862837683,659,634,878.137162317,784.137162317,810,652,628,652,0.400974780642,0.00450546041425,0.0698343066529,0.999999962583,6.84331688952e-05,-0.000264318983695,1.69186135545e-05,1793248900981844224
+99,1.650000000,BASELINE,766,745,715.555823162,680,659,634,878.888353677,784,809.555823162,652,628,652,0.400975971001,0.00450528234457,0.0698344481409,0.99999996278,6.90661070926e-05,-0.000263400219952,1.70094411258e-05,1793248900998510336
+100,1.666666667,BASELINE,766,744.976250286,715,680,659,634,879.952500571,784,809.023749714,652,628,652,0.400977295598,0.00450494911927,0.069834464115,0.999999963004,6.90951133025e-05,-0.000262535123054,1.71268363737e-05,1793248901015176448
+101,1.683333333,BASELINE,766,744.398715391,715,680,659,634,878.797430783,784,809.601284609,652,628,652,0.400976030631,0.00450340315227,0.0698340461428,0.999999962843,6.6514263435e-05,-0.000263793460851,1.74131739792e-05,1793248901031843328
+102,1.700000000,BASELINE,765.822370784,744,715.177629216,679.822370784,659,634,878.177629216,784,810,652,628,652,0.400974893875,0.00450321632658,0.0698334910211,0.999999962614,6.54887921027e-05,-0.000264915544071,1.74109488914e-05,1793248901048509952
+103,1.716666667,BASELINE,765.248680248,744,715.751319752,679.248680248,659,634,878.751319752,784,810,652,628,652,0.400974042996,0.00450605998962,0.0698326300958,0.999999962245,6.79313614091e-05,-0.00026573381918,1.67653131586e-05,1793248901065176320
+104,1.733333333,BASELINE,765.335722575,744.335722575,715.664277425,679.335722575,659,634.335722575,878.664277425,784,810,651.664277425,628,652,0.400974629565,0.00450705432871,0.0698326469285,0.999999962244,6.91839384009e-05,-0.000265421850664,1.66493904219e-05,1793248901081842688
+105,1.750000000,BASELINE,765.928321922,744.928321922,715.071678078,679.928321922,659,634.928321922,878.071678078,784,810,651.071678078,628,652,0.400976315991,0.00450663366535,0.0698333353739,0.999999962527,6.9525997842e-05,-0.000264245080896,1.69387753751e-05,1793248901098509568
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,879,784,809,652,628,652,0.400972105526,0.00450426562891,0.0698321653606,0.999999961796,6.64182582086e-05,-0.000267765147363,1.72623659553e-05,1793248901130099712
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744.409925195,715,680,659,634,879,784,809,652,628,652,0.400975171198,0.00450591679879,0.0698343668943,0.99999996275,6.69111878732e-05,-0.000264061403013,1.71801904824e-05,1793248901146766336
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.179554765,715,679.820445235,659,634,878.820445235,784.179554765,809.179554765,652,628.179554765,652,0.400977328536,0.00450691878879,0.0698358638903,0.999999963386,6.76844374679e-05,-0.000261444607205,1.71078490337e-05,1793248901163432704
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.767681288,715,679.232318712,659,634,878.232318712,784.767681288,809.767681288,652,628.767681288,652,0.400977418985,0.00450644358876,0.0698357577315,0.999999963328,6.90955471841e-05,-0.000261301131144,1.70578846116e-05,1793248901180099072
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.349878772,679.349878772,659,634,878.349878772,784.650121228,809.650121228,652,628.650121228,652,0.400975798481,0.00450573625764,0.0698345328766,0.999999962783,6.94466649137e-05,-0.000263290686984,1.70021905241e-05,1793248901196765440
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.928204954,679.928204954,659,634,878.928204954,784.071795046,809.071795046,652,628.071795046,652,0.40097306084,0.00450487736047,0.0698325775881,0.999999961911,6.91056787674e-05,-0.000266672969836,1.69427553514e-05,1793248901213432320
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.494645939,745,716,679.494645939,659.505354061,634,879,784,809,652,628,652,0.400973907734,0.00450530148047,0.069832880427,0.999999962167,6.87755413878e-05,-0.000265801212022,1.69022037734e-05,1793248901230098944
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.081761587,745,716,679.081761587,659.918238413,634,879,784,809.081761587,652,628,652,0.400975232455,0.00450556644468,0.0698335463463,0.999999962588,6.82593458132e-05,-0.00026434786949,1.68894696083e-05,1793248901246766080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.654716264,745,716,679.654716264,659.345283736,634,879,784,809.654716264,652,628,652,0.400976375512,0.00450378275454,0.0698344706916,0.999999963046,6.66161442003e-05,-0.000263022953916,1.70277724493e-05,1793248901263432704
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,878.76452037,784.23547963,810,652,628,652,0.400978338144,0.00450357714698,0.0698358895251,0.999999963468,6.63569129573e-05,-0.000261477289019,1.70483792514e-05,1793248901280099072
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,878.17191447,784.82808553,810,652,628,652,0.400981543736,0.00450576484531,0.0698380582949,0.999999963837,6.81965987706e-05,-0.000259596837822,1.6890489296e-05,1793248901296765440
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659.410815589,634,878,784.589184411,810,652,628,652,0.400998089393,0.00450587673953,0.0698448174923,0.999999966576,6.88033680461e-05,-0.000248647535009,1.69728514908e-05,1793248901313431808
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659.989509961,634,878,784.010490039,810,652,628,652,0.401020086434,0.00450514036167,0.0698534525568,0.999999970103,6.89063091467e-05,-0.000233992268031,1.71533921209e-05,1793248901330098432
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.434043246,680,659.434043246,634,878.565956754,784,810,652,628,652,0.40107312791,0.00450451907193,0.0698727902314,0.99999997778,6.61296484886e-05,-0.000199463706076,1.67800718529e-05,1793248901346765312
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.858723197,745,715.141276803,680,659.141276803,634,879,784.141276803,809.858723197,652,628,652,0.401128392616,0.00450445828252,0.069890222659,0.999999983164,6.43544066366e-05,-0.000171064613805,1.63769738709e-05,1793248901363432192
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.286711797,745,715.713288203,680,659.713288203,634,879,784.713288203,809.286711797,652,628,652,0.401188688265,0.00450609990753,0.0699012438183,0.99999998451,6.57944454009e-05,-0.000162472086364,1.59142628816e-05,1793248901380099584
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.29602287,745,715.70397713,680,659.70397713,634,879,784.70397713,809.29602287,652,628,652,0.401258112745,0.00450647723663,0.0699083507525,0.999999986085,6.56163879807e-05,-0.000152648786465,1.48994674809e-05,1793248901396766720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.889533845,745,715.110466155,680,659.110466155,634,879,784.110466155,809.889533845,652,628,652,0.401336711239,0.00450558401178,0.0699115240865,0.999999987851,6.38122251323e-05,-0.000141588622614,1.33298550219e-05,1793248901413433088
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.470999396,680,659.470999396,634,879,784,810,652,628,652,0.401427650931,0.00450612650095,0.0699105008371,0.999999987635,6.10934965548e-05,-0.000144470244797,1.12170511512e-05,1793248901430099712
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.950652404,716,680,659.950652404,634,878.950652404,784.049347596,810,652,628,652,0.401523255051,0.00450703951046,0.0699083971741,0.999999986931,5.82217266792e-05,-0.000150556535356,8.94968786767e-06,1793248901446766080
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.376164071,716,680,659.376164071,634,878.376164071,784.623835929,810,652,628,652,0.401638462775,0.00450840150216,0.0699050089678,0.999999986119,5.59470409058e-05,-0.000156816932059,6.3594720995e-06,1793248901463432448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.202915796,716,680,659.202915796,634,878.202915796,785,809.797084204,652,628.202915796,652,0.401768100662,0.00450952531453,0.0699041080354,0.999999985908,5.34788754649e-05,-0.000159098385748,3.53229715415e-06,1793248901480098816
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.790704417,716,680,659.790704417,634,878.790704417,785,809.209295583,652,628.790704417,652,0.401925108397,0.00451019736919,0.0699079247455,0.999999986885,5.06437350786e-05,-0.000153832929773,2.55679189021e-07,1793248901496765440
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.627580543,716,680,659.627580543,634,878.627580543,784.627580543,809.372419457,652,628.627580543,652,0.402103916233,0.00451058870006,0.0699129600277,0.999999988381,4.65689679375e-05,-0.000145107490109,-3.56273986803e-06,1793248901513432576
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.049223962,716,680,659.049223962,634,878.049223962,784.049223962,809.950776038,652,628.049223962,652,0.402294778904,0.00451082479889,0.0699186691453,0.999999990056,4.18087229992e-05,-0.000134468779629,-7.68075946999e-06,1793248901530099200
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.528884027,716,680,659,634,878.528884027,784,810,652,628.528884027,652,0.40251302056,0.00451251833226,0.0699213202491,0.999999990837,3.55107738026e-05,-0.00013003804905,-1.24672905666e-05,1793248901546766080
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.893670974,716,680,659,634,878.893670974,784,810,652,628.893670974,652,0.402740312157,0.00451370696148,0.0699233179821,0.999999991446,2.828914977e-05,-0.000126523033311,-1.73104238932e-05,1793248901563432960
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.319043898,716,680,659,634,878.319043898,784,810,652,628.319043898,652,0.402996244296,0.00451207474092,0.0699236910329,0.99999999185,1.76294638482e-05,-0.000124497533461,-2.21289487152e-05,1793248901580099328
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.738106509,744.261893491,716,680,659.261893491,634,878,784,809.738106509,652,628,652,0.403278495683,0.00450192819607,0.069927993264,0.99999999311,-9.01426820739e-07,-0.000114676022733,-2.50849898066e-05,1793248901596765696
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.149292004,744.850707996,716,680,659.850707996,634,878,784,809.149292004,652,628,652,0.403593601308,0.00448115324083,0.0699372002814,0.999999994717,-2.92579227617e-05,-9.51227704569e-05,-2.57160966401e-05,1793248901613432320
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.434492635,745,716,680,659.565507365,634,878.434492635,784.434492635,809.434492635,652,628,652,0.403928051574,0.00447560595346,0.0699433495774,0.999999994957,-4.27458543371e-05,-8.57227643268e-05,-3.01751285518e-05,1793248901630098944
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.983677195,745,715.983677195,680,659,634,879,784.983677195,810,652,628,652,0.404270131566,0.00447555562966,0.0699484103984,0.999999994873,-5.07275239567e-05,-7.99222853392e-05,-3.5962759797e-05,1793248901646765568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.410242208,745,715.410242208,680,659,634,879,784.410242208,810,652,628,652,0.404648354917,0.00448658428586,0.069951769359,0.999999995015,-4.31496976189e-05,-7.92683328474e-05,-4.27188004703e-05,1793248901663432704
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879,784,810,652,628.163315883,652,0.405039770079,0.00449334775247,0.0699561587991,0.999999996262,-1.45275110892e-05,-7.46507338402e-05,-4.11436596639e-05,1793248901680099584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879,784,810,652,628.73718335,652,0.405464347414,0.00448938917185,0.0699631387095,0.999999995778,6.69970330413e-05,-6.00691229705e-05,-1.86251795596e-05,1793248901696766464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.677621812,634,878.677621812,784,810,652,628.677621812,652,0.40590605747,0.00449716753387,0.0699613101137,0.999999992038,0.000109069039198,-6.18024106026e-05,-1.44030239295e-05,1793248901713432832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.082856055,634,878.082856055,784,810,652,628.082856055,652,0.406362243554,0.00451486281101,0.0699520389321,0.999999989743,0.000117806352608,-7.73206726756e-05,-2.56400114033e-05,1793248901730099456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.496725595,680,658.993451189,634,878.496725595,784,810,651.503274405,628.496725595,652.496725595,0.406843333892,0.00451554284271,0.0699366502184,0.999999987417,0.000118683745523,-0.000100933822385,-2.98663496096e-05,1793248901746766080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.926644259,680,659.926644259,634,879.073355741,784,810.073355741,651.073355741,628.926644259,652.926644259,0.407338658505,0.00451488270919,0.0699226679009,0.99999998674,0.000104113894971,-0.000120855083585,-3.27851925204e-05,1793248901763432960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.353379374,680,659.353379374,634,879.646620626,784,810.646620626,651.646620626,628.353379374,652.353379374,0.40790351777,0.00452385788492,0.0699250177995,0.999999993688,-7.0570269915e-06,-0.000106687735893,-3.45266046981e-05,1793248901780099584
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680.226388731,659.452777462,634,879.773611269,784,810.773611269,652,628,652.226388731,0.408487031878,0.004532506167,0.0699332553889,0.999999993634,-6.41185346677e-05,-8.53249255721e-05,-3.66060503512e-05,1793248901796766208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680.816608166,660.633216333,634,879.183391834,784,810.183391834,652,628,652.816608166,0.409100526266,0.0045406290958,0.0699509551217,0.999999997272,-3.4220467528e-05,-5.23982459796e-05,-3.92287520693e-05,1793248901813433344
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.398629694,745,715,680.601370306,660.202740613,634,879,784.398629694,810,651.601370306,628,652.601370306,0.409727260303,0.00454537090145,0.0699519043199,0.999999998075,-5.17609598776e-06,-4.64901838779e-05,-4.07668326053e-05,1793248901830100480
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.97695571,745,715,680.02304429,659.046088581,634,879,784.97695571,810,651.02304429,628,652.02304429,0.41035996256,0.00454858854697,0.0699453026265,0.999999997458,2.34834414865e-05,-5.27617125976e-05,-4.18159820063e-05,1793248901846767360
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.557343891,634,879.557343891,785,810.557343891,651.557343891,628.557343891,652,0.410994397773,0.00455973727254,0.0699409091487,0.999999995069,6.31452460712e-05,-6.41939696829e-05,-4.18732420522e-05,1793248901863433216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.864277908,745,715.135722092,680,660.135722092,634,880.135722092,784.864277908,811,651.864277908,629,652,0.411659584228,0.00456965039706,0.0699434443827,0.999999992665,9.41591296134e-05,-6.33560047526e-05,-4.23098506646e-05,1793248901880099584
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.292630544,745,715.707369456,680,660.707369456,634,880.707369456,784.292630544,811,651.292630544,629,652,0.412423309358,0.00457453772948,0.0699679395782,0.999999994175,9.59302415139e-05,-2.24194627884e-05,-4.40971008092e-05,1793248901896766208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288098872,745,715.711901128,680.288098872,661.288098872,634,880.711901128,784,811,651,628.711901128,652.288098872,0.413183578506,0.00458006002917,0.0699924678491,0.999999994427,9.42941939334e-05,1.56099843138e-05,-4.48449655482e-05,1793248901913433088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.878353544,745,715.121646456,680.878353544,661.878353544,634,880.121646456,784,811,651,628.121646456,652.878353544,0.413940223141,0.00458624827804,0.0700170308121,0.999999993762,8.90847449286e-05,5.05904985252e-05,-4.45027314034e-05,1793248901930099712
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.540086752,745,715.459913248,680.540086752,661.540086752,634,879.540086752,784,811,651.459913248,628.459913248,653,0.414688187364,0.00459504956314,0.0699962046804,0.999999992912,0.000109706464855,9.56708616125e-06,-4.52731350277e-05,1793248901946766592
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.961242155,715.961242155,680.038757845,660.922484309,634,879.077515691,784,811,652,629,653,0.415435516964,0.00460421055111,0.0699630147124,0.999999988639,0.000133963114197,-5.11818464431e-05,-4.64431606073e-05,1793248901963433216
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.388704314,715.388704314,680.611295686,659.777408628,634,880.222591372,784,811,652,629,653,0.416205140713,0.00460898348703,0.0699218198094,0.999999985815,0.000115930821805,-0.000111870069443,-4.91390262459e-05,1793248901980099072
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.189325376,715,680.810674624,659.378650753,634,880.810674624,784.189325376,811,652,629,653,0.416998838525,0.00461348885797,0.0699019780061,0.999999982758,0.00010926733764,-0.000141237835088,-5.09564114741e-05,1793248901996765440
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.778967199,715,680.221032801,660.557934399,634,880.221032801,784.778967199,811,652,629,653,0.417843439361,0.00461742847952,0.0699272859745,0.999999985237,0.000126642475959,-0.000104380486063,-5.09163059755e-05,1793248902013432064
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,785,811.361317251,651.638682749,629,653,0.41871177868,0.00462298055338,0.0699548831118,0.999999985937,0.00014586788602,-6.54930537592e-05,-5.05852785795e-05,1793248902030098432
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,785,811.939294841,651.060705159,629,653,0.419594352515,0.00462949951829,0.0699838529258,0.999999984612,0.000166202792585,-2.53883032359e-05,-5.00798026783e-05,1793248902046765056
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.517488878,745,715,680.517488878,661,634,880.517488878,784.482511122,812,651.517488878,629,653,0.420524334843,0.00462791614899,0.0700067312808,0.999999988081,0.000145230315588,1.15130729239e-05,-5.11179098051e-05,1793248902063431680
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.904988957,745,715,680.904988957,661.095011043,634,881,784,812,651.904988957,629,653,0.421448762931,0.00462103568068,0.0700232555468,0.999999990659,0.000120442108427,3.82393971261e-05,-5.20813841327e-05,1793248902080098560
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.330982271,745,715,680.330982271,661.669017729,634,881,784,812,651.330982271,629,653,0.422317139987,0.00459224376313,0.0700113498378,0.999999993454,0.000100856459137,1.55637269527e-05,-5.17553406321e-05,1793248902096765184
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.250016945,661.49996611,633.749983055,880.749983055,784,811.749983055,651.250016945,629,652.749983055,0.423147217211,0.00457239511252,0.0699678614112,0.99999999333,8.66066898819e-05,-5.68350699526e-05,-5.10772373206e-05,1793248902113431808
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.840539581,660.318920837,633.159460419,880.159460419,784,811.159460419,651.840539581,629,652.159460419,0.423925132851,0.00456472656545,0.069881359518,0.999999976189,7.96240142191e-05,-0.000196953310307,-4.99196523155e-05,1793248902130098432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715.423223751,681,660.423223751,633.423223751,880.423223751,784,811.423223751,652,629,652,0.424826074581,0.00456621470383,0.0698598551333,0.999999972418,6.27568579015e-05,-0.000220174819165,-5.24350027831e-05,1793248902146765312
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.002976224,745,715.997023776,681,661.002976224,634,881,784,812.002976224,652,629.002976224,652.002976224,0.425772769207,0.00457108895033,0.0698627403046,0.999999977566,4.25178055131e-05,-0.000199736197563,-5.626636448e-05,1793248902163432192
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.576589026,745,715.423410974,681,661.576589026,634,881,784,812.576589026,652,629.576589026,652.576589026,0.426765978684,0.00457573835632,0.069931848423,0.999999990769,7.68480215654e-05,-9.93103479484e-05,-5.19113449961e-05,1793248902180098816
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.84925973,745,715,681,661.84925973,633.84925973,880.84925973,784,813,652,629.84925973,653,0.427748547206,0.00458071120745,0.0699912179317,0.999999993572,0.000101417683216,-1.31061552382e-05,-4.89848668854e-05,1793248902196765440
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.273590685,745,715,681,661.273590685,633.273590685,880.273590685,784,813,652,629.273590685,653,0.428701119386,0.00458659583293,0.0700231348154,0.999999993353,9.8472862806e-05,3.30079368852e-05,-5.00853723022e-05,1793248902213432064
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.311884249,681,661.311884249,633,880.311884249,784,813,652,629.311884249,652.688115751,0.429629428999,0.00458914239925,0.0700373506401,0.999999992528,9.48697556399e-05,5.73958313987e-05,-5.14703670282e-05,1793248902230098944
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715.906240289,681,661.906240289,633,880.906240289,784,813,652,629.906240289,652.093759711,0.430535764093,0.00458866570405,0.0700355347145,0.99999999255,9.06704421957e-05,6.21064297546e-05,-5.31130221154e-05,1793248902246765568
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.513198099,715.513198099,681,661.513198099,633.486801901,881,784,813,652,629.513198099,652,0.43134927652,0.00458425088835,0.0699670015835,0.999999992701,9.19400890926e-05,-5.82122948661e-05,-5.25069173851e-05,1793248902263432192
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.064072421,744.064072421,715,681,660.935927579,634,881,784,813.064072421,652,629.064072421,652.064072421,0.432158331291,0.00457903280251,0.0698942722942,0.999999977166,9.1880608834e-05,-0.000185838286806,-5.18604234117e-05,1793248902280098816
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.635738059,744.635738059,715,681,660.364261941,634,881,784,813.635738059,652,629.635738059,652.635738059,0.433069800872,0.00457329442443,0.0698872948437,0.999999978585,7.31767520452e-05,-0.000185836072044,-5.42306603782e-05,1793248902296765440
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.785546165,660.42890767,633.785546165,881,784,813.785546165,652,629.785546165,652.785546165,0.433989930678,0.00457067930527,0.069907798729,0.999999985807,6.59126103111e-05,-0.000144816339779,-5.54076387146e-05,1793248902313432064
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.194448171,661.611103657,633.194448171,881,784,813.194448171,652,629.194448171,652.194448171,0.434925270542,0.00457354954859,0.0699765679407,0.999999994911,7.8739977179e-05,-3.17577528069e-05,-5.44889030378e-05,1793248902330098944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.611980427,745,715,680.776039146,662,633,881,784,813.388019573,651.611980427,629.388019573,652.388019573,0.435823985784,0.00457447755152,0.0700128436689,0.99999999483,8.18761794943e-05,2.73686416308e-05,-5.37245455721e-05,1793248902346765568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.033743492,745,715,681.932513016,662,633,881,784,813.966256508,651.033743492,629.966256508,652.966256508,0.43670474662,0.00457445341716,0.0700331902361,0.999999993569,8.0261518526e-05,6.00560553875e-05,-5.3035868586e-05,1793248902363432192
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.460039952,661.460039952,633,881,784,814,651,629.460039952,653,0.437530744104,0.00457312914633,0.0700149911841,0.999999995203,6.69996903451e-05,4.56674661471e-05,-5.4954858563e-05,1793248902380098816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.113637368,681,661.113637368,633.113637368,881.113637368,784,814,651.113637368,629.113637368,653,0.438338219818,0.00457245625928,0.0699868578177,0.999999996547,5.93596237005e-05,1.37503855988e-05,-5.65104400071e-05,1793248902396765696
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.688348185,681,661.688348185,633.688348185,881.688348185,784,814,651.688348185,629.688348185,653,0.439084315151,0.00457475321899,0.0699281090377,0.999999992436,7.74579961993e-05,-7.74498634348e-05,-5.59358337284e-05,1793248902413432320
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.271808138,745,715.728191862,681.271808138,661.728191862,634,882,783.728191862,814,651.728191862,630,652.728191862,0.439818464203,0.00457594748645,0.0698815126675,0.999999983731,8.04064302329e-05,-0.000151629502862,-5.55145697629e-05,1793248902430098944
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.865633344,745,715.134366656,681.865633344,661.134366656,634,882,783.134366656,814,651.134366656,630,652.134366656,0.440538460183,0.00457583537002,0.0698493135283,0.999999975189,6.54063987671e-05,-0.000205644446414,-5.52749741564e-05,1793248902446765568
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.554014013,745,715,681.554014013,661.445985987,633.554014013,881.554014013,783.445985987,814.445985987,651,630,652.445985987,0.441337926805,0.00457378589033,0.0698902347256,0.999999986773,5.99586571806e-05,-0.000140499712181,-5.58375230381e-05,1793248902463432192
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.022321146,745,715,681.022321146,662.022321146,633.022321146,881,784.022321146,815,651.022321146,630.022321146,653,0.442157895496,0.00457118082032,0.0699521475139,0.999999995872,5.7635841655e-05,-4.16767521887e-05,-5.65520371356e-05,1793248902480099072
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.596738511,745,715,681.596738511,662.596738511,633.596738511,881,784.596738511,815,651.596738511,630.596738511,653,0.442910121169,0.00456884741496,0.0700043610639,0.99999999606,6.3509975048e-05,2.82192160715e-05,-5.52230574928e-05,1793248902496765696
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.824106737,745,715,681.824106737,662.648213475,633.824106737,881,784.824106737,815,652,630.824106737,653,0.44363415051,0.00456710607086,0.0700359617836,0.999999993847,6.86939644091e-05,6.82308458228e-05,-5.4148432415e-05,1793248902513432320
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.233790079,745,715,681.233790079,661.467580158,633.233790079,881,784.233790079,815,652,630.233790079,653,0.444291746423,0.00456675968611,0.0700189964744,0.999999995234,7.2251902168e-05,3.78317826032e-05,-5.3673094221e-05,1793248902530098944
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.349287036,715,681.349287036,661.349287036,633,881,784.349287036,815,652,630,653,0.444916663293,0.0045651660374,0.0699901646893,0.999999995908,7.27348094377e-05,-8.04539584246e-06,-5.31800221524e-05,1793248902546765312
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.92761683,715,681.92761683,661.92761683,633,881,784.92761683,815,652,630,653,0.445520151048,0.00456275450328,0.0699535515389,0.999999994025,7.12012845968e-05,-6.40722483634e-05,-5.26753211254e-05,1793248902563431936
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.506429266,745.493570734,715,682,662,633,881.506429266,785,815,652,630,653,0.446100665493,0.00456553339536,0.0699366956012,0.999999992467,7.35656063322e-05,-8.22540209052e-05,-5.37382866086e-05,1793248902580098816
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,633.084473878,881.915526122,784.915526122,815,652,630,653,0.446670913116,0.00456901001811,0.0699247001703,0.99999999106,7.67514784421e-05,-9.47067793188e-05,-5.49551686985e-05,1793248902596765184
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.762546546,745,715,681.762546546,661.762546546,634,881,784.237453454,815,652,630,652.762546546,0.44771864465,0.00457457000454,0.0699213561984,0.999999987761,8.7085347014e-05,-0.000117437655645,-5.56925153051e-05,1793248902630098432
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.173022735,745,715,681.173022735,661.173022735,634,881,784.826977265,815,652,630,652.173022735,0.448218726963,0.0045756162389,0.069913957925,0.999999985428,9.40534367685e-05,-0.000131711614084,-5.43119435606e-05,1793248902646765312
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.410131208,745,715,681,661.410131208,634,881,784.589868792,815,652,630,652.410131208,0.448709457605,0.00457666274491,0.069924453793,0.999999986681,0.000103545680944,-0.000115250761812,-5.1322265616e-05,1793248902663431936
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.990639033,745,715,681,661.990639033,634,881,784.009360967,815,652,630,652.990639033,0.449196303419,0.00457770936387,0.0699423832405,0.999999988656,0.000114086509309,-8.60220623311e-05,-4.76641329699e-05,1793248902680098560
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.433769833,745,715,681.566230167,661.433769833,632.867539666,881,784,815,652,630,652.433769833,0.449624138476,0.00458565259566,0.0699531114067,0.999999989403,0.000115642601612,-7.23370207954e-05,-5.08683054406e-05,1793248902696765184
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681.284679823,660.284679823,632.715320177,881,784,815,651.284679823,630,652,0.450375947299,0.00459957881643,0.0699363530821,0.999999986206,0.000119574921965,-9.93048261051e-05,-5.85582283836e-05,1793248902730099968
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765.377305861,745,715,681,658.377305861,633,881.622694139,784,815,651.622694139,630.377305861,652.622694139,0.451730452527,0.00464176886557,0.069794016496,0.999999940292,0.000140508666073,-0.000311356616713,-5.22581261856e-05,1793248902813432576
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681.195747454,658.195747454,632.804252546,882,784,815,652,630.195747454,653,0.451969862469,0.0046438409085,0.0697925196897,0.999999945117,0.000106215936138,-0.000309685038822,-5.07815423468e-05,1793248902830099200
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681.763871728,658.763871728,632.236128272,882,784,815,652,630.763871728,653,0.452190093533,0.00464627334474,0.0697935045808,0.999999946311,0.000111262599286,-0.00030365278581,-5.28541519951e-05,1793248902846766336
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657.318306301,632,881.318306301,784,814.318306301,652,630,653,0.452947263689,0.00465408191103,0.0697485649205,0.999999920194,0.000134460849713,-0.000371899542565,-5.67638875996e-05,1793248902930099200
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657,632,881.059124893,784,815,651.059124893,630,652.059124893,0.453562956621,0.00465435481787,0.0697324100398,0.999999906622,0.000150164424403,-0.000401462812123,-5.50921689105e-05,1793248903396765440
+243,4.050000000,HOLD_POSE2,766,745,715,682,656,632,882,784,815,651,630,652,0.453563774677,0.00465640499203,0.0697325390515,0.999999907059,0.000151757617355,-0.000399837591491,-5.46036300374e-05,1793248903427326720
+244,4.066666667,HOLD_POSE2,765.425759509,745,715,682,656.574240491,632,882,784,815,651,630.574240491,652.574240491,0.453563394229,0.00465490097529,0.0697324923711,0.999999907273,0.000150153013939,-0.00039990902778,-5.45926333395e-05,1793248903443993856
+245,4.083333333,HOLD_POSE2,765.152712696,745,715,682,656.847287304,632,882,784,815,651,630.847287304,653,0.453563344346,0.00465402104127,0.0697325685553,0.999999907299,0.000149687551152,-0.000400020905016,-5.45858920761e-05,1793248903460660480
+246,4.100000000,HOLD_POSE2,765.743319204,745,715,682,656.256680796,632,882,784,815,651,630.256680796,653,0.453564242335,0.00465493062384,0.0697329970455,0.999999906784,0.000152488500311,-0.000400248744073,-5.45913529939e-05,1793248903477326336
+247,4.116666667,HOLD_POSE2,766,745,715,681.672238663,656,632,882,784,815,651,630.327761337,653,0.453564751437,0.00465562423862,0.0697330715898,0.999999906424,0.000154402963111,-0.000400441602201,-5.4395218919e-05,1793248903493992704
+248,4.133333333,HOLD_POSE2,766,745,715,681.092534973,656,632,882,784,815,651,630.907465027,653,0.453564961609,0.00465615184403,0.0697328740641,0.999999906185,0.000155636004742,-0.000400607571309,-5.4044123563e-05,1793248903510659072
+249,4.150000000,HOLD_POSE2,765.522740962,745,715,681.477259038,656,632,881.522740962,784,814.522740962,651.477259038,630.522740962,652.522740962,0.453565328971,0.00465622870455,0.0697326539062,0.999999906617,0.000152926790144,-0.000400521546438,-5.44257841451e-05,1793248903527325696
+250,4.166666667,HOLD_POSE2,765.04635214,745,715,682,656,632,881,784,814.04635214,652,630.04635214,652,0.45356570853,0.00465622829852,0.0697324216534,0.999999907099,0.000149821861004,-0.000400429001099,-5.48736640987e-05,1793248903543992320
+251,4.183333333,HOLD_POSE2,765.629116861,745,715,682,656,632,881,784,814.629116861,652,630.629116861,652,0.45356588371,0.0046563245223,0.0697320991819,0.999999906819,0.000150803141886,-0.000400814915783,-5.44771699107e-05,1793248903560659200
+252,4.200000000,HOLD_POSE2,765.785829647,745.214170353,715,682,656,632,881.214170353,784,815,652,630.785829647,652,0.45356594974,0.00465618566502,0.0697321097379,0.999999906618,0.00015143070149,-0.00040110845045,-5.42673142007e-05,1793248903577326336
+253,4.216666667,HOLD_POSE2,765.196769893,745.803230107,715,682,656,632,881.803230107,784,815,652,630.196769893,652,0.453565824709,0.00465563531565,0.0697327032339,0.999999906557,0.00015143909799,-0.000401240280675,-5.43841554176e-05,1793248903593993472
+254,4.233333333,HOLD_POSE2,765,745.614214231,715,681.614214231,656,632,882,784,815,651.614214231,630,652.385785769,0.453565887566,0.00465481447189,0.0697329400907,0.999999906946,0.00015033789451,-0.00040070285927,-5.42519277851e-05,1793248903610660096
+255,4.250000000,HOLD_POSE2,765,745.034920924,715,681.034920924,656,632,882,784,815,651.034920924,630,652.965079076,0.453566044667,0.00465385794991,0.0697329980597,0.999999907557,0.000148680123172,-0.000399829745775,-5.39947689091e-05,1793248903627326720
+256,4.266666667,HOLD_POSE2,765,745,715,681.539446884,656,631.460553116,881.460553116,783.460553116,815,651,630,653,0.453564690929,0.00465513301093,0.0697316750026,0.999999906575,0.000150537278509,-0.000401572861032,-5.41039837731e-05,1793248903643992832
+257,4.283333333,HOLD_POSE2,765.113739841,744.886260159,715,681.886260159,656,631.113739841,881.113739841,783.113739841,815,651.113739841,630,653,0.453564030306,0.00465633574184,0.0697308651021,0.999999905892,0.000152201899364,-0.000402630877528,-5.42134550452e-05,1793248903660659456
+258,4.300000000,HOLD_POSE2,765.689011363,744.310988637,715,681.310988637,656,631.689011363,881.689011363,783.689011363,815,651.689011363,630,653,0.453566575469,0.00465666408641,0.0697324969644,0.999999906861,0.000152170312934,-0.000400227900786,-5.4228598763e-05,1793248903677326080
+259,4.316666667,HOLD_POSE2,766,744.272718747,715,681.272718747,656,632,881.727281253,784,815,652,630,653,0.453566822859,0.00465642594858,0.0697326888465,0.999999906762,0.000151994514909,-0.000400555112162,-5.41222792191e-05,1793248903693992448
+260,4.333333333,HOLD_POSE2,766,744.866352798,715,681.866352798,656,632,881.133647202,784,815,652,630,653,0.453564366399,0.00465552121604,0.069731186266,0.999999905404,0.000151649019314,-0.00040409500766,-5.38730306674e-05,1793248903710659072
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,882,784,815,652,631,653,0.453564066911,0.00465304015705,0.0697304729496,0.999999906254,0.000147834370861,-0.000403426476511,-5.37102335268e-05,1793248903743496960
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.422929654,656,632,881.422929654,784,815,652,630.422929654,652.422929654,0.453564625203,0.00465423943688,0.069730769064,0.999999905871,0.000150438360047,-0.000403441576913,-5.34992736732e-05,1793248903760163328
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.157725099,656,632,881,783.842274901,815,652,630,652,0.453565025272,0.00465473953124,0.0697310938657,0.999999905722,0.000151665538537,-0.000403370388349,-5.33411233582e-05,1793248903776829696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.748214846,656,632,881,783.251785154,815,652,630,652,0.453564991214,0.00465332120737,0.0697314973794,0.999999906231,0.000149115037335,-0.000403062440937,-5.33278713133e-05,1793248903793496064
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,881,783,815,652,630,652.331615545,0.453565788465,0.00465337008414,0.0697320249659,0.999999906492,0.000149129935417,-0.00040240899825,-5.33144956802e-05,1793248903810162432
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,881,783,815,652,630,652.909746374,0.453567203692,0.00465450964383,0.0697326447853,0.999999906571,0.000151051891822,-0.000401498722427,-5.33010281753e-05,1793248903826828544
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,881.486696294,783.486696294,815,652,630,653,0.453566445932,0.00465429225848,0.069731822082,0.999999906094,0.00015157369863,-0.000402469364043,-5.34384174759e-05,1793248903843494912
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,882,784,815,652,630.064418998,653,0.453565306305,0.0046539308813,0.0697308262135,0.999999905633,0.000151702922525,-0.000403544461234,-5.35942174034e-05,1793248903860161536
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,882,784,815,652,630.650163593,653,0.453564329501,0.00465443569197,0.0697305885569,0.999999906134,0.000150751234965,-0.000402648978132,-5.36731626861e-05,1793248903876828928
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.766611364,656,632,881.766611364,784,814.766611364,651.766611364,630.766611364,653,0.453557959958,0.00465484702088,0.0697277105998,0.999999904565,0.00015099901595,-0.000406440594824,-5.3624012659e-05,1793248903893495808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.187122703,656,632,881.187122703,784,814.187122703,651.187122703,630.187122703,653,0.453543593335,0.00465511972243,0.0697209172506,0.999999899846,0.000153025530111,-0.000417182872828,-5.33849056861e-05,1793248903910162688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.391878299,656.391878299,632,881,784,814.391878299,651.391878299,630,653,0.453511901357,0.00465451395089,0.0697083407691,0.999999890903,0.000152782251012,-0.000438194555582,-5.32568538182e-05,1793248903926829056
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.970646785,656.970646785,632,881,784,814.970646785,651.970646785,630,653,0.453471946766,0.00465348922787,0.0696930062607,0.99999987942,0.000151456487773,-0.000464103807926,-5.31817650513e-05,1793248903943495424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,656.454595794,632,881.545404206,784,815,652,630.545404206,653,0.453412535436,0.00465533833388,0.0696768612951,0.999999869103,0.000153296612022,-0.000485223385169,-5.34065119052e-05,1793248903960162048
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,881.877283578,784,815,651.877283578,631,652.877283578,0.45334899222,0.00465664801633,0.0696622354615,0.999999859279,0.000154933058416,-0.000504571845545,-5.33338474453e-05,1793248903976828672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,656,632,881.289476444,784,815,651.289476444,631,652.289476444,0.45327372896,0.00465533140062,0.0696535311816,0.999999852353,0.00015515653361,-0.000518177675817,-5.20732934119e-05,1793248903993495296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.70594969,656,632,881.29405031,783.70594969,815,651.29405031,630.70594969,652.29405031,0.453188030918,0.0046562108841,0.0696464923021,0.999999846244,0.000158080926643,-0.000529068414543,-5.10819644358e-05,1793248904010161920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.12657631,656,632,881.87342369,783.12657631,815,651.87342369,630.12657631,652.87342369,0.453092207794,0.00465922128791,0.0696410693954,0.999999840987,0.000163626075858,-0.000537324643264,-5.03518701541e-05,1793248904026828288
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.548278217,745,715,681,656.451721783,632,881.548278217,783.451721783,814.548278217,652,630.451721783,653,0.452976919445,0.00465793152656,0.0696349614756,0.999999834842,0.000164974817545,-0.000548462417117,-4.78342971021e-05,1793248904043494912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.029498832,745,715,681.029498832,657,632,881.029498832,784,814.029498832,651.970501168,631,653,0.452854621562,0.00465559928915,0.0696284162047,0.999999828157,0.000165341420443,-0.000560654174199,-4.48971587657e-05,1793248904060160768
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.603208924,745,715,681.603208924,657,632,881.603208924,784,814.603208924,651.396791076,631,653,0.452703393284,0.00465621154538,0.0696173351599,0.999999818024,0.000169230558636,-0.000577429797777,-4.34379739139e-05,1793248904076827392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.181748287,657,632.181748287,881.818251713,784,815,651,630.818251713,652.818251713,0.452544895233,0.00465568238721,0.069608724939,0.999999810298,0.00017213227327,-0.000589966569646,-4.14025207158e-05,1793248904093494272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.771118581,657,632.771118581,881.228881419,784,815,651,630.228881419,652.228881419,0.452370092679,0.00465259328388,0.0696056562418,0.999999808519,0.000172819410484,-0.000592996514097,-3.80746227618e-05,1793248904110160896
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.644520409,657.355479591,632.644520409,881,784,815,651.355479591,630,652,0.452180404508,0.00465142374292,0.0696103782328,0.999999811711,0.000175740451474,-0.000586944710777,-3.44749854088e-05,1793248904126827520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.063339836,657.936660164,632.063339836,881,784,815,651.936660164,630,652,0.451981265151,0.00465147296956,0.0696200466846,0.999999817929,0.000180079841948,-0.000575126727411,-3.07028150364e-05,1793248904143494400
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.512120707,715,682,657.487879293,632.512120707,881,784,814.487879293,652,630,652,0.451752257146,0.0046486490286,0.0696300491033,0.999999824164,0.000183895126059,-0.000563202173895,-2.56674206086e-05,1793248904160161280
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.913102097,745.913102097,715,682,657.086897903,633,881,784,814.086897903,652,630,652.086897903,0.451514069937,0.00464555741915,0.0696404952647,0.999999830558,0.000187766479588,-0.000550645222794,-2.04526497072e-05,1793248904176827904
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.338233137,745.338233137,715,682,657.661766863,633,881,784,814.661766863,652,630,652.661766863,0.451244852697,0.00464293618019,0.069653203859,0.99999983849,0.000192312675303,-0.000534610266969,-1.50982492768e-05,1793248904193494528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.244066157,745,715,681.755933843,658,633,881,784,814.755933843,651.755933843,630,653,0.450959614331,0.00464062541044,0.0696673416435,0.999999847456,0.000196466980742,-0.000516135799117,-9.56834731561e-06,1793248904210161152
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.836985891,745,715,681.163014109,658,633,881,784,814.163014109,651.163014109,630,653,0.450651476341,0.00463875840698,0.069683522226,0.999999857876,0.000200061141367,-0.000494174439533,-3.78759427806e-06,1793248904226827776
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.407318842,658,633,881,784,814,651.407318842,630.407318842,652.592681158,0.45032562212,0.00463602105674,0.0696999678481,0.999999867672,0.000204658865185,-0.000471980978959,2.36671070628e-06,1793248904243495168
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.969087192,658,633,881,784,814,651.969087192,630.969087192,652.030912808,0.449993050164,0.00463295368342,0.0697165139692,0.999999876874,0.000209637125731,-0.000449699509325,8.66266114056e-06,1793248904260162560
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715.697432387,681.302567613,661,633,881,784.302567613,814,651.697432387,630,652.302567613,0.448366403621,0.00456790473995,0.0698200999241,0.999999947987,0.00015514636358,-0.000281360279348,2.81532107397e-05,1793248904326829056
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.101203048,633.050601524,881,784,813,651.949398476,630,653,0.44671804985,0.004549429911,0.0697634622882,0.999999927498,8.76244464055e-05,-0.000369918682062,2.20371963123e-05,1793248904376828928
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.276799445,633.638399722,881,784,813,651.361600278,630,653,0.44614654534,0.00454772999411,0.0697465023508,0.999999922194,6.58301988439e-05,-0.000388501518741,1.85739029564e-05,1793248904393495552
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.213872054,745,715,682,660.786127946,633.786127946,881,784,813,651,630,652.786127946,0.445566715174,0.00454389221684,0.0697437399086,0.99999992365,4.74626218171e-05,-0.000387459041943,1.79543741731e-05,1793248904410161920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.769640205,745,715,682,660.230359795,633.230359795,881,784,813,651,630,652.230359795,0.444973575639,0.00453663685372,0.0697636735989,0.999999936135,3.45729253731e-05,-0.000355043516593,2.18808907483e-05,1793248904426828544
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.353743957,633,881,784,812.646256043,651,630,652.353743957,0.444337482517,0.00453793022023,0.0697840510597,0.999999948532,3.4543193863e-05,-0.000317890460468,2.62480899484e-05,1793248904443495168
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.957906736,633,881,784,812.042093264,651,630,652.957906736,0.443670982153,0.0045452753167,0.0698047426693,0.9999999601,4.36171583161e-05,-0.000277383660934,3.09272525177e-05,1793248904460161792
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.465894172,745,715,682,661,633,881,784,812,651,630,652.465894172,0.442969929131,0.00453783536583,0.0698138088916,0.999999961038,1.04424895221e-05,-0.000277342460534,2.99511527782e-05,1793248904476828928
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.889076631,633,881,784,811.889076631,651.110923369,630,652.110923369,0.442264650318,0.0045309132448,0.0698200873931,0.999999960386,-2.06448209254e-05,-0.000279191595895,2.92260805933e-05,1793248904493495552
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.30058015,633,881,784,811.30058015,651.69941985,630,652.69941985,0.441552318752,0.00453098779393,0.069818111955,0.999999960958,-2.91227894118e-05,-0.000276132003509,3.14052340162e-05,1793248904510161664
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.283220717,745,715,682,660.566441435,633.283220717,881,784,811.283220717,652,630,652.716779283,0.44080884256,0.00452982488339,0.0698211917001,0.999999963829,-3.63220596664e-05,-0.000264437118026,3.30943325015e-05,1793248904526828032
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.862119509,745,715,682,661.724239019,633.862119509,881,784,811.862119509,652,630,652.137880491,0.440032851769,0.00452737008399,0.0698295489785,0.999999968821,-4.21863896545e-05,-0.00024372711885,3.42718214238e-05,1793248904543494656
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661.121065768,633.560532884,880.560532884,784,812,651.560532884,630,652.439467116,0.439189105261,0.0045287888908,0.0697955496955,0.999999950759,7.66196623096e-05,-0.000302464568911,3.3567392259e-05,1793248904560161536
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.983704893,745,715,682,659.983704893,633,880.016295107,784.016295107,812,651,630,653,0.43832499356,0.00453186926589,0.0697487548959,0.99999989908,0.000229712158023,-0.000384758730143,3.21403518615e-05,1793248904576828160
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.4080651,745,715,682,659.4080651,633,880.5919349,784.5919349,812,651,630,653,0.437488959823,0.00455041414341,0.069717299898,0.999999885576,0.000221794009062,-0.000423053190772,2.61052182373e-05,1793248904593494784
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715.171248643,682,659.51374593,633,881,784.828751357,812,651.171248643,630,652.828751357,0.436665691652,0.00456448391827,0.0697072631407,0.999999884389,0.000210945229862,-0.000431547189794,2.21616898606e-05,1793248904610161920
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715.759508877,682,661.278526631,633,881,784.240491123,812,651.759508877,630,652.240491123,0.43587350926,0.00456765626453,0.0697493824459,0.999999913593,0.000192960004771,-0.000367473383242,2.33114788871e-05,1793248904626829312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.342131002,745,715.657868998,682.342131002,661.657868998,633,881,784,811.657868998,652,630,652.342131002,0.435042738541,0.0045609688907,0.0697931073722,0.999999938884,0.000161940955627,-0.000308758264303,2.59883429945e-05,1793248904643496192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.920854209,745,715.079145791,682.920854209,661.079145791,633,881,784,811.079145791,652,630,652.920854209,0.434185283053,0.00454746327199,0.0698379426241,0.999999959933,0.000121908689423,-0.000253748815051,2.97212178889e-05,1793248904660162304
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.503841678,745,715,683,661,633.496158322,881,784,811.496158322,651.503841678,630,652.503841678,0.433320497794,0.00454319548363,0.0698491323301,0.999999966718,0.000100291573802,-0.000235833389176,2.98182816212e-05,1793248904676828672
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.928903288,661,633.928903288,881,784,811.928903288,651,630,652,0.4324461405,0.00453998407364,0.0698521368,0.999999969565,8.62726656482e-05,-0.000229243069328,2.95727655764e-05,1793248904693494784
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.352715194,661,633.352715194,881,784,811.352715194,651,630,652,0.431512030822,0.00453388030184,0.0698348590678,0.999999959799,0.000105507355991,-0.000261360228485,3.09855701579e-05,1793248904710161408
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.770604252,715,682,660.770604252,633.229395748,880.770604252,784,811.229395748,651.229395748,629.770604252,652.229395748,0.430561527177,0.00452870891205,0.0697958026957,0.999999940734,0.000108794009573,-0.000325124357823,3.14669595891e-05,1793248904726827776
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744.179144978,715,682,660.179144978,633.820855022,880.179144978,784,811.820855022,651.820855022,629.179144978,652.820855022,0.429585148204,0.00452500913325,0.0697223723134,0.99999989947,8.69093075326e-05,-0.000438838036606,3.04782631014e-05,1793248904743494656
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.404051617,715,682,660,634,880.404051617,784,811.595948383,651.595948383,629.404051617,653,0.428668986206,0.00451782841365,0.0697290376595,0.99999990607,7.95251065482e-05,-0.000424973524728,3.05602057733e-05,1793248904760161536
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.983658155,715,682,660,634,880.983658155,784,811.016341845,651.016341845,629.983658155,653,0.427778987722,0.00450913527293,0.0697705035126,0.999999933186,7.84411769686e-05,-0.00035567802072,3.110732662e-05,1793248904776828672
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.441826554,715,681.441826554,660.558173446,634,880.441826554,784,811,651.558173446,630,652.441826554,0.426924399797,0.00450284092044,0.0698294343142,0.999999961455,6.79467794208e-05,-0.000267190386246,3.29139329492e-05,1793248904793495808
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.135436363,715,681,660.864563637,633.864563637,880,784.135436363,811,652,629.864563637,652,0.426061408176,0.00449664579534,0.0698721235265,0.999999976961,5.66036288853e-05,-0.000204194332697,3.43198158618e-05,1793248904810162432
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.722350876,715,681,660.277649124,633.277649124,880,784.722350876,811,652,629.277649124,652,0.425166978114,0.00449054944912,0.0698589821659,0.999999972475,4.33412812903e-05,-0.000228030819999,3.42680747907e-05,1793248904826828288
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.693027056,715,681,660,633,880,784.693027056,811,652,629.306972944,652.306972944,0.424242045568,0.00448341172391,0.0698351320495,0.999999963193,3.64824417659e-05,-0.000266715457537,3.38381114311e-05,1793248904843494912
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.110463106,715,681,660,633,880,784.110463106,811,652,629.889536894,652.889536894,0.423289728865,0.00447533908054,0.0698016679374,0.999999948033,3.53724783662e-05,-0.000318730312636,3.30685915137e-05,1793248904860161536
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.465779439,715,681,660,633.465779439,880,784.465779439,811,651.534220561,630,652.534220561,0.422281403875,0.00446807423167,0.0697362710704,0.99999990487,2.72971047282e-05,-0.000433949080391,3.46903035307e-05,1793248904876828160
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.040539568,659.959460432,634,879.959460432,784.959460432,810.959460432,651,630,652,0.421274731775,0.00446101124253,0.0696713833472,0.999999848325,1.79349493057e-05,-0.000549266696791,3.65318645275e-05,1793248904893494528
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.615255395,659.384744605,634,879.384744605,784.384744605,810.384744605,651,630,652,0.42046251951,0.00445411758486,0.0697116564609,0.999999888409,1.30923898788e-05,-0.000471022635394,3.38978932961e-05,1793248904910161664
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.195139373,745,715.195139373,682,659.390278746,634,879.390278746,784.195139373,810,651.195139373,630,652,0.419669526352,0.00444858580242,0.0697653254812,0.99999992816,4.3662414546e-06,-0.000377611432626,3.27322217918e-05,1793248904926828800
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.785490407,745,715.785490407,682,660.570980814,634,880.570980814,784.785490407,810,651.785490407,630,652,0.418915457099,0.00444581219593,0.0698461249563,0.999999967202,-1.22252587846e-05,-0.000253482524279,3.4540266322e-05,1793248904943495680
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.632957364,681.632957364,660.632957364,633.632957364,880.632957364,785,810,651.632957364,629.632957364,652.367042636,0.418101316246,0.00443808554198,0.0698727570689,0.999999975003,-2.14627646513e-05,-0.000219501282721,3.67718233059e-05,1793248904960162048
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.056427043,681.056427043,660.056427043,633.056427043,880.056427043,785,810,651.056427043,629.056427043,652.943572957,0.417252889885,0.00442753196197,0.0698684734347,0.999999970801,-2.65030153849e-05,-0.00023697136426,3.92450979273e-05,1793248904976828416
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.958542698,633.520728651,879.479271349,784.479271349,810,651.520728651,629,652.479271349,0.416398008489,0.00442325291338,0.0698362092904,0.999999963552,-2.2045379861e-05,-0.000266540065682,3.69673561949e-05,1793248904993494784
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.2993628,634,879.0997876,784.0997876,810.0997876,651.9002124,629,652,0.415547084286,0.00442521979328,0.0698019514817,0.999999953547,-1.45861112772e-05,-0.000302483077533,3.46154045469e-05,1793248905010161408
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.063481057,634,879.687827019,784.687827019,810.687827019,651.312172981,629,652,0.4147189489,0.00445441666116,0.0697727920716,0.99999993345,2.51800609744e-06,-0.00036319256949,3.44223879116e-05,1793248905026828032
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.457156747,634,879.728578373,784.728578373,811,651.271421627,629,652,0.413924965679,0.00447846751634,0.0697566542681,0.999999920037,3.34110932693e-05,-0.000396992635563,3.47387734373e-05,1793248905043494656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.300027188,634,879.150013594,784.150013594,811,651.849986406,629,652,0.413169629412,0.00449669509531,0.0697552518337,0.999999916036,7.99079014439e-05,-0.000400341749932,3.56316031041e-05,1793248905060162048
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.426732772,680.573267228,659.426732772,634,879,784,810.573267228,651.573267228,629,652,0.412503357984,0.00448895050416,0.0697952810471,0.999999944761,6.33920395427e-05,-0.00032444271629,3.45948472775e-05,1793248905076828928
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.997169377,680.002830623,660.002830623,634,879,784,810.002830623,651.002830623,629,652.002830623,0.411868083948,0.00447218965436,0.0698496613163,0.999999974694,2.49596830379e-05,-0.000221150239769,3.2893967259e-05,1793248905093495040
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.42349762,680.57650238,660.57650238,634,879,784,810.57650238,651.57650238,629,652.57650238,0.411196601081,0.00447060530369,0.0698733833339,0.999999981677,1.4959095746e-05,-0.000187885283537,3.34768224847e-05,1793248905110161920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.154801571,680.845198429,660.535595288,634,879,784.154801571,810.845198429,652,629,652.845198429,0.410522667249,0.00446884129903,0.0698804868322,0.999999982703,1.36598758658e-05,-0.00018238330879,3.38060213224e-05,1793248905126828800
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.746150461,680.253849539,658.761548618,634,879,784.746150461,810.253849539,652,629,652.253849539,0.409841821437,0.00446657066175,0.0698407253717,0.999999966204,3.68988970924e-05,-0.000255174169841,3.34198979641e-05,1793248905143495936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744.669582225,715.669582225,680.330417775,658.330417775,634,879,784.669582225,810,652,629,652,0.409187339418,0.00446611068236,0.0698050460173,0.999999948613,3.58005812857e-05,-0.000316891065703,3.27600617792e-05,1793248905160162560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.090641339,715.090641339,680.909358661,658.909358661,634,879,784.090641339,810,652,629,652,0.408552686918,0.00446701258604,0.0697724370137,0.999999930804,1.63969817058e-05,-0.000370278695123,3.18943530491e-05,1793248905176828416
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.514611683,744.485388317,715.485388317,680.514611683,659.485388317,634,879,784,810,652,629,652,0.407991127754,0.00447232069941,0.0697762158403,0.999999935263,1.5984306596e-05,-0.000358152783836,3.07391333191e-05,1793248905193495040
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.635328061,745,716,679.364671939,659.364671939,634,879,784.635328061,810,652,629,652,0.406930056312,0.00447803171177,0.0698074195973,0.999999949423,4.62003365872e-05,-0.000313162494912,3.0804676957e-05,1793248905226829312
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.784126948,679.431746104,658.784126948,634,879,784.784126948,810,652,629,652,0.406424050078,0.00447856658192,0.0698161823704,0.999999950474,5.62730111576e-05,-0.000308063283444,3.13578909518e-05,1793248905243495936
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.390768469,680.609231531,658.390768469,634,879,784,810,651.609231531,628.609231531,652,0.405498370853,0.00448289218527,0.0698060777448,0.999999944388,3.52540369633e-05,-0.000330198423359,3.08273738077e-05,1793248905276828672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.971289497,680.028710503,658.971289497,634,879,784,810,651.028710503,628.028710503,652,0.405084952748,0.00448715375597,0.0698112556763,0.999999948206,3.46434258901e-05,-0.000318515237894,3.06054748038e-05,1793248905293495296
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.454925763,680.545074237,659.545074237,634,879,784.545074237,810,651,628.545074237,652,0.404716362843,0.00448731440011,0.069824334615,0.999999955843,3.5377043007e-05,-0.000293446375396,3.08346306331e-05,1793248905310161664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.118696587,681,660,634,879,785,810,651.118696587,629,652,0.404356208948,0.00448639075547,0.0698376509842,0.99999996308,3.31776949263e-05,-0.000267956380317,3.06491488656e-05,1793248905326828288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715.693041167,681,660,634,879,785,810,651.693041167,629,652,0.404019485274,0.00448212385958,0.069850300733,0.999999969745,1.94509087651e-05,-0.000243523263924,2.87818830972e-05,1793248905343495424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.723439212,745,716,680.723439212,659.723439212,634,878.723439212,784.723439212,809.723439212,652,629,652,0.403690830362,0.00447837041381,0.0698507262439,0.999999970516,8.00928276062e-06,-0.00024115658196,2.73335783983e-05,1793248905360162560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.129386679,745,716,680.129386679,659.129386679,634,878.129386679,784.129386679,809.129386679,652,629,652,0.403371438408,0.00447520640896,0.0698371183305,0.999999964772,-8.08978873543e-07,-0.000264122165157,2.63662410683e-05,1793248905376829184
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.450687529,745,715.549312471,680,659,634,878.450687529,784.450687529,809.450687529,652,629,652,0.403083772559,0.00447377664464,0.0698282256992,0.999999960445,-5.29033156209e-06,-0.000279966056079,2.64918007712e-05,1793248905393495552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.973249972,745,715.026750028,680,659.026750028,634,879,785,810,652,629,652,0.402806873594,0.00447283603336,0.0698207295346,0.999999956491,-8.43850837886e-06,-0.000293631222666,2.69700712817e-05,1793248905410162176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.399628892,745,715.600371108,680,659.600371108,634,879,785,810,652,629,652,0.402569486527,0.00447202323634,0.0698149402464,0.999999953561,-9.019784979e-06,-0.000303295920654,2.8437666821e-05,1793248905426829312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715.820276283,680,659.820276283,634,879,785,810,652,628.820276283,652,0.402342561335,0.00447154425996,0.0698092628576,0.999999950555,-9.01940524407e-06,-0.000312925752329,2.97602448481e-05,1793248905443495936
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715.227759458,680,659.227759458,634,879,785,810,652,628.227759458,652,0.402139665223,0.00447183200979,0.0698038424822,0.999999947502,-7.68306526254e-06,-0.000322475501045,3.07497434888e-05,1793248905460162560
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878.647789512,784.647789512,810,652,628,652,0.401963939274,0.00447331215072,0.0698031218615,0.99999994698,-2.48826103488e-06,-0.000324044385005,3.20760980121e-05,1793248905476829184
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878.075653953,784.075653953,810,652,628,652,0.401805178729,0.00447553683708,0.0698053358318,0.99999994802,5.11582144858e-06,-0.000320629908204,3.36127900756e-05,1793248905493496064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.505290559,744.494709441,715,680,659,634,878.505290559,784,809.494709441,652,628,652,0.401671646425,0.00448910681706,0.0698058951381,0.999999947643,5.57857533245e-05,-0.000316910830328,3.42121675925e-05,1793248905510162688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.911804921,744.088195079,715,680,659.088195079,634,879,784.088195079,809.088195079,652,628.088195079,652,0.401545260111,0.00450446126326,0.0698057123319,0.999999943793,0.000111579769977,-0.000314298675695,3.43662985211e-05,1793248905526829312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.325410892,744.674589108,715,680,659.674589108,634,879,784.674589108,809.674589108,652,628.674589108,652,0.401437524519,0.00452013017692,0.069802761743,0.999999936155,0.000159249117308,-0.000318201536,3.28121199994e-05,1793248905543496192
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.742657744,634,878.742657744,784.742657744,810,652,629,652,0.401341108658,0.00452463942162,0.0698001737412,0.999999935665,0.000156190180879,-0.000321881517189,2.58350097764e-05,1793248905560162560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.164444321,634,878.164444321,784.164444321,810,652,629,652,0.401258806987,0.00451523405968,0.0697980378369,0.999999942983,8.98798968119e-05,-0.000325283597516,1.20962334219e-05,1793248905576828672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.414027743,745,715,680,659,634,878,784,809.585972257,652,628.585972257,652,0.401194420064,0.00451119792598,0.0697990925145,0.99999994513,7.17580923743e-05,-0.000323260938014,9.67755595404e-06,1793248905593495040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.992602585,745,715,680,659,634,878,784,809.007397415,652,628.007397415,652,0.401137153004,0.00450929568557,0.0698014152254,0.999999946375,7.27878431204e-05,-0.000319082323773,1.17578271481e-05,1793248905610161664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.43260227,659,634,878,784,809.56739773,652,628,652,0.40109971654,0.00451061228011,0.0698059670421,0.999999948363,7.5875170142e-05,-0.000312013516121,1.28296140707e-05,1793248905626828800
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.145436107,679.145436107,659,634,878.145436107,784,809.854563893,652,628.145436107,652,0.401065244242,0.00451091356475,0.0698096688079,0.99999995022,7.68909510423e-05,-0.000305707585666,1.37785291526e-05,1793248905643495680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.73349384,679.73349384,659,634,878.73349384,784,809.26650616,652,628.73349384,652,0.401039011484,0.00450799797271,0.0698106956584,0.999999951786,7.15210674541e-05,-0.000301837323281,1.43932448367e-05,1793248905660162304
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,744.681388319,715.681388319,680,659,634,879,784,809.318611681,652,628.681388319,652,0.401019366657,0.0045077975659,0.0698133433554,0.999999953288,7.24964430287e-05,-0.000296551097238,1.49957115582e-05,1793248905676829184
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,744.098707035,715.098707035,680,659,634,879,784,809.901292965,652,628.098707035,652,0.401005181993,0.00450984754042,0.0698173344318,0.999999954703,7.87308532709e-05,-0.00029009130123,1.55880262436e-05,1793248905693495552
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,878.522482473,784,809.522482473,652,628,652,0.400994380222,0.00450846585028,0.0698183805979,0.999999955284,7.73331240032e-05,-0.000288420377302,1.62887038965e-05,1793248905710161920
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744.052379961,715,680,659,634,878,784,809.052379961,652,628,652,0.400984852983,0.0045065881467,0.0698189571471,0.999999955722,7.4499569091e-05,-0.000287609966424,1.69204261116e-05,1793248905726828800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.626791565,715,680,659,634,878,784,809.626791565,652,628,652,0.400981151873,0.00450674234054,0.0698208392807,0.999999956411,7.28695052102e-05,-0.000285641654291,1.66446604608e-05,1793248905743495424
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.793858258,715.206141742,679.793858258,659,634,878.206141742,784,810,652,628.206141742,652,0.400978187463,0.00450716411777,0.069822470281,0.999999957077,7.22779618659e-05,-0.000283466479021,1.63999112609e-05,1793248905760161792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744.205347641,715.794652359,679.205347641,659,634,878.794652359,784,810,652,628.794652359,652,0.400976589546,0.00450808223098,0.0698236354582,0.999999957705,7.36127530263e-05,-0.00028090759689,1.62126939748e-05,1793248905776828416
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.628572441,744.371427559,715.628572441,679,659,634,878.628572441,784.371427559,810,652,628.628572441,652,0.400975920642,0.00450721153148,0.0698243747743,0.99999995817,7.29489364912e-05,-0.000279421043935,1.62265982983e-05,1793248905793495808
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.058086594,744.941913406,715.058086594,679,659,634,878.058086594,784.941913406,810,652,628.058086594,652,0.400975749621,0.00450538215781,0.0698248858595,0.999999958547,7.12140108486e-05,-0.000278509181885,1.63482892536e-05,1793248905810163200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.524166804,744.475833196,715.524166804,679.524166804,659,634,878.524166804,784.475833196,810,652,628,652.524166804,0.400975288658,0.00450599505958,0.0698251920792,0.999999958502,7.31934524814e-05,-0.000278133111646,1.67390920314e-05,1793248905826829568
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.10895258,716,680.10895258,659,634,879,784.10895258,810,652,628,652.89104742,0.400974891049,0.00450651396686,0.0698255026804,0.999999958508,7.45018020357e-05,-0.000277744067384,1.7085565167e-05,1793248905843496192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744.699030143,716,680.699030143,659,634,879,784.699030143,810,652,628,652.300969857,0.400974918346,0.00450539520791,0.069825935185,0.999999958961,7.09872681795e-05,-0.00027702951557,1.71015659507e-05,1793248905860162816
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.716474037,680.716474037,659,634,879,784.716474037,810,652,628,652,0.400974848395,0.00450571543788,0.0698265559643,0.999999959306,6.98129319957e-05,-0.000276091361491,1.69536318248e-05,1793248905876828928
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.137788908,680.137788908,659,634,879,784.137788908,810,652,628,652,0.400974677205,0.00450753369901,0.0698273727434,0.999999959545,7.10748124585e-05,-0.000274920430557,1.66350364654e-05,1793248905893495296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.55998421,745,715,680,659,634,879,784,810,652,628,652,0.400975477363,0.00450618605755,0.0698281790463,0.999999960013,7.1174262315e-05,-0.000273174177742,1.68472070585e-05,1793248905910161920
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.017411764,745,715,680,659.017411764,634,878.982588236,784,810,652,628,652,0.400976532367,0.00450393285786,0.0698289385445,0.999999960526,7.0907103251e-05,-0.000271339396403,1.72069587581e-05,1793248905926828544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.590545731,745,715,680,659.590545731,634,878.409454269,784,810,652,628,652,0.400976032462,0.0045043558436,0.069828308697,0.999999960263,7.05337877825e-05,-0.000272417663431,1.69828345104e-05,1793248905943495424
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.168992903,680,659.831007097,634,878,784.168992903,810,652,628,652,0.400976032589,0.00450488890048,0.0698281837696,0.999999960178,7.04537030603e-05,-0.000272760173756,1.68105063165e-05,1793248905960162048
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.760731328,680,659.239268672,634,878,784.760731328,810,652,628,652,0.400977283575,0.00450569730662,0.0698293219294,0.99999996054,7.11071520334e-05,-0.000271262146066,1.67677489611e-05,1793248905976828672
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.655090064,745,715.655090064,680,659,634,878,785,810,652,628,652,0.400977653345,0.00450568816675,0.0698299804096,0.99999996084,7.1030375105e-05,-0.000270172779831,1.67724187909e-05,1793248905993495552
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.076043344,745,715.076043344,680,659,634,878,785,810,652,628,652,0.400977424916,0.00450512404837,0.0698303132665,0.999999961099,7.04578955736e-05,-0.000269360827177,1.68092838347e-05,1793248906010162432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.502895399,715,680,659,634,878,784.502895399,810,652,628,652,0.400976830486,0.00450510758304,0.0698303284113,0.999999961075,6.97589848925e-05,-0.000269628097287,1.68871251844e-05,1793248906026828800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.070077682,744.070077682,715.070077682,680,659,634,878,784,810,652,628,652,0.40097611823,0.00450517565866,0.0698301600641,0.999999960956,6.92729235091e-05,-0.000270187039273,1.69637594545e-05,1793248906043495424
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.648248335,744.648248335,715.648248335,680,659,634,878,784,810,652,628,652,0.400974952855,0.00450525640455,0.0698290095701,0.999999960468,7.04686926795e-05,-0.000271677780242,1.69867273419e-05,1793248906060161792
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.769100229,680,659,634,878.230899771,784,809.769100229,652,628,652,0.400974253308,0.00450570829315,0.0698284535151,0.999999960162,7.12710116669e-05,-0.000272598451933,1.69073303666e-05,1793248906076828416
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.179487616,680,659,634,878.820512384,784,809.179487616,652,628,652,0.400974277443,0.0045067367681,0.0698288209469,0.999999960143,7.14620888569e-05,-0.000272633496426,1.66689051263e-05,1793248906093495040
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.596603962,745,715,680,659,634,879,784,809.403396038,652,628,652,0.400974392863,0.00450608801598,0.0698292904497,0.999999960284,7.0736146945e-05,-0.000272304555596,1.67099831306e-05,1793248906110161920
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.016665213,745,715,680,659,634,879,784,809.983334787,652,628,652,0.400974548233,0.00450470524021,0.0698298046231,0.999999960493,6.9608879716e-05,-0.000271816319804,1.6873383274e-05,1793248906126828288
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9543d0884ba815515d40bfa4fd1d2ca4e42cc394
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_11/depth_05/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,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+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
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+71,1.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+73,1.216666667,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
+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
+88,1.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+89,1.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+90,1.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+91,1.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+92,1.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+93,1.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+94,1.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+95,1.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+96,1.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+97,1.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+98,1.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+99,1.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+100,1.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+101,1.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+102,1.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+104,1.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+106,1.766666667,pose1_to_pose2_press,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+107,1.783333333,pose1_to_pose2_press,0.58324584228,0.00992796559323,1.0600425588,0.553817634382,0.0186024260874,1.05966594379
+108,1.800000000,pose1_to_pose2_press,0.583246322038,0.00992798838197,1.06004256361,0.553818113628,0.0186024472078,1.05966595014
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+110,1.833333333,pose1_to_pose2_press,0.583246639153,0.00992799554362,1.06004251998,0.55381843027,0.0186024529049,1.05966590976
+111,1.850000000,pose1_to_pose2_press,0.583246938732,0.00992800230924,1.06004247878,0.553818729402,0.0186024582869,1.05966587161
+112,1.866666667,pose1_to_pose2_press,0.583247087869,0.0099280056773,1.06004245826,0.553818878316,0.0186024609661,1.05966585261
+113,1.883333333,pose1_to_pose2_press,0.583247469956,0.00992801546746,1.0600424331,0.553819260187,0.0186024700408,1.05966582787
+114,1.900000000,pose1_to_pose2_press,0.583248775966,0.00992805064999,1.06004238767,0.553820565982,0.0186025043304,1.05966577872
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+116,1.933333333,pose1_to_pose2_press,0.583260194028,0.00992785912203,1.06004237766,0.553831984535,0.0186023142987,1.05966576473
+117,1.950000000,pose1_to_pose2_press,0.58327728105,0.00992795987693,1.060042449,0.553849070112,0.0186024099974,1.05966583247
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+368,6.133333333,pose2_to_pose3_retreat,0.583792872006,0.00992799801143,1.06004237654,0.554364709503,0.0186024430947,1.05966576683
+369,6.150000000,pose2_to_pose3_retreat,0.583689472032,0.00992795414353,1.06004250991,0.554261309912,0.0186024000967,1.05966589403
+370,6.166666667,pose2_to_pose3_retreat,0.583599423711,0.00992792823041,1.06004247299,0.554171261958,0.0186023740261,1.05966586521
+371,6.183333333,pose2_to_pose3_retreat,0.583522664631,0.00992788379481,1.06004238351,0.554094503404,0.0186023323371,1.05966576875
+372,6.200000000,pose2_to_pose3_retreat,0.583459283903,0.0099278283773,1.06004224107,0.554031123939,0.0186022818112,1.0596656346
+373,6.216666667,pose2_to_pose3_retreat,0.583407746461,0.00992782980189,1.06004247656,0.553979585302,0.0186022792993,1.05966586334
+374,6.233333333,pose2_to_pose3_retreat,0.58336691207,0.00992795029471,1.06004250688,0.553938748645,0.0186023921538,1.05966589274
+375,6.250000000,pose2_to_pose3_retreat,0.583334611309,0.00992789893565,1.060042299,0.553906449301,0.0186023458174,1.05966569281
+376,6.266666667,pose2_to_pose3_retreat,0.58331049393,0.00992776208714,1.06004231209,0.553882333602,0.0186022145436,1.05966570293
+377,6.283333333,pose2_to_pose3_retreat,0.583291384712,0.00992776448464,1.06004238977,0.55386322393,0.0186022152025,1.05966577415
+378,6.300000000,pose2_to_pose3_retreat,0.583276933734,0.00992788951912,1.06004243164,0.553848771448,0.0186023350988,1.05966581301
+379,6.316666667,pose2_to_pose3_retreat,0.583266745831,0.00992791089009,1.06004252383,0.553838584183,0.0186023587086,1.05966590464
+380,6.333333333,pose2_to_pose3_retreat,0.58325952696,0.00992805767734,1.06004238885,0.553831363348,0.0186024995982,1.0596657819
+381,6.350000000,pose2_to_pose3_retreat,0.583254719475,0.0099280679774,1.06004241338,0.553826556024,0.0186025103694,1.0596658038
+382,6.366666667,pose2_to_pose3_retreat,0.583251754777,0.00992800862247,1.06004251522,0.553823592534,0.0186024546324,1.05966589601
+383,6.383333333,pose2_to_pose3_retreat,0.583250340275,0.00992799951106,1.06004247986,0.553822177382,0.0186024434773,1.05966586355
+384,6.400000000,pose2_to_pose3_retreat,0.583249443632,0.00992799974782,1.06004243117,0.553821279944,0.0186024412385,1.05966581904
+385,6.416666667,pose2_to_pose3_retreat,0.583248939521,0.00992799988093,1.0600424038,0.553820775386,0.0186024399798,1.05966579402
+386,6.433333333,pose2_to_pose3_retreat,0.58324868395,0.00992799994841,1.06004238992,0.553820519588,0.0186024393417,1.05966578133
+387,6.450000000,pose2_to_pose3_retreat,0.583248519975,0.00992799999171,1.06004238102,0.553820355468,0.0186024389323,1.05966577319
+388,6.466666667,pose2_to_pose3_retreat,0.583248355974,0.00992800003501,1.06004237211,0.553820191321,0.0186024385228,1.05966576505
+389,6.483333333,pose2_to_pose3_retreat,0.583248327116,0.00992800004263,1.06004237054,0.553820162437,0.0186024384507,1.05966576362
+390,6.500000000,pose2_to_pose3_retreat,0.583248076114,0.00992800010891,1.06004235692,0.553819911213,0.018602437824,1.05966575116
+391,6.516666667,pose2_to_pose3_retreat,0.583247911925,0.00992799580314,1.06004235203,0.553819747085,0.0186024337506,1.05966574666
+392,6.533333333,pose2_to_pose3_retreat,0.583247745554,0.0099279854996,1.06004235257,0.55381958106,0.0186024246191,1.05966574709
+393,6.550000000,pose2_to_pose3_retreat,0.583247379379,0.00992796282185,1.06004235377,0.553819215645,0.0186024045209,1.05966574804
+394,6.566666667,pose2_to_pose3_retreat,0.583247073671,0.00992794388887,1.06004235477,0.55381891057,0.0186023877415,1.05966574883
+395,6.583333333,pose2_to_pose3_retreat,0.583246948274,0.0099279361229,1.06004235518,0.553818785434,0.0186023808588,1.05966574915
+396,6.600000000,pose2_to_pose3_retreat,0.583246836158,0.00992792917938,1.06004235555,0.55381867355,0.0186023747051,1.05966574944
+397,6.616666667,pose2_to_pose3_retreat,0.583246824126,0.00992792843422,1.06004235559,0.553818661543,0.0186023740447,1.05966574947
+398,6.633333333,pose2_to_pose3_retreat,0.583246496678,0.00992790815488,1.06004235666,0.553818334774,0.0186023560721,1.05966575032
+399,6.650000000,pose2_to_pose3_retreat,0.583246079178,0.00992795518664,1.06004239709,0.553817917421,0.0186024035879,1.05966578978
+400,6.666666667,pose2_to_pose3_retreat,0.583245739581,0.00992805842047,1.0600424648,0.553817577302,0.018602505025,1.05966585609
+401,6.683333333,pose2_to_pose3_retreat,0.583245528711,0.00992801079193,1.06004242499,0.553817366979,0.018602459228,1.05966581569
+402,6.700000000,pose2_to_pose3_retreat,0.583245420248,0.0099279683158,1.06004241762,0.553817258532,0.0186024168596,1.05966580833
+403,6.716666667,pose2_to_pose3_retreat,0.583245393326,0.00992800410579,1.06004247345,0.553817230886,0.0186024502724,1.0596658643
+404,6.733333333,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817223428,0.0186024592774,1.05966587931
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87e91402d50cc78ac7b3af08fd4fafa16f0a5a31
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b16586455c35cc16c55065b21386884ded34af22a6d15ee5191ee0a8cce93fef
+size 25355711
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98f797e39c3cd95e88121fa6de318c878e3b41f4
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+37,0.616666667,BASELINE,765.470405392,745,716,679.470405392,658.529594608,634,878.470405392,784.529594608,810,652,628,652,0.401031289375,0.00446409671749,0.0798612700259,0.999999982487,9.59509251576e-05,-0.000151025643005,5.48618372077e-05,1793248907979126528
+38,0.633333333,BASELINE,765.951167584,744.951167584,716,679.951167584,658,634,878.951167584,784,810,652,628,652,0.401031909125,0.0044626380922,0.0798616135455,0.999999982746,9.41639354546e-05,-0.000150354707551,5.50818918939e-05,1793248907995793920
+39,0.650000000,BASELINE,765.376547006,744.376547006,716,679.376547006,658,634,878.376547006,784,810,652,628,652,0.401031460904,0.00446246114932,0.0798619923263,0.999999982736,9.50200629131e-05,-0.000149833115331,5.52241793563e-05,1793248908012460288
+40,0.666666667,BASELINE,765,744.202635564,716,679.202635564,658.202635564,634,878.202635564,784,810,651.797364436,628,652,0.40103092104,0.00446259340411,0.0798619042771,0.999999982649,9.56875727188e-05,-0.000149991108752,5.52162594468e-05,1793248908029126912
+41,0.683333333,BASELINE,765,744.790490658,716,679.790490658,658.790490658,634,878.790490658,784,810,651.209509342,628,652,0.40103020696,0.00446331345788,0.0798609287623,0.999999982417,9.59965116364e-05,-0.000151441025776,5.49227884031e-05,1793248908045793280
+42,0.700000000,BASELINE,765.372805265,745,716,680,659,634,879,784,810,651.372805265,628.372805265,652.372805265,0.401028383479,0.0044636762255,0.079859827869,0.999999982064,9.59164558806e-05,-0.000153822030554,5.48690483442e-05,1793248908062459904
+43,0.716666667,BASELINE,765.952051803,745,716,680,659,634,879,784,810,651.952051803,628.952051803,652.952051803,0.401025945664,0.00446384114555,0.0798586575472,0.999999981638,9.56209939418e-05,-0.000156718626018,5.49480595568e-05,1793248908079126784
+44,0.733333333,BASELINE,766,745,716.531268708,680,658.468731292,634,879,784,810,652,629,652.468731292,0.401028359863,0.00446410361744,0.0798602431318,0.99999998212,9.57692272352e-05,-0.000153541025464,5.49000636482e-05,1793248908095793152
+45,0.750000000,BASELINE,766,745,716.890698134,680,658.109301866,634,878.890698134,784.109301866,810,652.109301866,628.890698134,652,0.401030782547,0.00446449382341,0.0798618203442,0.999999982568,9.60855358321e-05,-0.000150413877081,5.48370145478e-05,1793248908112459776
+46,0.766666667,BASELINE,766,745,716.317675914,680,658.682324086,634,878.317675914,784.682324086,810,652.682324086,628.317675914,652,0.401031383487,0.0044653885989,0.0798623068557,0.999999982578,9.69450329852e-05,-0.000149826463073,5.47587297654e-05,1793248908129126656
+47,0.783333333,BASELINE,766,745,716,680,659,634,878,785,810,652.47547277,628.262263615,652,0.401031845972,0.00446533011047,0.0798625008005,0.999999982602,9.72990951236e-05,-0.000149438682253,5.47438052906e-05,1793248908145793536
+48,0.800000000,BASELINE,766,745,716,680,659,634,878,785,810,651.298381929,628.850809036,652,0.401032136206,0.00446408566779,0.0798623307634,0.999999982646,9.70243463642e-05,-0.000149299264732,5.48077072772e-05,1793248908162460416
+49,0.816666667,BASELINE,765.567810571,745,715.567810571,680,658.567810571,634,878.432189429,784.567810571,810,651.432189429,628.567810571,652,0.401031149776,0.00446499283017,0.0798621422432,0.999999982495,9.74422526261e-05,-0.00015008835396,5.46618984875e-05,1793248908179127040
+50,0.833333333,BASELINE,765.011089416,745,715.011089416,680,658,634,879,784,810,652,628,652,0.401029763882,0.0044665872075,0.079861951167,0.999999982284,9.80732047556e-05,-0.00015116066743,5.44455744105e-05,1793248908195792896
+51,0.850000000,BASELINE,765.587575042,745,715.587575042,680,658,634,879,784,810,652,628,652,0.401030114038,0.00446596870414,0.0798619497767,0.999999982427,9.75744282296e-05,-0.00015059801765,5.42647303216e-05,1793248908212459776
+52,0.866666667,BASELINE,765.836587232,745,716,680,658,633.836587232,879,784,810,652,628.163412768,652,0.401030349327,0.00446571811995,0.0798618478354,0.999999982484,9.73680480887e-05,-0.000150380618417,5.41920336043e-05,1793248908229126656
+53,0.883333333,BASELINE,765.262378272,745,716,680,658,633.262378272,879,784,810,652,628.737621728,652,0.401030295857,0.00446639243168,0.0798614931229,0.999999982324,9.78967104295e-05,-0.000151031129425,5.43912038337e-05,1793248908245793024
+54,0.900000000,BASELINE,765,745,716,679.678778461,658.321221539,633.321221539,878.678778461,784,810,652,629,652.321221539,0.401030017177,0.00446551392185,0.0798612447497,0.999999982199,9.76790007949e-05,-0.000151906621622,5.46456113966e-05,1793248908262459904
+55,0.916666667,BASELINE,765,745,716,679.087277101,658.912722899,633.912722899,878.087277101,784,810,652,629,652.912722899,0.401029549002,0.0044633288485,0.0798610858517,0.999999982102,9.68332844147e-05,-0.000152971415773,5.49464963326e-05,1793248908279126528
+56,0.933333333,BASELINE,765.492670438,745,716,679.492670438,658.507329562,634,878.492670438,784,810,652,628.507329562,652.507329562,0.401030387483,0.00446365900128,0.0798614659863,0.999999982442,9.54024171679e-05,-0.000151776968068,5.45773544134e-05,1793248908295792896
+57,0.950000000,BASELINE,765.929515412,745,716,679.929515412,658.070484588,634,878.929515412,784.070484588,810,652,628,652,0.401031281867,0.00446452376196,0.0798618829846,0.999999982748,9.45648311924e-05,-0.000150415574285,5.41931309085e-05,1793248908312459264
+58,0.966666667,BASELINE,765.352660756,745,716,679.352660756,658.647339244,634,878.352660756,784.647339244,810,652,628,652,0.401030953011,0.00446610149489,0.0798618945221,0.999999982291,9.87170954692e-05,-0.000150664217142,5.45337469583e-05,1793248908329125888
+59,0.983333333,BASELINE,765,745,716,679.22787105,659,634,878.22787105,784.77212895,809.77212895,652,628,652,0.401030837845,0.00446685814926,0.0798619185968,0.999999982101,0.000100513737699,-0.000150686774661,5.4664770618e-05,1793248908345792512
+60,1.000000000,BASELINE,765,745,716,679.814187163,659,634,878.814187163,784.185812837,809.185812837,652,628,652,0.401031058816,0.00446632323323,0.0798619623927,0.999999982352,9.86049467408e-05,-0.000150353696114,5.44661019119e-05,1793248908362459136
+61,1.016666667,BASELINE,765,745,716,680,658.602234713,634,878.602234713,784,809.397765287,652,628,652,0.401030671819,0.00446600738826,0.0798618874587,0.999999982474,9.69594758178e-05,-0.000150662001044,5.43234989348e-05,1793248908379126016
+62,1.033333333,BASELINE,765,745,716,680,658.019926912,634,878.019926912,784,809.980073088,652,628,652,0.401030002755,0.00446579318096,0.0798617574401,0.999999982536,9.54361718831e-05,-0.000151267874744,5.42069075673e-05,1793248908395792640
+63,1.050000000,BASELINE,765,745,716,680,658,634,878,784,810,652,628.556288154,652,0.401030840491,0.00446594646556,0.0798620174187,0.999999982533,9.65806370436e-05,-0.000150535276475,5.42657518973e-05,1793248908412459264
+64,1.066666667,BASELINE,765.131820087,745,716,680,658.131820087,634,878.131820087,784.131820087,810,652,628.868179913,652,0.401031639759,0.00446584765037,0.0798623980557,0.999999982536,9.74101248823e-05,-0.000149923992566,5.44198845915e-05,1793248908429125632
+65,1.083333333,BASELINE,765.705784772,745,716,680,658.705784772,634,878.705784772,784.705784772,810,652,628.294215228,652,0.401032130925,0.0044648595785,0.0798631370483,0.999999982571,9.68660716323e-05,-0.000149878690318,5.48727787379e-05,1793248908445792256
+66,1.100000000,BASELINE,765.712606222,745,716,680,658.712606222,634,879,784.712606222,810,652,628,652,0.401032730108,0.00446453115104,0.0798637343106,0.999999982743,9.62575763913e-05,-0.000149051564931,5.50585908403e-05,1793248908462459136
+67,1.116666667,BASELINE,765.122957646,745,716,680,658.122957646,634,879,784.122957646,810,652,628,652,0.401033442895,0.00446489647799,0.0798641825137,0.999999983058,9.55813069239e-05,-0.00014740218864,5.49635101633e-05,1793248908479125760
+68,1.133333333,BASELINE,765.459119332,745,716,680,658,634,878.540880668,784,810,652,628,652,0.401031815113,0.00446549301011,0.0798630496585,0.999999982818,9.5886504741e-05,-0.000148882360129,5.48132413964e-05,1793248908495792384
+69,1.150000000,BASELINE,766,745,716,680,658.038825476,634,878,784,810,652,628,652,0.401029704374,0.0044661248932,0.0798615802625,0.999999982439,9.64384847894e-05,-0.000151113453841,5.46403116651e-05,1793248908512459264
+70,1.166666667,BASELINE,766,745,716,680,658.613343627,634,878,784,810,652,628,652,0.40102943843,0.00446640405806,0.0798612148827,0.999999982233,9.68276269624e-05,-0.000152328911135,5.43553367802e-05,1793248908529126144
+71,1.183333333,BASELINE,765.80774873,745,716,679.80774873,658.80774873,634,878,784,810,651.80774873,628,652.19225127,0.401029207317,0.00446667504321,0.0798609786175,0.999999982067,9.72928879989e-05,-0.00015320014517,5.41331780787e-05,1793248908545793280
+72,1.200000000,BASELINE,765.219806544,745,716,679.219806544,658.219806544,634,878,784,810,651.219806544,628,652.780193456,0.401029047893,0.00446692919294,0.0798610080956,0.999999981986,9.79148166945e-05,-0.00015336290028,5.40403073818e-05,1793248908562460672
+73,1.216666667,BASELINE,765.362420367,745,716,679.362420367,658,634,878.362420367,784,810,651.362420367,628,652.637579633,0.401028606157,0.00446647318948,0.0798605963557,0.999999982018,9.69522378824e-05,-0.000153741108618,5.41019794826e-05,1793248908579127552
+74,1.233333333,BASELINE,765.941234766,745,716,679.941234766,658,634,878.941234766,784,810,651.941234766,628,652.058765234,0.401027995859,0.00446559316758,0.0798599211734,0.999999982115,9.5043580945e-05,-0.000154247959805,5.42559260363e-05,1793248908595794176
+75,1.250000000,BASELINE,765.481090817,745,716,680,658,634.518909183,878.481090817,784,809.481090817,651.481090817,628,652,0.401029818837,0.0044670569732,0.0798610911104,0.999999982106,9.87329090107e-05,-0.000151945265486,5.4343080641e-05,1793248908612460544
+76,1.266666667,BASELINE,765,745,715.903974948,680,658,634.903974948,878.096025052,784,809.096025052,651.096025052,628,652,0.401031267303,0.00446818764369,0.0798620017985,0.999999982037,0.000101872606442,-0.000150306389006,5.43762677726e-05,1793248908629126656
+77,1.283333333,BASELINE,765,745,715.32900248,680,658,634.32900248,878.67099752,784,809.67099752,651.67099752,628,652,0.401029476377,0.0044663357181,0.079860579492,0.99999998183,9.91158072359e-05,-0.000153561949778,5.41779241735e-05,1793248908645792768
+78,1.300000000,BASELINE,765,745,715.252209917,680,658,634,878.747790083,784,810,652,628,652,0.401028727102,0.00446568882163,0.0798603060945,0.999999981846,9.73430885895e-05,-0.000154644002339,5.40066789691e-05,1793248908662459136
+79,1.316666667,BASELINE,765,745,715.841768615,680,658,634,878.158231385,784,810,652,628,652,0.401029371109,0.00446665373784,0.0798615694452,0.999999982179,9.6886648221e-05,-0.000152818832128,5.38716798203e-05,1793248908679126016
+80,1.333333333,BASELINE,765.423823375,745,716,680,658.423823375,634,878.423823375,784,810,651.576176625,628,652,0.401029306893,0.00446651064444,0.0798619823054,0.999999982178,9.75263724222e-05,-0.000152255217324,5.43274350789e-05,1793248908695792640
+81,1.350000000,BASELINE,765.996900208,745,715.996900208,680,658.996900208,634,878.996900208,784,810,651.003099792,628,652,0.401028984597,0.00446596709731,0.0798620794804,0.999999982054,9.8570521041e-05,-0.000152158389907,5.4993561285e-05,1793248908712459008
+82,1.366666667,BASELINE,765.422341158,745,715.422341158,680,658.422341158,634,878.422341158,784,810,651.577658842,628,652,0.401028981171,0.0044665328017,0.0798614973131,0.999999981838,0.000100038500325,-0.000152796920411,5.44897881949e-05,1793248908729126400
+83,1.383333333,BASELINE,765,745,715.155546515,680,658,634,878,784,810,651.844453485,628,652,0.401029352998,0.00446671027878,0.079861342375,0.999999981754,0.000100892425293,-0.000152908272067,5.41493601758e-05,1793248908745793536
+84,1.400000000,BASELINE,765,745,715.742669865,680,658,634,878,784,810,651.257330135,628,652,0.401030765993,0.00446581058677,0.0798623728199,0.999999982039,0.000100042605463,-0.000151556921999,5.42621466226e-05,1793248908762460160
+85,1.416666667,BASELINE,765.324755831,745,716,680,658,634,878,784,810,651.324755831,628.324755831,652,0.401030842316,0.00446563163103,0.0798627136363,0.999999982155,9.91935329098e-05,-0.000151336078368,5.42966357743e-05,1793248908779126528
+86,1.433333333,BASELINE,765.902911208,745,716,680,658,634,878,784,810,651.902911208,628.902911208,652,0.401029875663,0.00446601504937,0.0798625163512,0.99999998214,9.83450434893e-05,-0.000151997343122,5.42700313313e-05,1793248908795792640
+87,1.450000000,BASELINE,766,745,716,680,658.482408066,634,878,784.482408066,810,652,628.517591934,652,0.40103020076,0.00446553453917,0.0798621931124,0.999999982134,9.89517410546e-05,-0.000151556697829,5.45124835031e-05,1793248908812459520
+88,1.466666667,BASELINE,765.938175819,745,716,680,658.938175819,634.061824181,878.061824181,784.938175819,810,652,628.061824181,652,0.401030714305,0.00446498771972,0.0798618777937,0.999999982129,9.97369112472e-05,-0.00015097887179,5.47741207001e-05,1793248908829126144
+89,1.483333333,BASELINE,765.36168564,745,716,680,658.36168564,634.63831436,878.63831436,784.36168564,810,652,628.63831436,652,0.401030626364,0.00446534037017,0.0798618400196,0.999999982128,9.95629710134e-05,-0.000151110362571,5.47434292116e-05,1793248908845793024
+90,1.500000000,BASELINE,765.21802048,745,716,680,658,634.78197952,878.78197952,784,810,651.78197952,628.78197952,652,0.40103034003,0.00446568684456,0.0798618281975,0.999999982134,9.91016894481e-05,-0.000151414881325,5.46356671753e-05,1793248908862460160
+91,1.516666667,BASELINE,765.80314151,745,716,680,658,634.19685849,878.19685849,784,810,651.19685849,628.19685849,652,0.401029719646,0.0044660229197,0.0798618600728,0.999999982149,9.8156585642e-05,-0.000152010742713,5.43981345781e-05,1793248908879127040
+92,1.533333333,BASELINE,766,745,716,680,658.384547597,634,878.384547597,784,810,651,628,652,0.401029245774,0.00446574534852,0.0798619269748,0.999999982162,9.75616135476e-05,-0.000152386529815,5.41913012117e-05,1793248908895793664
+93,1.550000000,BASELINE,766,745,716,680,658.964070169,634,878.964070169,784,810,651,628,652,0.401028846187,0.00446515664377,0.0798620116361,0.999999982172,9.71441666541e-05,-0.000152650733958,5.40000330797e-05,1793248908912460032
+94,1.566666667,BASELINE,765.45712647,745,716,680,658.45712647,634,879,784,810,651.54287353,628.54287353,652,0.401029063096,0.00446576808604,0.079862143262,0.999999982082,9.81695741784e-05,-0.000152519598891,5.41817500791e-05,1793248908929126656
+95,1.583333333,BASELINE,765,745,716,680,658.120774203,634,879,784,810,651.879225797,629,652,0.401029360331,0.00446609981526,0.0798621698531,0.999999982021,9.8863801657e-05,-0.000152406431108,5.43642083193e-05,1793248908945793280
+96,1.600000000,BASELINE,765,745,716,680,658.695461076,634,879,784,810,651.304538924,629,652,0.401029806321,0.00446508214715,0.0798617900186,0.999999982098,9.79549081399e-05,-0.000152458999367,5.44567969746e-05,1793248908962459648
+97,1.616666667,BASELINE,765.276202591,745,716,680,658.723797409,634,879,784,810,651.276202591,629,652,0.401029632284,0.00446526074172,0.0798613972003,0.999999981995,9.81615737102e-05,-0.000152976706124,5.45268269349e-05,1793248908979126272
+98,1.633333333,BASELINE,765.863769494,745,716,680,658.136230506,634,879,784,810,651.863769494,629,652,0.401028759288,0.00446678788816,0.0798609897452,0.999999981687,9.96258136608e-05,-0.000154018765409,5.45714263802e-05,1793248908995793152
+99,1.650000000,BASELINE,766,745,716,680,658,634,878.55546009,784,810.44453991,652,628.55546009,652.44453991,0.401029129977,0.00446742705574,0.079861656512,0.999999981762,0.000100271535154,-0.000153163521491,5.44336003576e-05,1793248909012460032
+100,1.666666667,BASELINE,766,745,716,680,658.023224032,634,878.023224032,784,810.976775968,652,628,652.976775968,0.401029815916,0.00446774980318,0.079862581388,0.999999981936,0.000100619646664,-0.000151855819882,5.42478360737e-05,1793248909029126912
+101,1.683333333,BASELINE,766,745,716,680,658.601075963,634,878.601075963,784,810.398924037,652,628,652.398924037,0.401029065561,0.00446691681509,0.0798619269301,0.999999981785,9.97605426863e-05,-0.000153419183502,5.42322209727e-05,1793248909045793536
+102,1.700000000,BASELINE,765.822700342,745,716,679.822700342,659,634,879,784,810,652,628,652.177299658,0.401029041469,0.00446659473636,0.0798617892218,0.999999981826,9.90148914982e-05,-0.000153652080874,5.41771312606e-05,1793248909062460160
+103,1.716666667,BASELINE,765.250106915,745,716,679.250106915,659,634,879,784,810,652,628,652.749893085,0.401030636601,0.00446741174219,0.079862803619,0.999999982299,9.85221860979e-05,-0.000150918672146,5.40340319741e-05,1793248909079126528
+104,1.733333333,BASELINE,765.334198328,745,716,679.334198328,659,634,879,784,810,652,628,652.665801672,0.401030460445,0.00446717048187,0.0798624786091,0.999999982265,9.85202380627e-05,-0.000151124515844,5.40880479891e-05,1793248909095793152
+105,1.750000000,BASELINE,765.927586822,745,716,679.927586822,659,634,879,784,810,652,628,652.072413178,0.401028910553,0.00446610847491,0.0798611148118,0.999999981838,9.88989007459e-05,-0.000153609919804,5.4294938326e-05,1793248909112459520
+106,1.766666667,BASELINE,766,745,715.49366972,679.49366972,658.49366972,634,878.49366972,784,810,652,628.50633028,652,0.401029131834,0.00446567443393,0.0798610730384,0.999999982078,9.77003733961e-05,-0.00015292960332,5.39560345512e-05,1793248909129126144
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,878,784,810,652,629,652,0.401030121906,0.00446706057954,0.0798623498329,0.999999982008,0.000101539229556,-0.000150807955664,5.41386329403e-05,1793248909172330496
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.574743453,633.425256547,878.574743453,784,810,652,629,652,0.401030361436,0.00446613760826,0.0798623732804,0.999999982202,9.89260679994e-05,-0.000151198676506,5.43058185334e-05,1793248909188997120
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.154560706,745,716,680,658.845439294,633.154560706,878.845439294,784.154560706,810,651.845439294,629,652,0.401029801786,0.0044658308945,0.0798618690852,0.999999982176,9.74438545288e-05,-0.000152304244676,5.4378777069e-05,1793248909205663744
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.748811911,745,716,680,658.251188089,633.748811911,878.251188089,784.748811911,810,651.251188089,629,652,0.401026968648,0.00446727729483,0.079859863865,0.999999981533,9.91789337773e-05,-0.000155443393045,5.41836808256e-05,1793248909222330368
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.667261961,745.332738039,716,680,658.332738039,634,878,784.667261961,810,651.332738039,628.667261961,652,0.401026632654,0.00446760376483,0.0798596210307,0.99999998134,0.000100359781767,-0.000155948133932,5.41166791435e-05,1793248909238996992
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.090895805,745.909104195,716,680,658.909104195,634,878,784.090895805,810,651.909104195,628.090895805,652,0.401028125048,0.00446711023077,0.0798606686013,0.999999981481,0.00010113482598,-0.000154523982661,5.41434672807e-05,1793248909255663616
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.48416796,745.51583204,716,680,659,634,878.48416796,784,810,652,628.48416796,652,0.401028288719,0.00446621739016,0.0798610666842,0.999999981723,9.93584879223e-05,-0.00015408613251,5.42176958301e-05,1793248909272330752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.939436877,745,716,679.939436877,659,634,878.939436877,784,810,652,628.939436877,652,0.401028140393,0.004465283244,0.0798612424862,0.999999981918,9.72545317765e-05,-0.00015412696625,5.43223813409e-05,1793248909288998144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.349266598,745,716,679.349266598,659,634,878.349266598,784,810,652,628.349266598,652,0.401027439255,0.00446464167486,0.0798605379082,0.999999981572,9.64630125401e-05,-0.000156738888381,5.46157303476e-05,1793248909305664768
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,716,679.236086605,659,634,878,784.236086605,810,652,628,652,0.401029183938,0.00446503771306,0.0798611479424,0.999999981083,9.66202126039e-05,-0.000159704211318,5.4707216404e-05,1793248909322331648
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,716,679.81445587,659,634,878,784.81445587,810,652,628,652,0.401034474615,0.00446693809334,0.0798636639253,0.999999980383,9.81528832625e-05,-0.000163181900953,5.45060378518e-05,1793248909338998272
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878,784.609515827,810,652,628,652,0.401059853593,0.00446730444828,0.0798737058724,0.999999981629,9.91268505778e-05,-0.000154773511214,5.44086763444e-05,1793248909355664640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878,784.034593187,810,652,628,652,0.401094720936,0.00446694623298,0.0798873025793,0.999999983633,9.98369241189e-05,-0.000140750937051,5.43603510022e-05,1793248909372331008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.46231599,634,878.53768401,784,810,651.46231599,628,652,0.401153131609,0.0044666449459,0.0799023398759,0.999999986261,9.93917986547e-05,-0.000121188606993,5.39722039076e-05,1793248909388997632
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.114115963,745,716,680,658.114115963,633.885884037,878.885884037,784,810,651.114115963,628.114115963,652,0.401216008426,0.00446654339233,0.079916513582,0.999999988517,9.83998780503e-05,-0.000102242482277,5.31993456442e-05,1793248909405664256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.708756308,745,716,680,658.708756308,633.291243692,878.291243692,784,810,651.708756308,628.708756308,652,0.401291344486,0.00446726753786,0.0799266624825,0.999999990334,9.5416917117e-05,-8.73845483877e-05,5.08981410239e-05,1793248909422330880
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.705457218,745,716,680,659,633.294542782,878.294542782,784,810,652,628.705457218,652,0.40137614185,0.00446810050782,0.0799339413865,0.99999999154,9.2935306998e-05,-7.70291371955e-05,4.84779828629e-05,1793248909438997760
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.128169995,745,716,680,659,633.871830005,878.871830005,784,810,652,628.128169995,652,0.401470021527,0.00446903794305,0.0799384652553,0.99999999229,9.0934965544e-05,-7.09958944595e-05,4.59436361648e-05,1793248909455664640
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,716,679.552409735,658.552409735,634,878.552409735,784.447590265,810,652,628.447590265,652,0.401581054566,0.00447048873265,0.0799415557635,0.999999992841,8.86939049834e-05,-6.814875713e-05,4.25125989448e-05,1793248909472331776
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023473501,745,716,679,658,634,878,784.976526499,810,652,629,652,0.4016983629,0.00447220269672,0.0799444069971,0.999999993329,8.65935711755e-05,-6.5863630086e-05,3.87918105353e-05,1793248909488999168
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.612826649,745,716,679,658,634,878,784.387173351,810,652,629,652,0.401848939998,0.00447672930138,0.0799513511635,0.999999993881,8.95418482423e-05,-5.52073600149e-05,3.4254949543e-05,1793248909505665280
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.198487815,716,679.198487815,658.198487815,634,878.198487815,784,810,651.801512185,628.801512185,652,0.402009338793,0.00447988902155,0.0799578167679,0.999999994596,8.89635914134e-05,-4.51300855707e-05,2.92790351823e-05,1793248909522331648
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.777078786,716,679.777078786,658.777078786,634,878.777078786,784,810,651.222921214,628.222921214,652,0.402188546072,0.00448043116435,0.0799633659279,0.999999995739,8.16320398217e-05,-3.61615860316e-05,2.34623363846e-05,1793248909538998528
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.645811776,745.645811776,716,679.645811776,658.645811776,634,879,784,810,651.354188224,628,652,0.40238090936,0.00448259671255,0.079965117168,0.999999996356,7.62785442588e-05,-3.4245747719e-05,1.72093977734e-05,1793248909555664640
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.069630852,745.069630852,716,679.069630852,658.069630852,634,879,784,810,651.930369148,628,652,0.402581518388,0.00448577975408,0.0799644880063,0.999999996664,7.21648238001e-05,-3.67502680751e-05,1.06830388519e-05,1793248909572331008
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.50301194,745,716,679,658,634,879,784,810,652,628,652,0.402801563393,0.00448853441002,0.0799564291196,0.999999996581,6.14491031693e-05,-5.52717370454e-05,2.6499494613e-06,1793248909588998144
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.922188939,745,715.922188939,679.077811061,658,634,879,784,810,652,628,652,0.403031266919,0.00449138744203,0.079948193599,0.999999995987,5.00701230133e-05,-7.40794543093e-05,-5.66975001634e-06,1793248909605665024
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.329917014,745,715.329917014,679.670082986,658,634,879,784,810,652,628,652,0.403307165172,0.00449528024167,0.0799455427063,0.999999995865,4.03060882671e-05,-8.0222818879e-05,-1.45150377716e-05,1793248909622331648
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.256866349,680,658,634,879,784,810.256866349,652,628.256866349,652.256866349,0.403607347687,0.00450019278729,0.0799463537489,0.999999995908,3.46826373513e-05,-8.11051433753e-05,-2.00762852638e-05,1793248909638998016
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.836747692,680,658,634,879,784,810.836747692,652,628.836747692,652.836747692,0.403938068171,0.0045063876853,0.0799515182501,0.999999996341,3.42660608172e-05,-7.53715957512e-05,-2.1507780515e-05,1793248909655664640
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.411930826,745,716,680,658,634,878.588069174,784,810.588069174,651.588069174,628.588069174,652.588069174,0.404292302959,0.0045141524079,0.0799532157266,0.999999996441,3.95038297183e-05,-7.11765180253e-05,-2.21654319296e-05,1793248909672333056
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.985272996,745,716,680,658,634,878.014727004,784,810.014727004,651.014727004,628.014727004,652.014727004,0.404655751606,0.00452253225182,0.0799535546808,0.99999999636,4.69572024046e-05,-6.75842758532e-05,-2.2519859648e-05,1793248909689002752
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.574217339,716,680,658.574217339,634,878.574217339,784,810,651.574217339,628.574217339,652.574217339,0.405077374467,0.00452982323991,0.0799526008819,0.999999996084,5.57296400935e-05,-6.34728683192e-05,-2.64110634916e-05,1793248909705666304
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.839387065,746,715.839387065,680,658.839387065,634,879,784,810,652,628.839387065,652.839387065,0.405506097337,0.00453708549806,0.0799500739142,0.999999995579,6.1738989441e-05,-6.39468482367e-05,-3.06764962846e-05,1793248909722331136
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.260696672,746,715.260696672,680,658.260696672,634,879,784,810,652,628.260696672,652.260696672,0.405949309387,0.00454434769263,0.0799435406829,0.999999994618,6.04654642772e-05,-7.63922765429e-05,-3.56733422485e-05,1793248909738997760
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.68241873,715.31758127,680,658.31758127,634,878.68241873,784,810,652,628.31758127,652.31758127,0.406416932188,0.00455431744467,0.0799363934018,0.999999992544,7.47087018828e-05,-8.99342323262e-05,-3.52371612362e-05,1793248909755664640
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.104478858,715.895521142,680,658.895521142,634,878.104478858,784,810,652,628.895521142,652.895521142,0.406904567391,0.00456650689978,0.0799287427113,0.999999988924,0.000101672848956,-0.000104375141544,-3.03468915576e-05,1793248909772331520
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,716,680.471261704,659,634,878.471261704,784,810,652,628.528738296,652.528738296,0.407413543359,0.0045761769653,0.0799229656646,0.999999986359,0.000111360308789,-0.000117587051055,-3.247735609e-05,1793248909788998144
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.04757658,716,681,659,634,879,784,810.04757658,652,628,652.04757658,0.407931897914,0.00458522780883,0.079917520971,0.999999983906,0.000117847863306,-0.000130450301789,-3.58163681005e-05,1793248909805665024
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.63593632,716,681,659,634,879,784,810.63593632,652,628,652.63593632,0.408503326965,0.00459355952801,0.0799111543911,0.999999980614,0.000131298013242,-0.000142433165182,-3.52825475118e-05,1793248909822331648
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.779079328,715.779079328,680.779079328,659,634,879,784,810.779079328,652,628,652.779079328,0.409109008011,0.00460302505071,0.0799172359578,0.999999980331,0.000142540084258,-0.000133153068799,-3.59131070662e-05,1793248909838998016
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.199573737,715.199573737,680.199573737,659,634,879,784,810.199573737,652,628,652.199573737,0.409770284765,0.00461433089343,0.0799435225949,0.999999983989,0.000150198135709,-8.93602360318e-05,-3.84336172359e-05,1793248909855664640
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879.378016005,784,810,652,628.378016005,652.378016005,0.410456617644,0.00461904920595,0.0799738237145,0.999999986356,0.000155477335288,-3.94948250802e-05,-3.94270844067e-05,1793248909872331520
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879.954599355,784,810,652,628.954599355,652.954599355,0.411156112189,0.00462030716626,0.0800062335934,0.999999986402,0.000159506951562,1.35604381749e-05,-3.96184137731e-05,1793248909888998400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.528442771,680,659,634,880,784,810.528442771,652,628.471557229,652.471557229,0.411794725885,0.0046148428854,0.0799909442501,0.99999998755,0.000151448939378,-1.60034757715e-05,-4.13184059051e-05,1793248909905665024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879.894986092,784,810.894986092,651.894986092,628.105013908,652,0.412446233292,0.00460835498531,0.079968068926,0.999999987429,0.000142297763237,-5.49708190969e-05,-4.32605260608e-05,1793248909922331904
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879.304728892,784,810.304728892,651.304728892,628.695271108,652,0.413181363423,0.00459979207587,0.079928978984,0.99999998464,0.000132869234759,-0.000104759477792,-4.57256286687e-05,1793248909938998016
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.719280008,680.280719992,659,634,879.280719992,784,810.280719992,651.280719992,628.719280008,652,0.413940191155,0.00459176150559,0.0799136948931,0.999999984154,0.000124355685239,-0.000118668101759,-4.63301554391e-05,1793248909955664640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.138962708,680.861037292,659,634,879.861037292,784,810.861037292,651.861037292,628.138962708,652,0.414724310151,0.00458429907111,0.0799238174985,0.999999987722,0.000116818642454,-9.42839061612e-05,-4.49489903453e-05,1793248909972331520
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.438095379,715.438095379,680.561904621,659,634,880,784,811,652,628,652,0.415518404414,0.00458152758727,0.0799412784995,0.999999991,0.000105580511959,-6.98578723273e-05,-4.44063666998e-05,1793248909988997888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.985625148,716,680.014374852,659,634,880,784,811,652,628.014374852,652.014374852,0.416315024523,0.00458045355326,0.07996016438,0.99999999353,9.38632565323e-05,-4.66828416818e-05,-4.41744455485e-05,1793248910005664512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.399497433,716,680.600502567,659,634,880,784,811,652,628.600502567,652.600502567,0.417087188515,0.00458814902172,0.0799438239541,0.99999999024,0.000109438497776,-7.37897541008e-05,-4.57993389059e-05,1793248910022331136
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.815760927,745,715.815760927,680.815760927,659,634,880,784,811,651.815760927,629,652.815760927,0.41790981161,0.00459343689652,0.0799434362401,0.999999989359,0.000119353665854,-6.9200508697e-05,-4.74095572728e-05,1793248910038997760
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.237143035,745,715.237143035,680.237143035,659,634,880,784,811,651.237143035,629,652.237143035,0.418840446498,0.00459357111955,0.0799771966127,0.999999991932,0.000117152982766,3.23695939106e-06,-4.89883624423e-05,1793248910055664640
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.680906847,745,715,680,659.340453424,634,880.340453424,784,811,651,629,652,0.419721617295,0.00459334749587,0.0799875450688,0.999999991703,0.000116138310783,2.53999899309e-05,-4.96036429674e-05,1793248910072331264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.834681011,745,715,680,659.917340505,634,880.917340505,784,811,651,629,652,0.420568436878,0.00459287535947,0.0799816347207,0.999999991971,0.000115947284721,1.26490810842e-05,-4.95497875054e-05,1793248910088997888
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.493991643,680.493991643,660.493991643,634,881,784,811.493991643,651.493991643,629,652.493991643,0.421429587532,0.00459337866121,0.0799691762047,0.999999992171,0.000113705094886,-1.12419832014e-05,-5.10241877841e-05,1793248910105664256
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.927998538,745.072001462,716,680.927998538,660.927998538,634,880.927998538,784,812,652,629,652.927998538,0.422297327251,0.00459429153881,0.0799610459343,0.99999999189,0.000112666685483,-2.83282834594e-05,-5.21973273185e-05,1793248910122330880
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.339968627,745.660031373,716,680.339968627,660.339968627,634,880.339968627,784,812,652,629,652.339968627,0.423195111646,0.00459697058767,0.0799917849082,0.999999991112,0.000122714330974,1.67079257263e-05,-4.93794878109e-05,1793248910138997504
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.755591603,716,680.244408397,660,634,880.244408397,784,812,651.755591603,629,652.244408397,0.424083060593,0.00460022930742,0.0799994480489,0.999999990617,0.000126996171882,1.85312076648e-05,-4.79062526618e-05,1793248910155664128
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.176220787,716,680.823779213,660,634,880.823779213,784,812,651.176220787,629,652.823779213,0.424957530156,0.00460428246821,0.0799754856974,0.999999990469,0.000123375962226,-3.88689467e-05,-4.82758013031e-05,1793248910172330752
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,716,681,660,634,880.598308715,784,812,651,629,653,0.425837062904,0.00460675763744,0.0799413267658,0.999999987296,0.000123518284719,-8.71358771144e-05,-5.05773091185e-05,1793248910188997888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,716,681,660,634,880.02103431,784,812,651,629,653,0.426718808766,0.00460854305116,0.0799027108125,0.999999982072,0.000125305246294,-0.00013141058405,-5.37232947927e-05,1793248910205664768
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,716,681,660.549890506,634,880.549890506,784,812.549890506,651,629,653,0.427614255585,0.0046069580483,0.0799043736341,0.999999982999,0.000126861047404,-0.000122735245793,-5.33259741382e-05,1793248910222331392
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,716,681,660.874799704,633.874799704,881,784,813,651.125200296,629.125200296,652.874799704,0.428508672736,0.00460529519744,0.0799112485974,0.999999984413,0.000127149922534,-0.000110644919218,-5.25818789357e-05,1793248910238997760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,716,681,660.282224412,633.282224412,881,784,813,651.717775588,629.717775588,652.282224412,0.429397311975,0.00460381752248,0.0799318946397,0.999999986814,0.00012274197143,-9.32810563752e-05,-5.1043457793e-05,1793248910255664128
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.304885244,745,716,681.304885244,660,633.304885244,881,784,813,652,630,652,0.4303300181,0.00460298381517,0.0799666932359,0.999999990365,0.000120374930282,-4.73116150013e-05,-5.04225434382e-05,1793248910272330752
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.887024572,745,716,681.887024572,660,633.887024572,881,784,813,652,630,652,0.431302797364,0.00460273571406,0.0800143617663,0.99999999123,0.000119863835153,2.46709358184e-05,-5.06359838987e-05,1793248910288997376
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.538811229,745,716,681.538811229,660.461188771,634,881,784,813,651.538811229,629.538811229,652,0.432168061825,0.00460419909078,0.0800178770368,0.999999991188,0.000119329988917,2.83839281241e-05,-5.07859339278e-05,1793248910305664000
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.033405367,745,715.966594633,681,660.966594633,633.966594633,881,784,813,651,629.033405367,652.033405367,0.433004053595,0.00460626402631,0.0800070770519,0.999999991564,0.000118952143368,1.07905645126e-05,-5.10411848223e-05,1793248910322330880
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.605183244,745,715.394816756,681,660.394816756,633.394816756,881,784,813,651,629.605183244,652.605183244,0.433785523537,0.0046113819144,0.0799369192976,0.999999987608,0.000121176751485,-8.52400101819e-05,-5.32398965497e-05,1793248910338997248
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.815720602,745,715,681,660,633.184279398,881,784,813.184279398,651,629.815720602,653,0.434589773078,0.0046136276266,0.0798938285644,0.999999981155,0.000121067781558,-0.000141429328141,-5.50493362959e-05,1793248910355663872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.220296573,745,715,681,660,633.779703427,881,784,813.779703427,651,629.220296573,653,0.435444846191,0.00460946524585,0.0799111268818,0.999999985822,0.000115752382494,-0.000108729083852,-5.59902750402e-05,1793248910372330752
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.364985182,660.364985182,634,881,784,814,651.364985182,629.364985182,652.635014818,0.436302102667,0.00460641400856,0.0799438120447,0.999999990441,0.000108535144722,-6.48225026737e-05,-5.60031488905e-05,1793248910388997120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.944310773,660.944310773,634,881,784,814,651.944310773,629.944310773,652.055689227,0.437160641289,0.00460401529921,0.0799855332521,0.999999993339,0.000100201037399,-1.43349141959e-05,-5.54710092075e-05,1793248910405663744
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.518520491,715.518520491,681.481479509,661,634,881,784,814,651.481479509,630,652.518520491,0.437973667285,0.00460136668014,0.0800099594227,0.999999993107,0.000100403852615,2.68012199069e-05,-5.46538582514e-05,1793248910422330368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.905560731,716,681.094439269,660.905560731,634,881,784,814,651.094439269,630,653,0.438768392866,0.00459955778678,0.0800282085261,0.999999991755,0.000100519540724,5.87206879005e-05,-5.42008560968e-05,1793248910438996992
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.317874034,716,681.682125966,660.317874034,634,881,784,814,651.682125966,630,653,0.439492817565,0.004602273517,0.0800238021066,0.999999992751,9.54382448955e-05,4.7696742891e-05,-5.58080819343e-05,1793248910455663872
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715.734147625,682,660.265852375,634,881,784,814.265852375,652,630,652.734147625,0.440182508186,0.00460515126205,0.0799932519298,0.999999994008,9.41039805184e-05,-1.2295443646e-07,-5.59271702676e-05,1793248910472331008
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715.155086983,682,660.844913017,634,881,784,814.844913017,652,630,652.155086983,0.440831277548,0.00460821988122,0.0799319010469,0.999999989637,9.71842005771e-05,-9.12927764666e-05,-5.42930409126e-05,1793248910488997888
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.577227233,633.577227233,881,784,815,651.577227233,629.577227233,652.422772767,0.441477416297,0.00460899409294,0.0798750137187,0.999999979008,9.43366707352e-05,-0.000172794050913,-5.68101153704e-05,1793248910505665024
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.000196721,715,682,660.000196721,633,881,784,815,651.000196721,629.000196721,653,0.442122607757,0.00460892843682,0.0798197958949,0.999999962734,8.93246059147e-05,-0.00025070272523,-6.08435966823e-05,1793248910522331904
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.587878873,715,682,660.587878873,633,881,784,815,651.587878873,629.587878873,653,0.442812359641,0.00460710809463,0.0798743817069,0.999999980639,9.56625079056e-05,-0.000161642064219,-5.86702897596e-05,1793248910538997760
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.827207031,715,682,661,633.172792969,881,784,814.827207031,651.827207031,630,652.827207031,0.443490947333,0.00460504480088,0.0799301682285,0.999999990831,9.78242746833e-05,-7.43899435863e-05,-5.6873657992e-05,1793248910555664128
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.248790696,715,682,661,633.751209304,881,784,814.248790696,651.248790696,630,652.248790696,0.444143327748,0.00460241118941,0.0799887733706,0.999999994331,9.01827628477e-05,8.61672939563e-06,-5.59612536708e-05,1793248910572331008
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.329000699,715.329000699,681.670999301,660.670999301,634,881,784,814,651,630,652,0.44474246093,0.00460071579972,0.0800140761274,0.999999993579,8.86247989734e-05,4.38858185744e-05,-5.53251958313e-05,1793248910588997632
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.906320376,715.906320376,681.093679624,660.093679624,634,881,784,814,651,630,652,0.445301404802,0.00459972854934,0.0800142433285,0.999999993363,9.16584991124e-05,4.31241344333e-05,-5.48977155501e-05,1793248910605664256
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.519245468,715.519245468,681,660,633.519245468,881,784,814.480754532,651,630,652,0.44582098494,0.00459875749124,0.080001050746,0.999999994329,8.89487633516e-05,1.95451577248e-05,-5.52035693229e-05,1793248910622331648
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.056255608,715,681.056255608,660.056255608,633.056255608,881,784,815,651,629.943744392,652.056255608,0.4463287548,0.00459767530531,0.079986013905,0.999999994787,8.54741569607e-05,-5.88577218547e-06,-5.55497695977e-05,1793248910638998784
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.647209978,715,681.647209978,660.647209978,633.647209978,881,784,815,651,629.352790022,652.647209978,0.446796740974,0.00459550705973,0.0799780438074,0.999999994829,8.5303570877e-05,-6.91132381715e-06,-5.49293493374e-05,1793248910655665152
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.766519935,715,682,661,633.766519935,881,784,815,651,629.233480065,653,0.447247341283,0.00459442900826,0.0799708379743,0.999999994829,8.51049784038e-05,-9.15058315897e-06,-5.49109494305e-05,1793248910672331520
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.187188671,715,682,661,633.187188671,881,784,815,651,629.812811329,653,0.447672188077,0.00459496584833,0.0799647642376,0.999999994756,8.48649004186e-05,-1.31876929711e-05,-5.57843150517e-05,1793248910688997888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.389655324,715,682,660.610344676,633,881.389655324,783.610344676,815,651,630,653,0.448047052263,0.00459788766744,0.0799458108386,0.999999993642,8.78717205291e-05,-4.2439629928e-05,-5.65186392469e-05,1793248910705664512
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.965312076,715,682,660.034687924,633,881.965312076,783.034687924,815,651,630,653,0.448398057356,0.00460194795304,0.0799207093502,0.999999990588,9.24284427912e-05,-8.37278299234e-05,-5.71865922066e-05,1793248910722330880
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.464692327,715,682,660,633,881.464692327,783.535307673,815,651.535307673,630,652.464692327,0.448701040201,0.00460504362977,0.0798883071911,0.999999984265,9.70609190789e-05,-0.000137459106884,-5.61564786208e-05,1793248910738997504
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881.109839786,784,815,652,630,652,0.448998381928,0.00460782729909,0.0798589502794,0.999999976257,0.000101007669503,-0.00018497332844,-5.5397374538e-05,1793248910755664128
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881.706067951,784,815,652,630,652,0.449284379503,0.00460950324293,0.0798451511731,0.999999972937,0.000101896407479,-0.000201424328307,-5.63204970801e-05,1793248910772330752
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.293223258,745.293223258,715,682.293223258,659.706776742,633,882,784,815,652,630,652.293223258,0.449564822048,0.00461223090625,0.0798432614927,0.999999972876,0.000103644633666,-0.000200684223167,-5.68478793512e-05,1793248910788997888
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.871556705,745.871556705,715,682.871556705,659.128443295,633,882,784,815,652,630,652.871556705,0.449839863246,0.00461598118937,0.0798529517223,0.999999975947,0.000106228567194,-0.000183228665427,-5.69904708635e-05,1793248910805665024
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.552609298,745.552609298,715,682.552609298,659.447390702,633,882,784,815,652,630,653,0.450075325686,0.00461880764158,0.0798531475366,0.999999975595,0.000109330996235,-0.000183304059873,-5.70582314168e-05,1793248910822331648
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.023017503,745.023017503,715,682.023017503,659.976982497,633,881.976982497,784,815,652,630,653,0.450297908768,0.00462176987993,0.0798505809211,0.999999974206,0.000112840796917,-0.000188624394839,-5.72403895166e-05,1793248910838997760
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.611075657,745.611075657,715,682.611075657,659.388924343,633,881.388924343,784,815,652,630,653,0.45048171412,0.00463454012752,0.0798467431599,0.999999970658,0.000122716994318,-0.000199833061016,-6.07552677561e-05,1793248910855664128
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,683,658.804129742,633,881.195870258,784,815,651.804129742,630,653,0.450654670119,0.00464933213759,0.0798416029983,0.999999966341,0.000137357927171,-0.000210668717406,-6.37894830939e-05,1793248910872330496
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,683,658.225709192,633,881.774290808,784,815,651.225709192,630,653,0.450806436441,0.00466807281013,0.0798339191448,0.999999960449,0.000161304768596,-0.00022077585449,-6.58849248914e-05,1793248910888997376
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.647694009,715,683,658,632.647694009,881.647694009,784,815,651,630,652.647694009,0.45094347871,0.0046721616988,0.0798289453256,0.999999958225,0.000167080811673,-0.000226470621799,-6.59165557107e-05,1793248910905664000
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.069938174,715,683,658,632.069938174,881.069938174,784,815,651,630,652.069938174,0.451071098687,0.00466687452854,0.0798257057276,0.999999958615,0.000161228886726,-0.000229341799021,-6.46274999816e-05,1793248910922330624
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.493979174,745,715,682.493979174,658,632.506020826,881,784,815,651.506020826,630,652.506020826,0.451172016334,0.00466529021865,0.0798241863877,0.99999995724,0.000159576957622,-0.000236424928217,-6.44927173687e-05,1793248910938997248
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.083536588,745,715,682,658,633,881,784,815,651.916463412,630,652.916463412,0.45126550311,0.00466467955491,0.0798223344626,0.999999955472,0.000158915601792,-0.000244205985549,-6.45430431324e-05,1793248910955664128
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.671957108,745,715,682,658,633,881,784,815,651.328042892,630,652.328042892,0.451336305209,0.00466687129282,0.0798170405288,0.999999953056,0.000160745147619,-0.000252699288283,-6.47513459897e-05,1793248910972331264
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.755347662,745,715,682,658,633,881,784,815,651,630,652,0.451398118604,0.0046680016054,0.0798116109057,0.999999950739,0.000161275050424,-0.00026139391973,-6.47010152518e-05,1793248910988998144
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.202464343,745,715,682,658,633,881,784,815,651,630,652,0.451448607367,0.00466779465625,0.0798060103318,0.999999948562,0.000160167567408,-0.000270342199366,-6.43248389068e-05,1793248911005664512
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.380309306,745.380309306,715,682,658,633,881.380309306,784,815,651.380309306,630,652.380309306,0.451489275433,0.00466792399743,0.0798018550701,0.99999994649,0.000160518132886,-0.000277795412336,-6.39007843206e-05,1793248911022330880
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.980352905,745.980352905,715,682,658,633,881.980352905,784,815,651.980352905,630,652.980352905,0.451524269318,0.00466824763972,0.0797985348781,0.999999944475,0.000161711126528,-0.000284384808587,-6.34490667598e-05,1793248911038997504
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.445281169,745.445281169,715,682,658,633,881.445281169,784,814.445281169,651.445281169,630,653,0.451549444076,0.0046691784774,0.0797963603254,0.999999943174,0.000163480240192,-0.000287906475716,-6.35305092535e-05,1793248911055664384
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.132995526,745,715,682.132995526,658,633,881.132995526,784,814.132995526,651.132995526,630,652.867004474,0.451572198011,0.00466930714202,0.0797943686848,0.999999942073,0.000164314058681,-0.000291273060845,-6.3370460167e-05,1793248911072331008
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.727872564,745,715,682.727872564,658,633,881.727872564,784,814.727872564,651.727872564,630,652.272127436,0.451587699,0.00466657854836,0.079792877598,0.99999994161,0.000161831950852,-0.000294461707884,-6.2309053123e-05,1793248911088997376
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,683,658,632.684964712,882,784,815,652,630,652.315035288,0.45160046361,0.00466592277666,0.079792355536,0.999999941332,0.000161844068388,-0.000295498749546,-6.18341681775e-05,1793248911105664256
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,683,658,632.104306274,882,784,815,652,630,652.895693726,0.451610921033,0.00466701471204,0.0797926505104,0.999999941215,0.000163959200837,-0.00029472165766,-6.18538113559e-05,1793248911122330880
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682.038066069,658,632,882,784,815,651,630,652,0.451617698578,0.00466614575712,0.0797876172557,0.999999939216,0.000163346511765,-0.000301885498931,-6.12426002283e-05,1793248911155664384
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682.61500617,658,632,882,784,815,651,630,652,0.451617654224,0.00466534271101,0.0797864552411,0.999999938736,0.00016238784845,-0.000304062332984,-6.0867377531e-05,1793248911172330752
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.197810417,745,715,683,657.802189583,632,882,783.802189583,815,651,630,652,0.451618206055,0.00466489441795,0.0797854367287,0.999999938215,0.000162031253215,-0.000305999780827,-6.06579829726e-05,1793248911188997376
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.792376565,745,715,683,657.207623435,632,882,783.207623435,815,651,630,652,0.451619953679,0.00466515766634,0.0797847060442,0.999999937623,0.000162882248443,-0.000307457082696,-6.07811961195e-05,1793248911205664000
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048425118,745,715,683,657.951574882,632.951574882,881.048425118,783.951574882,815,651.951574882,630,652.951574882,0.451621679666,0.00466538510922,0.0797845342186,0.999999937637,0.00016306471469,-0.000307525814533,-5.97030268952e-05,1793248911238997760
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.52819811,745,715,682.47180189,658,632.47180189,881.52819811,784,815,651.47180189,630,653,0.451621564247,0.00466392409118,0.0797833616612,0.999999937686,0.000160499226767,-0.000308636724007,-6.00918590771e-05,1793248911255664640
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632,882,784,815,651.106960562,630,652.893039438,0.45162107203,0.00466261373298,0.0797820636336,0.999999937529,0.000158389780947,-0.000310173044144,-6.03924287539e-05,1793248911272331008
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632,882,784,815,651.695271435,630,652.304728565,0.451619210718,0.00466261827367,0.0797807057443,0.999999936509,0.000159362824048,-0.000313055266287,-5.98549901202e-05,1793248911288997632
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632,882,784,815,651.719733505,630,652.280266495,0.451618934805,0.00466287404541,0.0797799824897,0.999999935985,0.000160269511822,-0.00031431004932,-5.96143411625e-05,1793248911305664256
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632,882,784,815,651.13830144,630,652.86169856,0.451620362513,0.00466339978214,0.0797799411934,0.999999936001,0.000161104896369,-0.000313816037775,-5.96926129996e-05,1793248911322330880
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.561503873,745,715,682,658,632,882.438496127,783.561503873,815,651,630,653,0.451621231196,0.00466265957432,0.0797805773277,0.999999936458,0.000160198993265,-0.000312835942003,-5.96098126067e-05,1793248911338997504
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013729466,745,715,682.013729466,658,632,883,783.013729466,815,651.013729466,630,653,0.451621917776,0.00466154728903,0.0797814005007,0.999999937035,0.000158790660909,-0.000311734399398,-5.94706680559e-05,1793248911355664384
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.584187566,745,715,682.584187566,658,632,883,783.584187566,815,651.584187566,630,653,0.451622294962,0.00466136865765,0.0797812347386,0.999999936978,0.000159046010247,-0.000311859913048,-5.90852481667e-05,1793248911372331264
+240,4.000000000,HOLD_POSE2,766,745,715,682,658,633,881,783,815,651,630,653,0.451624783696,0.00466243430472,0.0797823167008,0.999999937433,0.000160135835741,-0.000309764483977,-5.94615588715e-05,1793248911412398848
+241,4.016666667,HOLD_POSE2,765.425006609,745.574993391,715,682.574993391,658,633,881,783.574993391,815,651.574993391,630,653,0.451623218931,0.0046623534667,0.0797813672938,0.999999936954,0.000159454283372,-0.000311676747776,-5.93604667834e-05,1793248911429065984
+242,4.033333333,HOLD_POSE2,765.150365313,746,715,683,658,632.849634687,881.150365313,784,815,652,630,653,0.451622165196,0.00466250585814,0.0797806949697,0.999999936547,0.000159276773363,-0.000313078785642,-5.93104970818e-05,1793248911445732864
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+244,4.066666667,HOLD_POSE2,766,745.69105314,715,683,658,632,881.69105314,783.69105314,815,651.69105314,630,653,0.451622136021,0.00466323596125,0.0797803691061,0.999999936147,0.000160126420825,-0.000313908763813,-5.93840187021e-05,1793248911479065600
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+246,4.100000000,HOLD_POSE2,766,745,715,683,658,632,881.478614737,783.478614737,815,651,630,653,0.451621581411,0.00466218472307,0.0797793780604,0.999999935808,0.000158863543078,-0.000315630735289,-5.93552744644e-05,1793248911512399360
+247,4.116666667,HOLD_POSE2,765.940716953,745,715,683,658,632,882,784,815,651.059283047,630,652.940716953,0.451622539313,0.00466206079115,0.0797795798629,0.999999935774,0.000159892162139,-0.000315200961321,-5.94522276246e-05,1793248911529066240
+248,4.133333333,HOLD_POSE2,765.366057697,745,715,683,658,632,882,784,815,651.633942303,630,652.366057697,0.45162326372,0.00466089181072,0.0797803763847,0.999999936205,0.000159723400092,-0.000313978701563,-5.91285742157e-05,1793248911545732608
+249,4.150000000,HOLD_POSE2,765,745,715,683,657.791476997,632,882,784,815,652,630,652.208523003,0.45162390733,0.00465943452227,0.0797810267133,0.999999936705,0.000158507086274,-0.000313050695574,-5.88552855812e-05,1793248911562399232
+250,4.166666667,HOLD_POSE2,765,745,715,683,657.217034211,632,882,784,815,652,630,652.782965789,0.451624409157,0.00465747130602,0.0797814204994,0.999999937325,0.000155452510446,-0.000312639051329,-5.86703779604e-05,1793248911579065600
+251,4.183333333,HOLD_POSE2,765.368532107,745,715,682.631467893,657.368532107,632,882,784,815,651.631467893,630,652.631467893,0.451624498883,0.00465771588906,0.0797815272358,0.999999937441,0.000155020004524,-0.000312466872202,-5.87524115436e-05,1793248911595731968
+252,4.200000000,HOLD_POSE2,765.960853181,745,715,682.039146819,657.960853181,632,882,784,815,651.039146819,630,652.039146819,0.451624338365,0.00465930114509,0.0797814596629,0.999999937254,0.000156179734921,-0.000312440106828,-5.89965435939e-05,1793248911612398592
+253,4.216666667,HOLD_POSE2,765.460340846,745,715,682,658,632,882,783.460340846,815,651.539659154,630,652.539659154,0.451622777538,0.00466061383412,0.0797803098832,0.999999936073,0.000158947510021,-0.000314886331121,-5.86202653547e-05,1793248911629065216
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+256,4.266666667,HOLD_POSE2,766,745.734176188,715,682.265823812,658,632.265823812,881.734176188,784,815,651.265823812,630,653,0.451621105634,0.0046584432317,0.079778389729,0.999999935886,0.000155065550288,-0.000317380210329,-5.87604087196e-05,1793248911679065856
+257,4.283333333,HOLD_POSE2,766,745.159183446,715,682.840816554,658,632.840816554,881.159183446,784,815,651.840816554,630,653,0.451620412636,0.004659058103,0.0797780745596,0.999999935345,0.000156446737366,-0.00031848010448,-5.83534673191e-05,1793248911695732736
+258,4.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,632,882,783,814,652,630,652,0.451623430703,0.00466251547291,0.0797783623104,0.999999935236,0.000159843959065,-0.000316885028893,-5.96786255099e-05,1793248911728421632
+259,4.316666667,POSE2_TO_POSE3_RETREAT,765.422023552,745,715,682.422023552,658,632.577976448,881.422023552,783.577976448,814.577976448,651.422023552,630.577976448,652.577976448,0.451623667228,0.00465957109313,0.07977932044,0.999999936329,0.000155147766681,-0.000315856738161,-5.92084731231e-05,1793248911745088256
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.845493282,682,657.845493282,632.845493282,881,784,815,651,630.845493282,653,0.451623837922,0.00465793944443,0.0797799185382,0.999999936972,0.000152689669193,-0.00031506890559,-5.89402687592e-05,1793248911761755136
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.272876385,682,657.272876385,632.272876385,881,784,815,651,630.272876385,653,0.45162383047,0.00465986017283,0.0797795423566,0.999999936443,0.000156288072754,-0.000314931775933,-5.92185552511e-05,1793248911778421760
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.308754922,682,657.308754922,632,881,784,815,651.308754922,630,653,0.451623362449,0.00466102873787,0.0797791838271,0.999999935763,0.000159342018397,-0.000315574619667,-5.914192056e-05,1793248911795088128
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.307396375,745,715,683,657.692603625,632,881,783.307396375,814.692603625,651.692603625,630,652,0.451312674577,0.00465672115639,0.0796922718184,0.999999880326,0.000158956589601,-0.000459539990564,-5.38885580076e-05,1793248911978422528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.276213087,745,715,683,658,632,881.276213087,783.276213087,814.723786913,651.723786913,630,652,0.451232364768,0.00465673730464,0.0796887894904,0.999999878268,0.00016080104489,-0.0004635834011,-5.19330143944e-05,1793248911995088896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.86238952,745,715,683,658,632,881.86238952,783.86238952,814.13761048,651.13761048,630,652,0.451145196485,0.00465635288636,0.0796886336611,0.999999877258,0.000164173414943,-0.000464846552788,-4.94876223614e-05,1793248912011755264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.557824541,745,715,682.557824541,658,632,882,784,814.442175459,651,629.557824541,652,0.451032923423,0.00465654399739,0.0796844570615,0.999999873815,0.000167983817399,-0.000471104440445,-4.70296171367e-05,1793248912028421888
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.020020098,658,632.020020098,882,784,814.979979902,651.020020098,629.020020098,652.020020098,0.450911852831,0.00465685424065,0.0796789894501,0.999999869587,0.000171865032587,-0.000478857621479,-4.45387806113e-05,1793248912045088512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.598399605,658,632.598399605,882,784,814.401600395,651.598399605,629.598399605,652.598399605,0.450760217099,0.00465556282312,0.0796719174604,0.999999866123,0.000173973389987,-0.000485579290919,-4.12401989281e-05,1793248912061754880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.174069384,745,715,682.825930616,658.174069384,633,882,784,814,652,630,652.825930616,0.450599724896,0.00465365089001,0.0796676571133,0.999999863828,0.000175753741603,-0.000489957662675,-3.73755450688e-05,1793248912078421760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.743583222,745,715,682.256416778,658.743583222,633,882,784,814,652,630,652.256416778,0.450419112909,0.0046503292925,0.0796697841538,0.999999864287,0.000176788941415,-0.000489012615665,-3.22249096162e-05,1793248912095088384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.67317394,745,715,682,659,632.67317394,882,783.67317394,814.32682606,651.67317394,630,652,0.450228063897,0.00464664665733,0.0796759845406,0.999999868168,0.000178824149158,-0.000480615845381,-2.63458207005e-05,1793248912111755008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.078687412,745,715,682,659,632.078687412,882,783.078687412,814.921312588,651.078687412,630,652,0.450028467262,0.00464266834308,0.0796855208729,0.999999874667,0.000181678332647,-0.000466116343277,-1.98701502893e-05,1793248912128422144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.499773505,659,632.499773505,881.500226495,783.499773505,814.500226495,651,629.500226495,652,0.449796109526,0.00464132640239,0.0796933858451,0.99999987982,0.000187370936633,-0.000452839560031,-1.37315049752e-05,1793248912145088512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.076028518,745,715,682.923971482,659,633,881,784,814,651,629.076028518,652,0.449551899215,0.00463987578917,0.0797003374531,0.999999883851,0.000192897166047,-0.000441624898861,-7.45772187658e-06,1793248912161755136
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.65386041,745,715,682.34613959,659,633,881,784,814,651,629.65386041,652,0.449262446238,0.00463505337878,0.079702943554,0.99999988306,0.000194467317966,-0.000442789506392,4.73472485645e-08,1793248912178421760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.769604564,745,715,682,659,633,881,784,814,651,630,652,0.448957191673,0.00462990575324,0.0797075761537,0.999999884848,0.000195559134796,-0.000438186801125,7.24158535707e-06,1793248912195088384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.195007042,745,715,682,659,633,881,784,814,651,630,652,0.448628330148,0.00462427226884,0.0797152362661,0.999999890408,0.000195936336942,-0.000424967948051,1.39714532044e-05,1793248912211755008
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,633,881,784,814,651,630,652,0.448279446837,0.00461939856572,0.079718878913,0.999999893533,0.000194183648851,-0.000418152157026,1.93691603557e-05,1793248912228421888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,633,881,784,814,651,630,652,0.447920277744,0.00461491518523,0.0797204576671,0.999999895448,0.000191336772211,-0.000414625811592,2.40824963653e-05,1793248912245088768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.561965052,633,881,784,814,651,630,652,0.447544995686,0.004610556671,0.0797415890447,0.999999916176,0.000154271531037,-0.000378899485849,1.68527102667e-05,1793248912261755648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.138378832,715,682,660,633,881,784,814,651,630,652,0.447155424155,0.00460559669784,0.0797639460786,0.999999933374,0.000124305241995,-0.00034298247012,1.27748483866e-05,1793248912278422528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.714023038,715,682,660,633,881,784,814,651,630,652,0.446722030334,0.00459872585062,0.0797885607562,0.999999944877,0.000119597966502,-0.000309123071325,1.96434712611e-05,1793248912295088896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.703979483,715,682,660,633.296020517,881,784,813.703979483,651,630,652,0.446254206373,0.00459437350324,0.0798074755048,0.999999952419,0.000113777831086,-0.000285726269596,2.40251662882e-05,1793248912311755776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.115709601,715,682,660,633.884290399,881,784,813.115709601,651,630,652,0.445752390844,0.00459250757047,0.0798207629416,0.999999956782,0.000106859012542,-0.000272658772942,2.59516165e-05,1793248912328422400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.464775141,715,682.464775141,660,633.535224859,881.464775141,784,813,651.464775141,630,652.464775141,0.445204663602,0.00458667562746,0.0798224600928,0.99999995173,0.000142652570399,-0.000274623622902,2.77850651614e-05,1793248912345088512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.043241409,745.956758591,715,682.956758591,660,633,881.956758591,784,813,651.956758591,630,652.956758591,0.444642879867,0.00458006796187,0.0798205405041,0.999999943078,0.000183816691785,-0.000281387771002,2.96014667122e-05,1793248912361754880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.620322604,745.379677396,715,682.379677396,660,633,881.379677396,784,813,651.379677396,630,652.379677396,0.444046346641,0.00457587239309,0.0798090064371,0.999999940765,0.000162168419932,-0.00030196076656,3.14885481215e-05,1793248912378422272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.803093135,745,715,682,660,633,881,784,812.803093135,651.196906865,630,652,0.443436673729,0.00457143554695,0.0797968119411,0.999999938081,0.000141908528894,-0.000320352110702,3.27773043542e-05,1793248912395089152
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.227464689,745,715,682,660,633,881,784,812.227464689,651.772535311,630,652,0.442801728588,0.00456653463933,0.0797833472069,0.99999993577,0.000124318986945,-0.00033454736624,3.29152694646e-05,1793248912411755264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.356082703,881,784,812,651.643917297,630,652.356082703,0.442155794934,0.00456105433351,0.0797853328648,0.999999938908,0.000115403080246,-0.000328205894929,3.38660049477e-05,1793248912428421376
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.944803731,881,784,812,651.055196269,630,652.944803731,0.441502682215,0.00455519549159,0.0797974126766,0.999999945516,0.000112153891449,-0.000308447231701,3.53477449819e-05,1793248912445088000
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.472417198,881,784,812,651,629.472417198,653,0.4407546344,0.00455048820314,0.0797645076106,0.999999928484,0.000116286664634,-0.000357945623577,3.72069096549e-05,1793248912461754624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.108120431,659.891879569,633.108120431,881,784,812,651.108120431,629.108120431,652.891879569,0.439994800496,0.00454539458801,0.0797266834356,0.999999906014,0.000117837971422,-0.000415418449465,3.89039210486e-05,1793248912478421504
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.68165556,659.31834444,633.68165556,881,784,812,651.68165556,629.68165556,652.31834444,0.439226510451,0.00453812516635,0.0796877178673,0.999999880232,0.000104989659015,-0.000476375337516,3.97348473675e-05,1793248912495088128
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.25582835,634,881,784,811.74417165,651.74417165,630,652,0.438484383142,0.00453064699205,0.0796911217232,0.999999883181,9.58291254948e-05,-0.000472037829289,4.04325081356e-05,1793248912511755264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.830796688,634,881,784,811.169203312,651.169203312,630,652,0.437774893143,0.00452290840266,0.0797473804566,0.999999920403,9.12690095124e-05,-0.000386247069831,4.09639232395e-05,1793248912528422912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.418065187,745,715,683,660.418065187,634,881,783.581934813,811.418065187,651,629.581934813,652,0.437036318723,0.00451453912971,0.0798045241704,0.999999950761,8.50824575266e-05,-0.000298759153433,4.4529759626e-05,1793248912545089536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.989834703,660.989834703,634,880.989834703,783.020330595,812,651,629.010165297,652,0.436284086326,0.00450597690951,0.07986080167,0.999999973128,7.83396150018e-05,-0.000212561165508,4.92367035802e-05,1793248912561755904
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.414281303,660.414281303,634,880.414281303,784.171437394,812,651,629.585718697,652,0.435446763387,0.00450131061857,0.0798483754774,0.999999967626,7.8378473623e-05,-0.000237470557753,4.70334701393e-05,1793248912578422272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.838372813,745,715.161627187,682.161627187,659.838372813,634,880,785,811.838372813,651,630,652,0.434604295583,0.00449908371006,0.0798321223206,0.999999960868,8.03386163567e-05,-0.000264105785454,4.53609103433e-05,1793248912595088896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.261552192,745,715.738447808,682.738447808,659.261552192,634,880,785,811.261552192,651,630,652,0.433748611523,0.0045031231707,0.0798060383284,0.999999951616,8.72342193691e-05,-0.000295174396863,4.50515632918e-05,1793248912611755520
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715.679748555,682.679748555,659.320251445,634,880,784.679748555,811,651,630,652,0.432839143621,0.00450692323652,0.0797685940684,0.99999992929,9.31687869585e-05,-0.000361580817931,4.47114157803e-05,1793248912628421888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715.093810952,682.093810952,659.906189048,634,880,784.093810952,811,651,630,652,0.431885055753,0.00451052469604,0.0797217251344,0.999999889621,9.83060619301e-05,-0.000457304095616,4.43457153971e-05,1793248912645088256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.510827651,634,880,784,811,651,629.510827651,652,0.430998469757,0.00449690031226,0.079718550741,0.999999885643,9.04398366554e-05,-0.000467162998068,4.78819999186e-05,1793248912661754880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.070604348,659.070604348,633.929395652,880,784,811,651,629,652,0.430134235115,0.00448123027504,0.0797321028817,0.999999896104,7.99488460541e-05,-0.000445806468488,5.15528648578e-05,1793248912678421760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.644985446,659.644985446,633.355014554,880,784,811,651,629,652,0.429337670559,0.00447439362582,0.079805571675,0.999999945641,6.84161805968e-05,-0.000318508810886,5.08767438696e-05,1793248912695089152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.220632086,682.779367914,660,633.220632086,880,784.220632086,811.220632086,651,629,652,0.428504692089,0.00446681243454,0.0798521244031,0.999999968418,5.96378308347e-05,-0.000238719585174,5.11825434297e-05,1793248912711756032
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715.798326922,682.201673078,660,633.798326922,880,784.798326922,811.798326922,651,629,652,0.427612782575,0.00445802630304,0.0798551171855,0.999999969257,5.53169626021e-05,-0.000235816222192,5.30774476031e-05,1793248912728422400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.616720721,681.616720721,659.616720721,633.616720721,880,785,811.616720721,651,629,652,0.426677715291,0.00445238850973,0.0798199954766,0.999999955384,4.87678740021e-05,-0.00028986658669,5.32032078107e-05,1793248912745088512
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.027875948,681.027875948,659.027875948,633.027875948,880,785,811.027875948,651,629,652,0.425719501105,0.004448439276,0.0797644316914,0.999999927675,4.10237162693e-05,-0.000374463138381,5.2380116515e-05,1793248912761754880
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.54837344,681,659,633.54837344,880,785,811,651.54837344,629,652,0.424787683068,0.00447292126972,0.0797492510943,0.999999916672,7.51210582132e-05,-0.000397707851335,5.33019781724e-05,1793248912778421504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.875471506,681,659,633.875471506,880,784.875471506,811,652,629,652,0.423863819794,0.00449407908555,0.0797380719394,0.999999906876,0.000105204195466,-0.000415038518082,5.40675270242e-05,1793248912795088384
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.297380401,681,659,633.297380401,880,784.297380401,811,652,629,652,0.422964152229,0.00449798362251,0.0797341579615,0.999999903136,0.000113093658581,-0.000421933005782,5.39479248312e-05,1793248912811755264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.279685534,879.720314466,784,810.720314466,652,629,652,0.422120014532,0.0044924107563,0.0797619326358,0.999999923536,0.000105245222186,-0.000372758997947,5.38712813558e-05,1793248912828421888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.855665385,879.144334615,784,810.144334615,652,629,652,0.421334704331,0.00447679768274,0.0798232777542,0.999999960395,8.0724308938e-05,-0.000264186931776,5.38401471654e-05,1793248912845088000
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.442260543,634,879.442260543,784,810.442260543,651.557739457,629,652,0.420494904011,0.00447080447933,0.079852702592,0.999999973058,7.57736587768e-05,-0.000212668534635,5.39877994874e-05,1793248912861754624
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.031702561,745,715.031702561,681,659.968297439,634,880,784,811,651,629,652,0.419634139814,0.00446810705331,0.0798677725529,0.999999978083,7.74804546651e-05,-0.000186794786402,5.42133440814e-05,1793248912878421248
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.609049131,745,715.609049131,681,659.390950869,634,880,784,811,651,629,652,0.418726160305,0.00446677037987,0.0798194824413,0.999999957686,8.11406050092e-05,-0.000273946319565,5.47505702865e-05,1793248912895088896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.813617337,745,715.813617337,681,659,634,879.813617337,784,810.813617337,651,629,652,0.417845581175,0.00446779339014,0.0797898568459,0.999999940751,8.34055864061e-05,-0.000329485443542,5.46052318807e-05,1793248912911756032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.236311043,745,715.236311043,681,659,634,879.236311043,784,810.236311043,651,629,652,0.417022472113,0.00447376565941,0.0797993786621,0.999999944379,8.27443075449e-05,-0.000318719934802,5.30282663265e-05,1793248912928422144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.346323892,745,715,681,659,634,879,784,810,651,629,652,0.416208352741,0.00447871583202,0.0797993908778,0.999999941422,8.8294769083e-05,-0.000326420678229,5.30016249558e-05,1793248912945088512
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.932651563,745,715,681,659,634,879,784,810,651,629,652,0.415400463307,0.00448295768739,0.0797928129035,0.999999933546,9.81499904171e-05,-0.000346918605365,5.40493642328e-05,1793248912961755136
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.484549792,745,715.515450208,681.515450208,659,634,879,784,810,651.515450208,629,652,0.414610724633,0.00447914460999,0.0797820676008,0.999999930748,9.38611284619e-05,-0.00035607899435,5.38710200609e-05,1793248912978422016
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,716,681.903876875,659.096123125,634,879,784,810,651.903876875,629,652,0.41383734564,0.00447425591208,0.0797762769058,0.99999993133,8.7731904742e-05,-0.000356045231937,5.36238867125e-05,1793248912995088896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,716,681.331467668,659.668532332,634,879,784,810,651.331467668,629,652,0.413133357092,0.00446921695963,0.0797977157188,0.999999944743,8.15785484327e-05,-0.000317744979173,5.38242894249e-05,1793248913011755264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.242239715,745,716,681,659.51552057,634,878.757760285,784,810.242239715,651,629,652,0.412417758166,0.00446831195364,0.0798046526071,0.999999948522,7.54642661581e-05,-0.00030711977815,5.42118607021e-05,1793248913028421888
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.817732977,745,716,681,658.364534045,634,878.182267023,784,810.817732977,651,629,652,0.411686186692,0.00447309409282,0.0797916389342,0.999999940119,6.94037393341e-05,-0.00033456764865,5.48569231924e-05,1793248913045088256
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,658,634,878,784,810.594101893,651.405898107,628.594101893,652.405898107,0.410994285426,0.0044770201684,0.0797835695756,0.999999932703,9.00487253795e-05,-0.000351411839371,5.47293626829e-05,1793248913061754880
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,716,681,658,634,878,784,810.000063087,651.999936913,628.000063087,652.999936913,0.410320771914,0.00448054944432,0.07977779199,0.999999924947,0.000123072171808,-0.000363341045671,5.42436782401e-05,1793248913078421760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.422339625,745,715.422339625,680.422339625,658,634,878.577660375,784.577660375,810,651.422339625,628.577660375,652.422339625,0.409705861159,0.00447843955193,0.0798014707802,0.999999941808,0.000106625469104,-0.000319401494452,5.47484864653e-05,1793248913095088384
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715.154419766,680.154419766,658,634,878.845580234,784.845580234,810,651.154419766,629,652,0.409101502406,0.00447694691975,0.0798231458712,0.999999954432,9.4047136164e-05,-0.000281508154728,5.51735871319e-05,1793248913111755264
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715.728563583,680.728563583,658,634,878.271436417,784.271436417,810,651.728563583,629,652,0.408525807701,0.0044771336728,0.0798393662653,0.999999960418,9.19975893838e-05,-0.000260064974055,5.53817513452e-05,1793248913128421632
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.689777196,680.689777196,658,634,878.310222804,784,810,652,629,652,0.407948264189,0.00447850180613,0.0798296122218,0.999999954257,9.65039314866e-05,-0.000281121590943,5.60631228486e-05,1793248913145088256
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.101378981,680.101378981,658,634,878.898621019,784,810,652,629,652,0.407369062895,0.00448092927789,0.0797965670145,0.999999934755,0.000106888909943,-0.000340287588296,5.71688170793e-05,1793248913161754880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.479615739,680,658.479615739,634,879,784,809.520384261,651.520384261,628.520384261,652,0.406832948145,0.00447852603604,0.0797735059905,0.999999923512,9.94635508511e-05,-0.000374109708569,5.5906126767e-05,1793248913178421504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.941095706,680,658.941095706,634,878.941095706,784,809.058904294,651,628.058904294,652,0.406314610912,0.00447577673352,0.0797570737146,0.99999991654,8.99395074889e-05,-0.000394826159173,5.42486895663e-05,1793248913195088128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715.363261044,680,658.363261044,634,878.363261044,784,809.636738956,651,628.636738956,652,0.405873874326,0.0044788375397,0.0797807293548,0.999999934045,9.45881388856e-05,-0.000346562208091,5.34569058886e-05,1793248913211754752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715.217115105,680,658,634,878.217115105,784,810,651,629,652,0.40544927138,0.00448143937069,0.0798004902722,0.999999945615,9.9901037641e-05,-0.000309780921481,5.31505682866e-05,1793248913228421632
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715.801793789,680,658,634,878.801793789,784,810,651,629,652,0.405051981817,0.00448326418237,0.079813657642,0.999999950146,0.000106338503239,-0.000292439141657,5.36660636483e-05,1793248913245088256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.382705635,745,716,680,658,634,879,784,810.382705635,651.382705635,628.617294365,652,0.404666417237,0.00448542851165,0.0798230028276,0.999999952583,0.000106883137689,-0.000283672514555,5.42297776076e-05,1793248913261754880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.961685673,745,716,680,658,634,879,784,810.961685673,651.961685673,628.038314327,652,0.404286865895,0.00448776696609,0.0798303877691,0.999999954042,0.000104405575497,-0.000279303738517,5.48182210078e-05,1793248913278421504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.459599663,745,715.459599663,680,658,634,879,784,810.459599663,651.459599663,628,652,0.403933294504,0.00448751963201,0.0798321985658,0.999999951283,0.000116112029739,-0.000283952710159,5.76434260057e-05,1793248913295088128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,879,784,809.881921795,651.118078205,628,652,0.403591783576,0.00448696858139,0.0798332901528,0.999999949303,0.000122588953164,-0.000287985174484,5.85759300373e-05,1793248913311754496
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,879,784,809.308172247,651.691827753,628,652,0.403289709828,0.00448595261226,0.079833130641,0.999999951922,0.000105005842022,-0.000287172389396,5.15926871886e-05,1793248913328421376
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715.272576173,680,658,634,879,784,809.272576173,652,628,652,0.403009858639,0.00448463051119,0.079831841441,0.999999952142,9.66758408207e-05,-0.000289745710432,4.91614829158e-05,1793248913345088256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715.861445954,680,658,634,879,784,809.861445954,652,628,652,0.402755794217,0.0044829531789,0.0798292413666,0.999999949857,9.90830210573e-05,-0.00029624822215,5.20124014638e-05,1793248913361754880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,716,680,658,634,878.557088891,784,810,652,628.442911109,652,0.402533212063,0.00448259255456,0.0798304226337,0.999999950207,0.000102110847283,-0.000293675968416,5.39773876102e-05,1793248913378421248
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.022098313,745,715.977901687,680,658,634,878.022098313,784,810,652,628.977901687,652,0.402321624082,0.00448269227298,0.0798328283012,0.999999951373,0.000105263350727,-0.000288242978669,5.55908602989e-05,1793248913395087872
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.601293807,745,715.398706193,680,658,634,878.601293807,784,810,652,628.398706193,652,0.402143001685,0.004484183969,0.0798367705071,0.999999953275,0.000106744830156,-0.000281080735285,5.52145632991e-05,1793248913411754752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715.172160885,680,658.34432177,634,878.827839115,784.172160885,810,651.827839115,628,652,0.401974837842,0.00448668769842,0.0798413083672,0.999999955048,0.000109812224066,-0.000273544209121,5.49413707327e-05,1793248913428421376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.724630174,680,659.449260349,634,878.275369826,784.724630174,810,651.275369826,628,652,0.401829777275,0.00449142703888,0.0798471620444,0.99999995656,0.000116382949005,-0.000265180882363,5.48959389105e-05,1793248913445088000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659.386590251,634,878,785,810,651.306704874,628.306704874,652,0.401694226214,0.00449934382883,0.0798482670271,0.99999995516,0.000131308743431,-0.000263637234948,5.41540930883e-05,1793248913461754880
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.163599473,634,878,785,810,651.918200263,628.918200263,652,0.401568125287,0.00451041823615,0.0798446529558,0.999999950524,0.000154537458252,-0.000268870699394,5.27201800489e-05,1793248913478421504
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.497570779,745,716,680,658.502429221,634,878,784.497570779,810,651.497570779,628.497570779,652,0.401459340582,0.0045141736949,0.0798397278172,0.999999948102,0.000157037998719,-0.00027656274295,5.1462646149e-05,1793248913495088128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.918048393,680,658.918048393,634,878.081951607,784,809.918048393,651.081951607,628.081951607,652,0.401356456832,0.00451575382086,0.0798344262272,0.999999946068,0.000155244505097,-0.000284995191566,5.041003506e-05,1793248913511754752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715.341518376,680,658.341518376,634,878.658481624,784,809.341518376,651.658481624,628.658481624,652,0.40127304708,0.00451102686233,0.0798280746282,0.999999944254,0.000146854583237,-0.000295604663742,5.04297532284e-05,1793248913528421632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715.233681177,680,658.233681177,634,879,784,809.233681177,651.766318823,628.766318823,652,0.401200347351,0.00450844393901,0.0798233621392,0.99999994308,0.000140754834276,-0.000302493689096,5.02594488935e-05,1793248913545088000
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715.80694727,680,658.80694727,634,879,784,809.80694727,651.19305273,628.19305273,652,0.401143211405,0.00450897672268,0.0798210316013,0.999999943039,0.000137983159496,-0.000303976169661,4.98130043313e-05,1793248913561754880
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.392255457,745.392255457,715.607744543,680,658.607744543,634,878.607744543,784,810,651.392255457,628.392255457,652,0.401097944162,0.00450819536927,0.0798197545842,0.999999942312,0.00013839486574,-0.000306075091017,5.03986809301e-05,1793248913578421504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.983677981,745.983677981,715.016322019,680,658.016322019,634,878.016322019,784,810,651.983677981,628.983677981,652,0.401058703237,0.00450674676489,0.0798190124906,0.999999941232,0.000140422928574,-0.000308487009129,5.1508415373e-05,1793248913595088128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.434706527,746,715,679.434706527,658,634,878.565293473,784,809.434706527,652,628.434706527,652,0.401033227542,0.00450640936201,0.079820238894,0.99999994201,0.000139866300032,-0.000306187692667,5.16407208097e-05,1793248913611754752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.855552641,715.144447359,679,658.144447359,634,879,784,809,651.855552641,628.144447359,652,0.401010603875,0.00450618185413,0.0798209939556,0.999999942506,0.000139824908105,-0.000304569979177,5.17132893403e-05,1793248913628421376
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745.282871464,715.717128536,679,658.717128536,634,879,784,809,651.282871464,628.717128536,652,0.400995277235,0.0045061866487,0.0798201860311,0.999999942024,0.000141528480666,-0.000305369373091,5.16910003643e-05,1793248913645088256
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,716,679.297205223,658.702794777,634,879,784,809.297205223,651,628.702794777,652,0.40098388347,0.00450607939781,0.0798202619444,0.999999942217,0.000141171943883,-0.000304932885396,5.15004446806e-05,1793248913661754880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,716,679.884500435,658.115499565,634,879,784,809.884500435,651,628.115499565,652,0.400976328422,0.00450586278386,0.0798212005361,0.999999943066,0.000138804617956,-0.00030329010378,5.1145650671e-05,1793248913678421504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.532631972,715.532631972,680,658,634,879,784,810,651,628.467368028,652,0.400970660411,0.00450421818274,0.079822028798,0.999999943595,0.000136402330301,-0.000302610947503,5.13030652504e-05,1793248913695088384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.048714415,744.048714415,715.048714415,680,658,634,879,784,809.951285585,651,628.951285585,652,0.400965773594,0.00450203943913,0.079822751783,0.999999944064,0.00013386216682,-0.000302137389245,5.1641043811e-05,1793248913711754752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.62532256,744.62532256,715.62532256,680,658,634,879,784,809.37467744,651,628.37467744,652,0.400964346115,0.00449786071892,0.079822626625,0.999999944777,0.00012992065912,-0.000301335423909,5.25768829329e-05,1793248913728421376
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.201398062,634,879,784,809.201398062,651.201398062,628,652,0.400963974611,0.00448796697939,0.0798232463808,0.999999946486,0.000118837867708,-0.000299942481615,5.42136422099e-05,1793248913745088256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.776485223,634,879,784,809.776485223,651.776485223,628,652,0.400965562439,0.00446746916379,0.0798252483055,0.999999949662,9.45046020505e-05,-0.000297452996194,5.7150941337e-05,1793248913761754880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.641402016,745,715.641402016,680,658.641402016,634.358597984,879,784,809.641402016,652,628,652,0.400966447662,0.00446267310797,0.0798262126621,0.999999950802,8.80678667668e-05,-0.000295502269439,5.76102948255e-05,1793248913778421504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.054822699,745,715.054822699,680,658.054822699,634.945177301,879,784,809.054822699,652,628,652,0.400966886198,0.00446785956336,0.0798265173771,0.999999950892,9.3008984547e-05,-0.000293894062678,5.64942758712e-05,1793248913795088128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.526690949,745,715.526690949,679.473309051,658,634.473309051,878.473309051,784,809.526690949,651.473309051,628,651.473309051,0.400966946178,0.00446966887445,0.0798277163652,0.999999951067,9.61752572503e-05,-0.000292292173728,5.64021284306e-05,1793248913811754752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.893355368,745,715.893355368,679.106644632,658,634,878,784.106644632,810,651,628.106644632,651.106644632,0.400966960001,0.00447026191213,0.0798287637866,0.999999951293,9.78429413306e-05,-0.000290945707259,5.64902174807e-05,1793248913828421376
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.317963016,745,715.317963016,679.682036984,658,634,878,784.682036984,810,651,628.682036984,651.682036984,0.400966942497,0.00446703929253,0.0798287397636,0.99999995173,9.37279829299e-05,-0.000290719066848,5.69065477605e-05,1793248913845088000
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.256969421,745,715.256969421,680,658,634,878.256969421,784.743030579,810,651.256969421,629,652.256969421,0.400967651322,0.00446684770686,0.0798290701355,0.999999952213,9.22138322722e-05,-0.000289563698467,5.67784796523e-05,1793248913861754880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.831333873,745,715.831333873,680,658,634,878.831333873,784.168666127,810,651.831333873,629,652.831333873,0.40096925727,0.00447039989347,0.0798298382371,0.999999952764,9.39120611509e-05,-0.000287261214418,5.59779995217e-05,1793248913878421504
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b42d820a5d536fb410675aa68263b66b6569bfed
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..594d2a92ecf2e909a6db1550a0ac21870ed4fc2a
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4020d27a8bdda4c11370df1de92ab3077ba521d7bba82f1183b562e88d18e1c7
+size 25341644
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e9767aad4a733689a26fc8677d28c8f347e92b5
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,401 @@
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+20,0.333333333,BASELINE,765.387711706,745,716,680,659,634,879,784.387711706,809.612288294,651.387711706,629,652.387711706,0.400965164261,0.00447008145188,0.0798299248082,0.999999952415,9.58235465361e-05,-0.000287937274562,5.54899432591e-05,1793248914532268544
+21,0.350000000,BASELINE,765.190500504,745,715.809499496,680,658.809499496,634,879,784.190500504,810,651.190500504,629,652,0.400965690324,0.00447021423999,0.0798297800303,0.999999952544,9.61256954697e-05,-0.000287371095399,5.55859564471e-05,1793248914548935168
+22,0.366666667,BASELINE,765.766956202,745,715.233043798,680,658.233043798,634,879,784.766956202,810,651.766956202,629,652,0.40096642645,0.00447050857041,0.0798307493822,0.999999952819,9.65069626677e-05,-0.000286357341458,5.52025358144e-05,1793248914565601792
+23,0.383333333,BASELINE,765.659127871,745,715.340872129,680,658.681744258,634,879,785,810,652,628.659127871,652,0.400966293957,0.00446987224512,0.0798307201701,0.999999952947,9.5481546653e-05,-0.000286276921563,5.50976854751e-05,1793248914582268672
+24,0.400000000,BASELINE,765.086935408,745,715.913064592,680,659.826129184,634,879,785,810,652,628.086935408,652,0.400965572008,0.00446860436457,0.0798300133193,0.999999952971,9.35015368489e-05,-0.000286829874389,5.51818765817e-05,1793248914598935296
+25,0.416666667,BASELINE,765.501492314,745,716,680,659.498507686,634,879,785,810,651.498507686,628,652,0.400966316915,0.00446851024262,0.0798305833101,0.999999953394,9.30105557553e-05,-0.000285466274954,5.54019018519e-05,1793248914615601920
+26,0.433333333,BASELINE,766,745,716,680,659,634,878.908843614,784.908843614,809.908843614,651,628.091156386,652,0.400967277116,0.00446891928226,0.0798313272755,0.999999953776,9.31514866306e-05,-0.0002840485144,5.55655988856e-05,1793248914632268544
+27,0.450000000,BASELINE,766,745,716,680,659,634,878.328159625,784.328159625,809.328159625,651,628.671840375,652,0.400967982249,0.00447090113858,0.0798317770852,0.999999953554,9.52533310774e-05,-0.000284183789882,5.52961179223e-05,1793248914648935168
+28,0.466666667,BASELINE,765.749971851,745,716,679.749971851,658.749971851,634,878,784,809,651,629,652,0.400967784676,0.00447122750804,0.0798317174298,0.999999953325,9.55844533026e-05,-0.000284898950493,5.51920053154e-05,1793248914665601792
+29,0.483333333,BASELINE,765.175027984,745,716,679.175027984,658.175027984,634,878,784,809,651,629,652,0.40096641402,0.00446940254479,0.0798309957162,0.999999953086,9.36144925699e-05,-0.000286367681422,5.5302791641e-05,1793248914682268416
+30,0.500000000,BASELINE,765,745,716,679.401020982,658.401020982,634,878,784,809.401020982,651,628.598979018,652,0.40096607594,0.00446816189123,0.0798305785826,0.999999953076,9.30228473811e-05,-0.000286561428771,5.54682784601e-05,1793248914698935296
+31,0.516666667,BASELINE,765,745,716,679.977553591,658.977553591,634,878,784,809.977553591,651,628.022446409,652,0.40096618978,0.00446717696784,0.079830294752,0.999999953169,9.30344385237e-05,-0.000286197164274,5.56577056015e-05,1793248914715601920
+32,0.533333333,BASELINE,765,745,716,680,658.433556656,634,878.566443344,784,810,651.566443344,628.566443344,652,0.400965218698,0.00446970883805,0.0798295396429,0.999999952595,9.58839195765e-05,-0.000287350581437,5.51893584176e-05,1793248914732268544
+33,0.550000000,BASELINE,765,745,716,680,658,634,879.153244356,784,810,652,629,652,0.40096496837,0.00447181270471,0.0798293733392,0.999999952342,9.79396797645e-05,-0.000287602078126,5.48441848633e-05,1793248914748934912
+34,0.566666667,BASELINE,765,745,716,680,658,634,879.732841274,784,810,652,629,652,0.400966845583,0.00447232942024,0.0798308983119,0.99999995308,9.74673170724e-05,-0.000285173219774,5.49158382355e-05,1793248914765601792
+35,0.583333333,BASELINE,765,745,716,680,658,634,879.382668323,784,809.691334161,652,629,652,0.400967870762,0.00447175018207,0.0798315464568,0.999999953434,9.66510181748e-05,-0.000284199666527,5.49599759339e-05,1793248914782268416
+36,0.600000000,BASELINE,765,745,716,680,658,634,878.237470372,784,809.118735186,652,629,652,0.400968167387,0.00447023381887,0.0798314448465,0.999999953463,9.55406272002e-05,-0.000284470511299,5.49805856141e-05,1793248914798935040
+37,0.616666667,BASELINE,765,745,716,680,658,634,878.466952605,784,809.466952605,651.533047395,628.533047395,652.466952605,0.400968662348,0.00446940073575,0.0798318153591,0.99999995381,9.45353733317e-05,-0.000283571194031,5.50437450364e-05,1793248914815601408
+38,0.633333333,BASELINE,765,745,716,679.944875746,658,634.055124254,879,784,810,651.055124254,628.055124254,652.944875746,0.400969028568,0.00446888614356,0.0798322345475,0.999999954159,9.3646734911e-05,-0.00028262005342,5.51138791555e-05,1793248914832268288
+39,0.650000000,BASELINE,765,745,716,679.365643904,658,634.634356096,879,784,810,651.634356096,628.634356096,652.365643904,0.400967677412,0.00446970014674,0.0798319422144,0.999999953746,9.36053367159e-05,-0.000284086755904,5.51444921737e-05,1793248914848935168
+40,0.666666667,BASELINE,765.212825099,745,716,679.212825099,658.212825099,634.787174901,879,784,810,651.787174901,629,652,0.400966663941,0.00446954101196,0.0798314485663,0.999999953395,9.35535396648e-05,-0.000285335271571,5.51539792332e-05,1793248914865601792
+41,0.683333333,BASELINE,765.789988155,745,716,679.789988155,658.789988155,634.210011845,879,784,810,651.210011845,629,652,0.400966228556,0.00446771595006,0.0798306102844,0.999999953153,9.34839406841e-05,-0.000286210270403,5.51273004975e-05,1793248914882268416
+42,0.700000000,BASELINE,765.641911651,745,716,680,659,634,879,784,810,651.358088349,628.641911651,652,0.400967069508,0.0044677407002,0.079831176874,0.999999953314,9.43004350236e-05,-0.000285381454256,5.50985875402e-05,1793248914898935296
+43,0.716666667,BASELINE,765.078995468,745,716,680,659,634,879,784,810,651.921004532,628.078995468,652,0.40096864053,0.0044688235496,0.0798325470551,0.999999953704,9.56237779593e-05,-0.000283578049728,5.50687110017e-05,1793248914915601920
+44,0.733333333,BASELINE,765,745,716,680,658.479192077,634,879,784,810,651.479192077,628,652,0.400967514109,0.00446811168252,0.0798319398871,0.999999953416,9.49852154861e-05,-0.000284758164664,5.53091641509e-05,1793248914932268544
+45,0.750000000,BASELINE,765,745,716,680,658.120415224,634,879,784.120415224,810,651,628,652,0.400966617463,0.00446775008392,0.0798314273911,0.999999953186,9.45598908801e-05,-0.000285682588537,5.54177838309e-05,1793248914948935424
+46,0.766666667,BASELINE,765,745,716,680,658.696494398,634,879,784.696494398,810,651,628,652,0.400968256568,0.0044698225698,0.0798324945914,0.999999953602,9.61533882013e-05,-0.000283796472098,5.48605437448e-05,1793248914965603072
+47,0.783333333,BASELINE,765,745,716,680,658.727478637,634.272521363,878.727478637,784.727478637,810,651.272521363,628.272521363,652,0.400969046234,0.00447090530147,0.0798333101046,0.999999953849,9.75707322273e-05,-0.000282465990681,5.47295403031e-05,1793248914982269952
+48,0.800000000,BASELINE,765,745,716,680,658.151509734,634.848490266,878.151509734,784.151509734,810,651.848490266,628.848490266,652,0.400968890065,0.00447088596025,0.0798338453689,0.999999953911,9.87919329918e-05,-0.000281754198434,5.50731434782e-05,1793248914998935808
+49,0.816666667,BASELINE,765.424540741,745,715.575459259,680,658.424540741,634.575459259,878,784,810,652,628.575459259,652,0.400969035277,0.0044700889107,0.0798336199793,0.999999953947,9.79203061312e-05,-0.000281911625965,5.51647708522e-05,1793248915015602432
+50,0.833333333,BASELINE,766,745,715.000637816,680.000637816,658.999362184,634,878.000637816,784,809.999362184,651.999362184,628.000637816,652,0.400969285353,0.00446901520985,0.0798331217526,0.999999953971,9.63034836472e-05,-0.000282381717387,5.51668304081e-05,1793248915032269056
+51,0.850000000,BASELINE,766,745,715.592985689,680.592985689,658.407014311,634,878.592985689,784,809.407014311,651.407014311,628.592985689,652,0.400967019803,0.00446882270605,0.079831395925,0.999999953179,9.63883980771e-05,-0.000285076365226,5.55161983779e-05,1793248915048935936
+52,0.866666667,BASELINE,766,745,716,680.819641589,658.180358411,634.180358411,879,784,809,651,628.819641589,652,0.400965816211,0.00446847445375,0.0798305818834,0.999999952873,9.56695429341e-05,-0.000286360295607,5.56681415376e-05,1793248915065602560
+53,0.883333333,BASELINE,766,745,716,680.243194917,658.756805083,634.756805083,879,784,809,651,628.243194917,652,0.400966944806,0.00446778415946,0.0798317702312,0.999999953641,9.31855153744e-05,-0.000284546124559,5.53865165996e-05,1793248915082268928
+54,0.900000000,BASELINE,765.664311702,745,716,680,658.664311702,634.664311702,879,784,809.335688298,651,628.335688298,652,0.400967660458,0.00446765481878,0.0798325362873,0.999999954008,9.2483946862e-05,-0.000283502800788,5.52887042373e-05,1793248915098935552
+55,0.916666667,BASELINE,765.083650412,745,716,680,658.083650412,634.083650412,879,784,809.916349588,651,628.916349588,652,0.400968074759,0.00446793484148,0.0798329941704,0.999999954087,9.30831516105e-05,-0.000283022013132,5.53250315545e-05,1793248915115602176
+56,0.933333333,BASELINE,765.499765158,745,715.500234842,680,658,634,879,784,809.500234842,651.499765158,628.500234842,652,0.400966468199,0.00446932796397,0.0798320394734,0.999999953487,9.5097136255e-05,-0.000284485097528,5.52396581119e-05,1793248915132268800
+57,0.950000000,BASELINE,765.917106055,745,715.082893945,680,658,634,879,784,809,651.917106055,628.082893945,652,0.400965114461,0.00447087953052,0.0798311573297,0.999999952939,9.72530203085e-05,-0.000285707887646,5.50864182072e-05,1793248915148935680
+58,0.966666667,BASELINE,765.338464965,745,715.661535035,680,658,634,879,784,809,651.338464965,628.661535035,652,0.400967306844,0.00447225826941,0.0798321309366,0.999999953426,9.88334720361e-05,-0.000283536973804,5.46498021484e-05,1793248915165602560
+59,0.983333333,BASELINE,765,745,716,679.761786692,658.238213308,634,879,784,809.238213308,651.238213308,629,652,0.400967997231,0.00447251750739,0.0798324576279,0.999999953569,9.91199020428e-05,-0.000282950485721,5.45506568039e-05,1793248915182269184
+60,1.000000000,BASELINE,765,745,716,679.187874407,658.812125593,634,879,784,809.812125593,651.812125593,629,652,0.400966570953,0.00447119910361,0.0798318726619,0.999999953233,9.75827491594e-05,-0.000284596828524,5.49270875695e-05,1793248915198935808
+61,1.016666667,BASELINE,765,745,716,679.395742861,658.604257139,633.604257139,879,784.395742861,810,652,629,652,0.400965732438,0.00447073125005,0.0798310953172,0.99999995293,9.72310595158e-05,-0.000285771680964,5.49579592417e-05,1793248915215602432
+62,1.033333333,BASELINE,765,745,716,679.98408325,658.01591675,633.01591675,879,784.98408325,810,652,629,652,0.400965179971,0.00447067733673,0.0798302243468,0.999999952645,9.74563034066e-05,-0.000286717071479,5.48206564674e-05,1793248915232269056
+63,1.050000000,BASELINE,765,745,716,680,658.541584872,633.541584872,878.458415128,784.458415128,810,651.458415128,628.458415128,652,0.400964389601,0.00446899411438,0.0798297386367,0.999999952578,9.50954217152e-05,-0.000287726824439,5.49085880052e-05,1793248915248935424
+64,1.066666667,BASELINE,765,745,716,680,659,634,878.106242489,784.106242489,810,651,628.106242489,652,0.400964081769,0.00446755539241,0.079829690762,0.999999952647,9.3266065336e-05,-0.000288063397882,5.50229182744e-05,1793248915265602304
+65,1.083333333,BASELINE,765,745,716,680,659,634,878.708297457,784.708297457,810,651,628.708297457,652,0.400966056722,0.00446746913152,0.0798316361849,0.999999953349,9.42528189728e-05,-0.000285250024944,5.52312187205e-05,1793248915282268672
+66,1.100000000,BASELINE,765,745,716,679.703888272,659,634,878.703888272,784.703888272,810,651.296111728,628.703888272,652,0.400966735846,0.00446770078376,0.0798321382197,0.999999953555,9.45144355919e-05,-0.000284423445394,5.53217119709e-05,1793248915298935808
+67,1.116666667,BASELINE,765,745,716,679.129458969,659,634,878.129458969,784.129458969,810,651.870541031,628.129458969,652,0.400966197012,0.00446823124488,0.0798312836032,0.999999953299,9.40944905802e-05,-0.00028546426761,5.53014773672e-05,1793248915315602944
+68,1.133333333,BASELINE,765,745,716,679,659,634,878.45570889,784,809.54429111,651.54429111,628,652,0.400965779192,0.00446867088562,0.0798312223381,0.999999953123,9.49630420619e-05,-0.000285822837104,5.51558927926e-05,1793248915332269568
+69,1.150000000,BASELINE,765.043336005,744.956663995,716,679.043336005,659,634,878.956663995,784,809,651,628,651.956663995,0.400965583993,0.00446905071577,0.0798314645545,0.999999953029,9.60801184181e-05,-0.000285810886462,5.49833655606e-05,1793248915348936192
+70,1.166666667,BASELINE,765.62273651,744.37726349,716,679.62273651,659,634,878.37726349,784,809,651,628,651.37726349,0.400967707082,0.00446901754406,0.0798326056329,0.999999953684,9.56342710097e-05,-0.00028367097404,5.49286804706e-05,1793248915365602816
+71,1.183333333,BASELINE,766,744.200930254,716,680,658.799069746,634,878,784,809.200930254,651,628,651.200930254,0.40096852212,0.00446921885673,0.0798330268522,0.999999953932,9.56936371933e-05,-0.000282776381995,5.49136035727e-05,1793248915382269184
+72,1.200000000,BASELINE,766,744.776871829,716,680,658.223128171,634,878,784,809.776871829,651,628,651.776871829,0.400966895844,0.00446985780532,0.079832104544,0.999999953427,9.66959216174e-05,-0.000284206025138,5.49724504284e-05,1793248915398935552
+73,1.216666667,BASELINE,766,745,716,680,658,634,878,784,810,651.351733607,628,652,0.40096591144,0.00446946513958,0.079831304249,0.999999953141,9.57324086041e-05,-0.000285520653305,5.50648328878e-05,1793248915415602176
+74,1.233333333,BASELINE,766,745,716,680,658,634,878,784,810,651.92591246,628,652,0.400965332971,0.00446842005475,0.0798305811184,0.999999952988,9.35256754257e-05,-0.000286762543,5.51784241089e-05,1793248915432268800
+75,1.250000000,BASELINE,766,745,716,680,658.503212178,634,878.503212178,784,809.496787822,651.496787822,628,652,0.400967776289,0.00446851098617,0.0798320826702,0.999999954033,9.26965223969e-05,-0.000283448714379,5.47606572392e-05,1793248915448935424
+76,1.266666667,BASELINE,765.917006003,745,716,680,659,634,878.917006003,784,809,651.082993997,628,652,0.40096999686,0.00446884438639,0.0798336190913,0.99999995497,9.24664950216e-05,-0.00028026580996,5.44069539821e-05,1793248915465602304
+77,1.283333333,BASELINE,765.324832745,745,716,680,659,634,878.324832745,784,809,651.675167255,628,652,0.400968104321,0.00446963283102,0.0798333474088,0.999999954242,9.46600900565e-05,-0.000282026871541,5.49292451346e-05,1793248915482268928
+78,1.300000000,BASELINE,765,745,716,680,659,634,878,784.2596798,809.2596798,651.7403202,628,652,0.400966814394,0.00447038041911,0.0798326866387,0.999999953602,9.62320288302e-05,-0.000283734159733,5.50480896858e-05,1793248915498935552
+79,1.316666667,BASELINE,765,745,716,680,659,634,878,784.834884136,809.834884136,651.165115864,628,652,0.400966256675,0.00447107836432,0.0798315531068,0.999999953076,9.70486225806e-05,-0.000285376110323,5.46767254825e-05,1793248915515602176
+80,1.333333333,BASELINE,765,745,716,679.581069438,658.581069438,634,878.418930562,784.581069438,810,651,628,652,0.40096550406,0.00447006986753,0.0798306993291,0.999999952859,9.53230126717e-05,-0.000286736093064,5.45706284021e-05,1793248915532269056
+81,1.350000000,BASELINE,765,745,716,679,658,634,879,784,810,651,628,652.006440715,0.400964703615,0.00446840280317,0.0798299860939,0.99999995277,9.26275755093e-05,-0.000287928392766,5.45721544196e-05,1793248915548935680
+82,1.366666667,BASELINE,765,745,716,679,658,634,879,784,810,651,628,652.585377251,0.400966626748,0.00446926949821,0.0798317531352,0.999999953607,9.4710034872e-05,-0.000284307186953,5.46463313187e-05,1793248915565602304
+83,1.383333333,BASELINE,765.164167488,745,716,679.164167488,658.164167488,634,878.835832512,784.164167488,810,651,628,652.835832512,0.400967754653,0.00446980328504,0.0798327697583,0.999999954064,9.59817302515e-05,-0.000282262937122,5.46579697633e-05,1793248915582268928
+84,1.400000000,BASELINE,765.742588681,745,716,679.742588681,658.742588681,634,878.257411319,784.742588681,810,651,628,652.257411319,0.400966875912,0.00446949702473,0.0798318928063,0.999999953598,9.52075765116e-05,-0.000284197914485,5.4511801178e-05,1793248915598935552
+85,1.416666667,BASELINE,766,745,716,680,658.68065836,634,878.31934164,784.68065836,810,651.31934164,628.31934164,652,0.400967013581,0.00446886657346,0.0798320254185,0.999999953595,9.4709191348e-05,-0.000284364027736,5.4565664431e-05,1793248915615602432
+86,1.433333333,BASELINE,766,745,716,680,658.105243157,634,878.894756843,784.105243157,810,651.894756843,628.894756843,652,0.400967966289,0.00446797616007,0.0798329675797,0.999999953965,9.44319394399e-05,-0.000283111724735,5.4779929153e-05,1793248915632269568
+87,1.450000000,BASELINE,765.517530359,745,716,679.517530359,658.482469641,634,879,784.482469641,810,651.517530359,629,652,0.400967075154,0.00446909736862,0.0798321343284,0.999999953442,9.5878508831e-05,-0.000284478412319,5.47299976945e-05,1793248915648935936
+88,1.466666667,BASELINE,765.071542942,745,715.928457058,679.071542942,659,634,879,784.928457058,810,651.071542942,628.928457058,652,0.400965945642,0.00447038615959,0.0798311045605,0.999999952833,9.74292217815e-05,-0.000286097638505,5.46792477229e-05,1793248915665602304
+89,1.483333333,BASELINE,765.650737631,745,715.349262369,679.650737631,659,634,879,784.349262369,810,651.650737631,628.349262369,652,0.400966053258,0.00446966898992,0.079831500269,0.99999995307,9.69809446139e-05,-0.000285349041402,5.5042316065e-05,1793248915682268672
+90,1.500000000,BASELINE,765.772183882,745,715,680,658.772183882,634,879,784,810,652,628,652,0.400966434533,0.00446964380683,0.0798320026887,0.999999953316,9.70020413898e-05,-0.000284452749901,5.51782609436e-05,1793248915698935552
+91,1.516666667,BASELINE,765.198319912,745,715,680,658.198319912,634,879,784,810,652,628,652,0.400967231494,0.00447066973674,0.0798326672004,0.999999953574,9.7736107272e-05,-0.000283332113814,5.49692100649e-05,1793248915715602176
+92,1.533333333,BASELINE,765,745,715.384426313,680,658,634,879,784.384426313,809.615573687,651.615573687,628.384426313,652,0.400967880226,0.00446963532207,0.0798330453727,0.999999954046,9.49939020529e-05,-0.000282631065177,5.48024662228e-05,1793248915732269056
+93,1.550000000,BASELINE,765,745,715.971863195,680,658,634,879,784.971863195,809.028136805,651.028136805,628.971863195,652,0.400968450681,0.00446751286615,0.0798332723328,0.999999954614,9.04159230427e-05,-0.000282151595146,5.465806416e-05,1793248915748935936
+94,1.566666667,BASELINE,765.550428759,745,716,680,658,634,879,784.449571241,809,651.550428759,629,652,0.40096829336,0.00446985743204,0.0798329607605,0.99999995412,9.4028724144e-05,-0.000282705722189,5.47445090431e-05,1793248915765602816
+95,1.583333333,BASELINE,766,745,716,680,658.128568146,634,878.871431854,784,809,651.871431854,628.871431854,652,0.400967768901,0.00447173509044,0.0798324477785,0.999999953565,9.72306437056e-05,-0.000283573670383,5.47899105213e-05,1793248915782269440
+96,1.600000000,BASELINE,766,745,716,680,658.706778034,634,878.293221966,784,809,651.293221966,628.293221966,652,0.400966088493,0.00447119390743,0.0798313251551,0.999999953034,9.75545061595e-05,-0.000285357295892,5.46511557373e-05,1793248915798936064
+97,1.616666667,BASELINE,765.716579208,745,716,680,659,634,878.283420792,784,809.283420792,651,628.283420792,652,0.400965218113,0.00447034485553,0.0798307775683,0.999999952843,9.66730094646e-05,-0.000286313140266,5.47107613891e-05,1793248915815602688
+98,1.633333333,BASELINE,765.141548893,745,716,680,659,634,878.858451107,784,809.858451107,651,628.858451107,652,0.400965181165,0.00446917903968,0.0798308216324,0.999999953001,9.45513277798e-05,-0.000286417286743,5.49744586109e-05,1793248915832269056
+99,1.650000000,BASELINE,765,745,716,679.556103524,659,634,879,784,810,651.443896476,628.556103524,652,0.40096629003,0.00446951143209,0.0798315539013,0.999999953302,9.50620587482e-05,-0.000285236609206,5.47710659077e-05,1793248915848935424
+100,1.666666667,BASELINE,765.032374276,745,716,679.032374276,659,634,879,784,810,651.967625724,628,652,0.400967736332,0.00447026021346,0.0798324778234,0.999999953667,9.62427632667e-05,-0.000283620396305,5.44308627552e-05,1793248915865602048
+101,1.683333333,BASELINE,765.614593672,745,716,679.614593672,659,634,879,784,810,651.385406328,628,652,0.400968559027,0.00446977195585,0.0798328400334,0.999999954399,9.42030668865e-05,-0.000281732620208,5.43575285202e-05,1793248915882268672
+102,1.700000000,BASELINE,765.80537031,745,716,679.80537031,658.80537031,634,879,784,809.80537031,651,628.19462969,652,0.400968668614,0.00446941665531,0.0798329629874,0.999999954693,9.34447610414e-05,-0.000280916295083,5.44797224283e-05,1793248915898935296
+103,1.716666667,BASELINE,765.22960993,745,716,679.22960993,658.22960993,634,879,784,809.22960993,651,628.77039007,652,0.40096738177,0.00446932171601,0.0798326174217,0.999999954139,9.51957193659e-05,-0.000282198123089,5.49848064191e-05,1793248915915601920
+104,1.733333333,BASELINE,765.344359397,745,716,679.344359397,658,634,878.655640603,784,809.344359397,651.344359397,629,652,0.400966791582,0.00446884340201,0.079832140552,0.999999953946,9.48852050445e-05,-0.000282998548359,5.49300608178e-05,1793248915932268800
+105,1.750000000,BASELINE,765.917140732,745,716,679.917140732,658,634,878.082859268,784,809.917140732,651.917140732,629,652,0.400966663503,0.00446811078628,0.0798315765852,0.999999953991,9.32072661012e-05,-0.000283479647648,5.45039667227e-05,1793248915948935936
+106,1.766666667,BASELINE,766,745,716,680,658,634,878.506562143,784.506562143,810,651.493437857,629,652,0.400966143704,0.00446879503406,0.0798306552678,0.999999953557,9.33887985035e-05,-0.00028493997161,5.45411937087e-05,1793248915965602560
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878,784,810,651,629,652,0.400965889379,0.00447059694271,0.0798309550783,0.999999953498,9.47797892666e-05,-0.000284698180178,5.44704408456e-05,1793248916008382464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.57634885,784,810,651,629,652,0.400967376097,0.00446990120269,0.0798321527148,0.999999953958,9.4679916356e-05,-0.000283143661917,5.43143230247e-05,1793248916025049088
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.155581261,745,716,680,659.155581261,634,878.844418739,784,810,651,628.844418739,652,0.400968426214,0.00446979261675,0.0798329813535,0.999999954225,9.49814393888e-05,-0.000282119551817,5.41887882669e-05,1793248916041715712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.742814085,745,716,680,659.742814085,634,878.257185915,784,810,651,628.257185915,652,0.400968265004,0.00447131305705,0.0798327862287,0.999999953966,9.63966131324e-05,-0.00028256702933,5.41481044824e-05,1793248916058382592
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.674817475,745,715.674817475,680,659.349634951,634,878,784,810,651.325182525,628.325182525,652,0.400967203795,0.00447154340244,0.0798322096408,0.999999953563,9.68032375079e-05,-0.000283802042326,5.440363234e-05,1793248916075049216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.096239595,745,715.096239595,680,658.192479191,634,878,784,810,651.903760405,628.903760405,652,0.400965441272,0.00447076845369,0.0798313358016,0.999999953047,9.64239594008e-05,-0.000285650734744,5.48899802739e-05,1793248916091716096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.481404881,745,715.481404881,680,658.481404881,634,878.481404881,784,809.518595119,651.518595119,628.518595119,652,0.400965401048,0.00446904879415,0.0798316034681,0.999999953323,9.40308813244e-05,-0.000285487987086,5.4860747312e-05,1793248916108382208
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,716,679.941609825,658.941609825,634,879,784,809.058390175,651.058390175,628.058390175,652,0.400965993758,0.00446750902566,0.0798322215629,0.99999995376,9.18553297765e-05,-0.000284687383311,5.4740185309e-05,1793248916125048576
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,716,679.368791219,658.368791219,634,879,784,809.631208781,651.631208781,628.631208781,652,0.400969135157,0.00446921481183,0.0798339203757,0.999999954271,9.51362302402e-05,-0.000281803001218,5.4721322465e-05,1793248916141715200
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.789667018,745,716,679,658,634,878.789667018,784.210332982,810,651.789667018,629,652,0.40097664994,0.00447017102299,0.0798376299754,0.999999955724,9.69253374461e-05,-0.000275995118373,5.46197652278e-05,1793248916158381824
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.199145156,745,716,679,658,634,878.199145156,784.800854844,810,651.199145156,629,652,0.400992069862,0.00446977233434,0.0798449741869,0.999999958826,9.60179427595e-05,-0.000264902841212,5.43687331501e-05,1793248916175048448
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,716,679,658.384487665,634,878.384487665,785,810,651.384487665,629,652,0.401027253353,0.00446937115722,0.0798589585442,0.999999965423,9.3463814196e-05,-0.00023980495675,5.39647265826e-05,1793248916191715584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,716,679,658.96461517,634,878.96461517,785,810,651.96461517,629,652,0.401072493193,0.00446896871385,0.0798763216247,0.999999972968,9.0071773667e-05,-0.000207580562141,5.3482881547e-05,1793248916208382976
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,879,784.459932675,809.459932675,651.459932675,628.459932675,652,0.401139621267,0.00447029597069,0.0798945064411,0.99999997972,9.28228624554e-05,-0.000170909633999,5.22800592212e-05,1793248916225049344
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,716,679,658.885182608,634,878.885182608,784,809.114817392,651.114817392,628.114817392,652.114817392,0.40121032317,0.00447178781218,0.0799110888243,0.999999984554,9.49835961243e-05,-0.000138864751881,5.0857004882e-05,1793248916241715712
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,716,679,658.312022722,634,878.312022722,784,809.687977278,651.687977278,628.687977278,652.687977278,0.40128961586,0.00447348814667,0.0799210613406,0.999999986476,9.31947432779e-05,-0.000126439692428,4.87417524202e-05,1793248916258382080
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715.729666449,679,658,634,878,784,810,652,628.729666449,652.729666449,0.401375548339,0.00447494691758,0.0799279904917,0.999999987924,9.14376865202e-05,-0.000116818973721,4.63081815238e-05,1793248916275048704
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.136321804,679,658,634,878,784,810,652,628.136321804,652.136321804,0.401469414442,0.00447611705344,0.0799312832433,0.999999988919,8.97186217957e-05,-0.00011054905396,4.34942643856e-05,1793248916291715072
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.446355466,745,715.446355466,679,658.446355466,634,878,784,809.553644534,652,628.446355466,652,0.401580732774,0.00447657092661,0.0799333447591,0.999999989638,8.71737469617e-05,-0.000107381598873,3.99197000925e-05,1793248916308381440
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,716,679.025548242,658.974451758,634,878.025548242,784,809,652,629,652,0.401698866822,0.00447693086055,0.0799352884235,0.999999990307,8.44805000391e-05,-0.000104623761604,3.60892382116e-05,1793248916325048320
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,716,679.598260359,658.401739641,634,878.598260359,784,809,652,629,652,0.401851482646,0.00447985459385,0.0799425735571,0.999999991857,8.38850882596e-05,-9.08192559592e-05,3.16374703136e-05,1793248916341715200
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658.175745572,634,879,784,809.175745572,651.824254428,628.824254428,652,0.402012642138,0.00448257054469,0.0799492292387,0.999999993215,8.17539057773e-05,-7.86020634557e-05,2.66172446487e-05,1793248916358381824
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,680,658.764446201,634,879,784,809.764446201,651.235553799,628.235553799,652,0.402193876944,0.00448479826199,0.0799544058754,0.999999994448,7.60140733046e-05,-7.01146339679e-05,2.02612960174e-05,1793248916375048448
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.349583605,716,680,659,634,879,784,809.650416395,651,628.349583605,652,0.40239257073,0.00448805609215,0.079957869278,0.999999995322,7.11077502797e-05,-6.4157991626e-05,1.3566386255e-05,1793248916391715072
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.932344346,716,680,659,634,879,784,809.067655654,651,628.932344346,652,0.402602909916,0.00449200102217,0.07996018993,0.999999995956,6.67573891009e-05,-5.98894187384e-05,6.64538405809e-06,1793248916408381440
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492110741,745.492110741,716,680,659,634,878.492110741,784,809.507889259,651,629,652,0.402828431852,0.00449513856506,0.0799540901066,0.999999995637,5.85006371436e-05,-7.28210811715e-05,-1.14536263653e-06,1793248916425048064
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.082620432,745,716,680,658.917379568,634,878,784,810,651,628.917379568,652,0.403062728146,0.00449821752035,0.0799472309273,0.999999994933,5.00313313199e-05,-8.68765587818e-05,-9.11220665552e-06,1793248916441714944
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.658151353,745,716,680,658.341848647,634,878,784,810,651,628.341848647,652,0.403337474991,0.00450157960588,0.0799424396562,0.999999994475,4.33549418342e-05,-9.41587518924e-05,-1.74481211665e-05,1793248916458381568
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,716,679.760577391,658.239422609,634,878.239422609,784.239422609,810,651.239422609,628,652,0.403636635644,0.00450650568681,0.0799414038824,0.999999993762,5.18239934743e-05,-9.65132490344e-05,-2.18188449914e-05,1793248916475047936
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,716,679.170908761,658.829091239,634,878.829091239,784.829091239,810,651.829091239,628,652,0.403971510698,0.00451371970168,0.0799458619428,0.999999992193,8.24489751615e-05,-9.16591286298e-05,-2.03889788577e-05,1793248916491714560
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,716,679,658.588364117,634,879,784.588364117,810,651.588364117,628,652,0.404336855317,0.00452191022617,0.079950061796,0.999999992208,9.18060380367e-05,-8.22540958322e-05,-1.97520864705e-05,1793248916508381440
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,716,679,658.008727005,634,879,784.008727005,810,651.008727005,628,652,0.404714635493,0.00453049929401,0.0799541562669,0.999999993015,9.24830102165e-05,-7.0991696242e-05,-1.94388310277e-05,1793248916525048064
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.433567587,745,716,679.566432413,658.566432413,634,878.433567587,784.566432413,810,651.566432413,628,652,0.405129942176,0.00453642625949,0.0799536804821,0.999999995651,5.95415928039e-05,-6.74449861735e-05,-2.45825346153e-05,1793248916541714944
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658.855572739,634,878.144427261,784.855572739,810,651.855572739,628,652,0.405553517113,0.00454302890795,0.0799509088099,0.999999996359,4.046787674e-05,-6.92198414254e-05,-2.92208692307e-05,1793248916558381824
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.268681752,634,878.731318248,784.268681752,810,651.268681752,628,652,0.406000665014,0.00455182622747,0.0799413175411,0.999999993565,6.5453264221e-05,-8.69363840325e-05,-3.20554167879e-05,1793248916575049728
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,879,784,810,651,628,652.314094407,0.406472454972,0.00456270894253,0.079934335946,0.999999990378,9.10550659099e-05,-9.95738582128e-05,-3.22134504839e-05,1793248916591716352
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,879,784,810,651,628,652.893396251,0.406965051644,0.00457535247441,0.079929557843,0.999999986858,0.000117177343274,-0.000107922793403,-3.01115544591e-05,1793248916608382208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.471023693,634,878.528976307,784,810,651,628,652.528976307,0.407482290817,0.00458508076274,0.0799256455788,0.999999984496,0.000127029136118,-0.000117806449731,-3.1508643904e-05,1793248916625048832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,716,680.0479985,659,634,878.0479985,784,810,651,628,652,0.408008059406,0.00459428395193,0.07992129972,0.999999982244,0.000133499536018,-0.000128695753667,-3.35873324163e-05,1793248916641715968
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,716,680.621960077,659,634,878.621960077,784,810,651,628,652,0.408566395191,0.00460493744815,0.0799100628662,0.999999978386,0.00014312534431,-0.000146812181905,-3.44880628024e-05,1793248916658381824
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,716,680.798992476,659,634,879,784,810,651.201007524,628.201007524,652,0.409164808901,0.00461500801519,0.0799132494383,0.99999997784,0.000151637331817,-0.000141555190912,-3.58831468688e-05,1793248916675047936
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,716,680.210131641,659,634,879,784,810,651.789868359,628.789868359,652,0.409840554787,0.0046239537928,0.0799442666781,0.999999982629,0.000158000149895,-9.11981057715e-05,-3.82321091218e-05,1793248916691714816
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659.373350718,634,879,784,810,652,629,652,0.410533197424,0.00463027434197,0.0799740709997,0.999999984333,0.000167309603948,-4.26062266186e-05,-3.90764836709e-05,1793248916708381440
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659.953848898,634,879,784,810,652,629,652,0.411235214921,0.00463513832631,0.0800032023527,0.999999983336,0.000178253949793,5.00625556803e-06,-3.90860625332e-05,1793248916725048320
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.530917187,745.530917187,716,680,660,634,879.530917187,784,810,651.469082813,628.469082813,652,0.411900531943,0.00462697324535,0.0799830748072,0.99999998433,0.000169322402545,-3.2720075657e-05,-3.99968850372e-05,1793248916741714944
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.893379079,745.893379079,716,680,659.893379079,634,880,784,810.106620921,651,628,652,0.412569550479,0.004616817431,0.0799568393559,0.999999983958,0.000156472495596,-7.66418966622e-05,-4.15574165924e-05,1793248916758381568
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.322328981,745.322328981,716,680,659.322328981,634,880,784,810.677671019,651,628,652,0.413268499479,0.00460289192567,0.0799225304553,0.999999983314,0.000134032244776,-0.000115444875322,-4.56089492641e-05,1793248916775049216
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,880,784,811,651,628.258164181,652,0.414011120642,0.00459188278014,0.079908987627,0.999999984286,0.000115295127802,-0.000126411009879,-4.64353738293e-05,1793248916791716352
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,880,784,811,651,628.850895121,652,0.414810338652,0.00458465307664,0.0799223564961,0.999999988804,0.000101357068298,-0.000101302111667,-4.30822340524e-05,1793248916808382464
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,880,784,811.431367531,651,629,652.431367531,0.415607660625,0.00458019169353,0.0799403933907,0.999999991217,9.88257066278e-05,-7.79722500286e-05,-4.14701637753e-05,1793248916825049344
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,716,680.007728606,659.007728606,634,880,784,811.992271394,651,629,652.992271394,0.416404392728,0.00457684515518,0.0799595195937,0.999999992589,0.000100303685108,-5.58639339721e-05,-4.04920671239e-05,1793248916841716480
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,716,680.584741753,659.584741753,634,880,784,811.415258247,651,629,652.415258247,0.417204619683,0.00458708130631,0.0799433160501,0.999999989317,0.000114708415937,-7.96897235303e-05,-4.31079335324e-05,1793248916858382336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.835282865,681,660,634,880,784,811.164717135,651,629,652.164717135,0.418030327106,0.00459445346878,0.0799414418226,0.999999988346,0.000124223791795,-7.62040280164e-05,-4.55003187792e-05,1793248916875048704
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.24770285,681,660,634,880,784,811.75229715,651,629,652.75229715,0.418921448097,0.00459447318064,0.0799763539075,0.999999991534,0.000121187183246,-2.60411197669e-06,-4.73189815226e-05,1793248916891715072
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.334504025,680.665495975,660.334504025,634,880,784,811.665495975,651,629,652.665495975,0.419800768936,0.00459447636294,0.0799851098534,0.999999991576,0.000119289877743,1.65622566595e-05,-4.84016204286e-05,1793248916908381696
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.912794925,680.087205075,660.912794925,634,880,784,811.087205075,651,629,652.087205075,0.420671489774,0.00459446749848,0.079974803177,0.999999991806,0.000118222897892,-3.94260268169e-06,-4.89478444508e-05,1793248916925048320
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.507850388,680.492149612,660.507850388,634,880,784,811,651,629,652,0.421549315807,0.00459271186776,0.0799686748741,0.999999991996,0.000115315832794,-1.60062255972e-05,-4.95450498569e-05,1793248916941715200
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071011037,745.071011037,715.071011037,680.928988963,660,633.928988963,880,784,811.071011037,651.071011037,629,652,0.42243291736,0.00459126316442,0.079967496688,0.999999992186,0.000112839971053,-1.99750535246e-05,-4.99562937007e-05,1793248916958382080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.645039944,745.645039944,715.645039944,680.354960056,660,633.354960056,880,784,811.645039944,651.645039944,629,652,0.423348492746,0.00459418586677,0.0799961275124,0.999999991844,0.000115733228676,2.27787512847e-05,-4.89861203118e-05,1793248916975048704
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.775391492,745.775391492,715.775391492,680,660,633.224608508,880.224608508,784,812,652,629,652.224608508,0.424228326689,0.00459822930723,0.0800023613691,0.999999991458,0.000119678950701,2.13284973784e-05,-4.80150656984e-05,1793248916991715328
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.186846861,745.186846861,715.186846861,680,660,633.813153139,880.813153139,784,812,652,629,652.813153139,0.425050248444,0.00460408869489,0.0799723051283,0.999999989701,0.00012532999495,-5.17461684256e-05,-4.70425830106e-05,1793248917008381952
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.395644344,660,634,881,784,812,651.604355656,629,652.604355656,0.425944527349,0.00460884823359,0.0799403529872,0.999999986064,0.000129506812922,-9.31099120956e-05,-4.92961731669e-05,1793248917025048576
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.975319806,660,634,881,784,812,651.024680194,629,652.024680194,0.426872462613,0.00461309618511,0.0799075189835,0.999999982582,0.000132997904944,-0.000119723544315,-5.30503479867e-05,1793248917041715200
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.55193861,681,660.55193861,634,880.44806139,784,812.55193861,651.55193861,629,652.55193861,0.427773160627,0.00460940505862,0.0799084217435,0.999999982806,0.00013220691095,-0.000119275372538,-5.18022978625e-05,1793248917058381824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.127838079,715.872161921,681,661.127838079,634,880.127838079,784,812.872161921,651.872161921,629,652.872161921,0.428675046414,0.00460587306316,0.0799155849563,0.999999983863,0.000130661220002,-0.000112480334304,-5.05035137587e-05,1793248917075048704
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.701702014,715.298297986,681,661.701702014,634,880.701702014,784,812.298297986,651.298297986,629,652.298297986,0.429585302213,0.00460412804326,0.0799393564832,0.999999986827,0.000127146775281,-8.77398481472e-05,-4.98038275885e-05,1793248917091715840
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.716271327,715,681,661.716271327,633.716271327,881,784,812.283728673,651,629,652.283728673,0.430504076259,0.00460215807094,0.0799731222615,0.999999990395,0.000122595176506,-4.16338622864e-05,-4.94629623389e-05,1793248917108382464
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.125408621,715,681,661.125408621,633.125408621,881,784,812.874591379,651,629,652.874591379,0.431432071181,0.00459994458953,0.080017706736,0.999999991558,0.000116920866562,2.76001056618e-05,-4.9510517777e-05,1793248917125048832
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.457157742,633,881,784,813,651.457157742,629,653,0.432309847215,0.00460496788627,0.0800115438257,0.999999991536,0.000119086649304,1.51442244813e-05,-5.01787798867e-05,1793248917141715200
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.925900696,633,880.962950348,784,813,652,629.037049652,652.962950348,0.433170125881,0.00461170284265,0.0799890177778,0.999999990851,0.000123253204232,-2.23033405421e-05,-5.10755308434e-05,1793248917158381824
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.778835926,633,880.389417963,784,813,652,629.610582037,652.389417963,0.433972964653,0.00461498912133,0.0799275384713,0.999999985393,0.000125803683253,-0.000102926980905,-5.28591882581e-05,1793248917175048448
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.188636002,633.188636002,880.377272004,784,813.188636002,652,630,652.188636002,0.434790496869,0.00461648735372,0.0798939724655,0.999999980107,0.000127373638887,-0.000143583085305,-5.42812287268e-05,1793248917191715072
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.776253611,633.776253611,881.552507223,784,813.776253611,652,630,652.776253611,0.435639107152,0.0046142037128,0.0799194455155,0.999999985472,0.000126869703758,-9.9704379263e-05,-5.49384186733e-05,1793248917208381696
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.36051651,715,681,661,634,881.63948349,784,813.63948349,651.63948349,630,653,0.436489508961,0.00461280940414,0.0799521946221,0.999999989261,0.000123782415579,-5.70955431873e-05,-5.38080965388e-05,1793248917225048576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.942716545,715,681,661,634,881.057283455,784,813.057283455,651.057283455,630,653,0.437341012339,0.00461196195076,0.0799894178132,0.99999999146,0.000119106609793,-1.52675595384e-05,-5.15786236241e-05,1793248917241715712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,661,634,880.481317961,784,813.518682039,651,630,653,0.43817942697,0.00460639056789,0.0800119258148,0.999999992289,0.00010978791698,2.34071041468e-05,-5.31152203755e-05,1793248917258382080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.906578928,715,681,660.906578928,634,880.093421072,784.093421072,814,651,630,653,0.438999346318,0.00460091666978,0.0800269993676,0.999999992117,0.000100789059363,5.12367226114e-05,-5.46196073623e-05,1793248917275048704
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.334637109,715,681,660.334637109,634,880.665362891,784.665362891,814,651,630,653,0.439731845555,0.00459858268097,0.0800122177083,0.99999999362,9.60237327035e-05,2.52785640913e-05,-5.3853859281e-05,1793248917291715072
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715.246175259,681.246175259,660,633.753824741,881.246175259,784.753824741,814,651.246175259,630,652.753824741,0.440418996252,0.00459880444331,0.079974661066,0.999999993688,9.27220066532e-05,-3.4243705373e-05,-5.34212097273e-05,1793248917308381952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715.839496451,681.839496451,660,633.160503549,881.839496451,784.160503549,814,651.839496451,630,652.160503549,0.441042198291,0.00460263021798,0.0799049881077,0.999999984432,9.14841879787e-05,-0.000141096661619,-5.34582812979e-05,1793248917325048576
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715.577489302,681.577489302,660,633,881.577489302,784,814,651.577489302,629.577489302,652,0.441695470133,0.00460524145047,0.0798586024948,0.999999972944,9.50289877113e-05,-0.000204829806817,-5.59118633353e-05,1793248917341715200
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.001690154,715.001690154,681.001690154,660,633,881,784,814,651.001690154,629.001690154,652.001690154,0.442360138131,0.00460738844982,0.0798211852697,0.999999961438,0.000100330086723,-0.000252086700196,-5.92454951415e-05,1793248917358381824
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.576572479,715.576572479,681.576572479,660,633,881,784,814,651.576572479,629.576572479,652.576572479,0.443107959586,0.00460484192604,0.079896581229,0.99999998434,9.97779375351e-05,-0.000134537451172,-5.71274923519e-05,1793248917375048704
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.848480984,745.848480984,715.848480984,682,660.151519016,633.151519016,881,784,814,651.848480984,630,653,0.443826066052,0.00460231007819,0.0799626595327,0.999999993111,9.78571797994e-05,-3.39835555441e-05,-5.51993878143e-05,1793248917391715840
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.273354793,745.273354793,715.273354793,682,660.726645207,633.726645207,881,784,814,651.273354793,630,653,0.444461097419,0.0045998192598,0.0800026881484,0.999999994129,9.21101568649e-05,1.90558405047e-05,-5.3802189997e-05,1793248917408382976
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.310539003,745,715.310539003,682,660.689460997,633.689460997,881.310539003,784.310539003,814,651,630,652.689460997,0.445048407555,0.00460094151412,0.0800158400523,0.999999993557,9.37160148086e-05,3.56352809605e-05,-5.32344678705e-05,1793248917425049856
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.902374759,745,715.902374759,682,660.097625241,633.097625241,881.902374759,784.902374759,814,651,630,652.097625241,0.445592490144,0.00460533661227,0.0800046461175,0.999999993189,0.000101982361915,1.9188054979e-05,-5.34181131051e-05,1793248917441715968
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715.518783791,681.518783791,660.481216209,633,882,784.518783791,814,651,630,652.481216209,0.446113197422,0.00460411887157,0.0799922483606,0.999999993789,9.79301036482e-05,4.55667803957e-08,-5.32168654773e-05,1793248917458382592
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.057289568,715,681.057289568,661,633,881.942710432,784,814.057289568,651,630,653,0.446627324529,0.00460251803422,0.0799800934438,0.999999994145,9.26246206584e-05,-1.75714838391e-05,-5.31166681379e-05,1793248917475049216
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.63154714,715,681.63154714,661,633,881.36845286,784,814.63154714,651,630,653,0.447123741019,0.00460746530592,0.0799722757148,0.999999993572,9.79686781246e-05,-1.66189332171e-05,-5.46144109988e-05,1793248917491715584
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.789060764,715,682,661,633,881.210939236,784,815,651.210939236,630,652.789060764,0.447588624583,0.00461128706778,0.0799618053334,0.999999992844,0.000103315136207,-2.29902901383e-05,-5.5757883129e-05,1793248917508382208
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.200476372,715,682,661,633,881.799523628,784,815,651.799523628,630,652.200476372,0.447997054599,0.00461309382545,0.0799465859014,0.999999991611,0.000108665891523,-4.24736610871e-05,-5.62671031202e-05,1793248917525049088
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.383118513,745,715,681.616881487,660.616881487,633,881.616881487,784,814.616881487,651.616881487,630,652.383118513,0.448362091673,0.00461744704523,0.0799189804094,0.999999987494,0.000117532862855,-8.97794797329e-05,-5.60104913875e-05,1793248917541715968
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.96413613,745,715,681.03586387,660.03586387,633,881.03586387,784,814.03586387,651.03586387,630,652.96413613,0.448704714246,0.00462311563512,0.0798849769214,0.999999978778,0.000128216128696,-0.000151456929882,-5.53582906734e-05,1793248917558382848
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.8890511,745.1109489,715,682,659.8890511,633.8890511,881.2218978,784,815,651.1109489,630,653,0.449341017248,0.00463217557672,0.0798355022289,0.99999996317,0.000148585309066,-0.000220386938839,-5.48774216916e-05,1793248917591715840
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.317213859,745.682786141,715,682,659.317213859,633.317213859,882.365572281,784,815,651.682786141,630,653,0.449648308607,0.00463438164651,0.0798402927423,0.999999963953,0.000155927217857,-0.000211555749294,-5.4998049508e-05,1793248917608382208
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.734413477,715,681.734413477,659,632.734413477,882.468826953,784,815,652,630,653,0.449948566443,0.00463454541618,0.0798456715457,0.999999966285,0.000154462572596,-0.000201219093844,-5.55197103765e-05,1793248917625048832
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.137955073,715,681.137955073,659,632.137955073,881.275910145,784,815,652,630,653,0.450240061785,0.00463216485601,0.0798517832498,0.999999970454,0.000142026582911,-0.000189006905731,-5.65409845353e-05,1793248917641714944
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,681.443864427,659,632.443864427,881.443864427,784,815,651.556135573,630,653,0.45048251271,0.00462437357101,0.0798537153482,0.999999974511,0.000105181641596,-0.000191228245983,-5.7844914032e-05,1793248917658381824
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.021071402,745,715,682,658.978928598,633,882,784,815,651,630,652.978928598,0.450708839574,0.00461574344561,0.0798540621039,0.999999976632,6.361577774e-05,-0.000197942167218,-5.92286127389e-05,1793248917675048704
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.592843772,745,715,682,658.407156228,633,882,784,815,651,630,652.407156228,0.450899426563,0.00462773762818,0.0798458423906,0.999999972315,9.06091566566e-05,-0.000208571184002,-6.0474413446e-05,1793248917691715328
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.833900617,745,715,682.166099383,658.166099383,632.833900617,881.833900617,784,815,651,630,652.166099383,0.451079333994,0.00463957301352,0.0798368914222,0.999999966734,0.000116467756147,-0.000221843022531,-6.1264491589e-05,1793248917708381952
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.256976492,745,715,682.743023508,658.743023508,632.256976492,881.256976492,784,815,651,630,652.743023508,0.451232826926,0.00465101563326,0.0798261317926,0.999999959213,0.000139519625683,-0.000241651527966,-6.09274004416e-05,1793248917725048576
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,682.67092825,659,632.32907175,881,784,814.67092825,651,630,652.67092825,0.451366965688,0.00465178958135,0.0798163483825,0.999999954128,0.000144963509205,-0.000258905019934,-6.08171376802e-05,1793248917741715200
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,682.077551608,659,632.922448392,881,784,814.077551608,651,630,652.077551608,0.451485559524,0.00464399463312,0.0798073490544,0.999999951295,0.000136264957176,-0.00027410637029,-6.08890596436e-05,1793248917758381824
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.500589285,745,715,682,658.499410715,632.499410715,881.500589285,784,814.500589285,651,630,652,0.451583062679,0.00465023406584,0.079801569321,0.99999994715,0.000142674420554,-0.000285353605915,-6.25920945209e-05,1793248917775048448
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.072858944,715,682,658,632.072858944,881.927141056,784,815,651.072858944,630,652.072858944,0.451674252086,0.00465719235154,0.0797958890862,0.999999942772,0.000150129998995,-0.00029630387679,-6.41956667807e-05,1793248917791715072
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765.806931811,745.806931811,715,682.193068189,658,632.806931811,881.193068189,784,815,652,630,652.806931811,0.45181218254,0.00465351891583,0.0797803351226,0.999999935629,0.000148933325233,-0.000320254886119,-6.32196899962e-05,1793248917825048576
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.185809857,745.185809857,715,682.814190143,658,632.185809857,881.814190143,784,815,652,630,652.185809857,0.451871961026,0.00465327931962,0.0797748170553,0.999999933472,0.00014807112371,-0.000327238708164,-6.36036345122e-05,1793248917841715200
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,683,658,632.406271533,882,784,815,652,630,652.406271533,0.451919356914,0.00465727620672,0.0797718229246,0.999999931248,0.00015329329385,-0.000331574970365,-6.37504472976e-05,1793248917858381824
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.139975637,715,682.139975637,657.139975637,632.139975637,881.139975637,784,815.139975637,651.139975637,630,652,0.452005219986,0.00465249903216,0.0797569930163,0.999999924059,0.000149427784611,-0.000354476235701,-6.24421780313e-05,1793248917908381696
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765.801128596,745.801128596,715,682.198871404,658,633,882,784,815,651,630,653,0.452058986625,0.00465823185281,0.0797445655385,0.999999917035,0.000151419491625,-0.000373180872101,-6.1145748435e-05,1793248918025049344
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.226968733,745.226968733,715,682.773031267,658,633,882,784,815,651,630,653,0.452059438817,0.00465815400413,0.0797439655864,0.99999991635,0.000151929499885,-0.000374878119433,-6.06872391529e-05,1793248918041715712
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,682,657.105048218,632,881.894951782,784,815,651,630,652.894951782,0.452061797076,0.00465875194058,0.0797417100809,0.999999915192,0.000155492402235,-0.000376695211815,-5.94945545986e-05,1793248918108382208
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.259296102,745,715,682.259296102,658,632,881.259296102,784,815,651.259296102,630,652.259296102,0.452064085278,0.00465774747727,0.0797433091085,0.999999916729,0.000151843095491,-0.000374074840274,-5.96107537853e-05,1793248918141715456
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,683,658,632,881.159999539,784,815,651.159999539,630,653,0.452063447823,0.00465504212675,0.0797410591541,0.999999915647,0.000150923462975,-0.000377463753131,-5.87246410979e-05,1793248918225048576
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+242,4.033333333,HOLD_POSE2,765,745,715,683,658,632,882,784,815,652,630,653,0.45206529562,0.00465597899673,0.0797417851817,0.999999916345,0.000148135340146,-0.00037663382323,-5.92698042221e-05,1793248918277581056
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+252,4.200000000,HOLD_POSE2,765.788591025,745,715,682,657,632,881.788591025,783.788591025,815,651.211408975,630,652.211408975,0.452065777388,0.0046562043865,0.0797406006254,0.999999915681,0.00014893416778,-0.000378308244633,-5.77930784707e-05,1793248918444247552
+253,4.216666667,HOLD_POSE2,766,744.628066525,715,682,657.371933475,632.371933475,882.371933475,783.628066525,815,651,630,652.371933475,0.452066435815,0.00465607182618,0.0797411470708,0.999999916102,0.000148671010215,-0.00037722523833,-5.82586821088e-05,1793248918460913920
+254,4.233333333,HOLD_POSE2,766,744.039246701,715,682,657.960753299,632.960753299,882.960753299,783.039246701,815,651,630,652.960753299,0.452066106944,0.00465530357938,0.079741318392,0.999999916307,0.000147276482086,-0.00037710983066,-5.90289520193e-05,1793248918477580032
+255,4.250000000,HOLD_POSE2,765.45838154,744.54161846,715,682.54161846,657.45838154,632.45838154,882.45838154,783.54161846,815,651,630,653,0.452066854883,0.00465582480541,0.0797417077306,0.999999916246,0.000147610107301,-0.000377174880991,-5.88106059403e-05,1793248918494246656
+256,4.266666667,HOLD_POSE2,765.121266183,745,715,682.878733817,657.121266183,632.121266183,882,784,815,651.121266183,630,653,0.452067404099,0.00465618297784,0.0797419324908,0.999999916191,0.00014785976543,-0.000377271674761,-5.85012453216e-05,1793248918510913280
+257,4.283333333,HOLD_POSE2,765.698472549,745,715,682.301527451,657.698472549,632.698472549,882,784,815,651.698472549,630,653,0.452066917031,0.00465558187207,0.0797414799264,0.999999916228,0.000147329710939,-0.000377439365335,-5.81151297984e-05,1793248918527579904
+258,4.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,632,882,784,815,652,630,652,0.452067224675,0.00465507210825,0.0797411278871,0.999999915635,0.000148356743557,-0.000378650473237,-5.78334369722e-05,1793248918565592064
+259,4.316666667,POSE2_TO_POSE3_RETREAT,765.595508702,745,715,682,658,632,882,784,815,652,630,652.595508702,0.452068235329,0.00465414786896,0.0797416628419,0.999999916031,0.000148470047015,-0.00037758892102,-5.76377016945e-05,1793248918582258688
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.186352828,658,632,882,783.813647172,815,651.813647172,630,653,0.452068191653,0.00465382025765,0.0797415265091,0.999999915978,0.000148759860702,-0.000377634599333,-5.75012989418e-05,1793248918598925056
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.767319529,658,632,882,783.232680471,815,651.232680471,630,653,0.452065915368,0.00465475604358,0.0797399686828,0.999999914974,0.00014942344596,-0.000380024907977,-5.74905365186e-05,1793248918615590912
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.657549162,658,632,882.342450838,783.342450838,815,651,630,653,0.452066164016,0.0046551671101,0.0797398433815,0.999999915081,0.00014868218573,-0.000380014310823,-5.76329893917e-05,1793248918632257280
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.086316354,658,632,882.913683646,783.913683646,815,651,630,653,0.452068099503,0.004655227626,0.0797406751108,0.999999915927,0.000147002386893,-0.000378399734503,-5.78778011841e-05,1793248918648923904
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.491012506,715,682,657.508987494,632,883,783.508987494,815,651,630,652.508987494,0.452066801828,0.00465407915723,0.079740044764,0.999999915625,0.000146114667918,-0.000379559463755,-5.77472793166e-05,1793248918665590784
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.929133206,745.929133206,714.929133206,682.070866794,657,632,882.858266411,783.070866794,815,651.070866794,630,652.070866794,0.45206500501,0.00465303336741,0.0797391213152,0.999999915083,0.000145550734755,-0.000381221394609,-5.76045157957e-05,1793248918682257664
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.338719489,745.338719489,714.338719489,682.661280511,657,632,881.677438978,783.661280511,815,651.661280511,630,652.661280511,0.452063768078,0.00465431806595,0.0797379570411,0.999999914297,0.000146326919331,-0.000382944675445,-5.78618126008e-05,1793248918698924800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.246848412,745.246848412,714.246848412,683,657.246848412,632.246848412,881,784,815,651.753151588,629.753151588,653,0.452057797358,0.00465512162086,0.0797344390091,0.999999912215,0.00014686218282,-0.00038811516558,-5.80284992696e-05,1793248918715591424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.825894971,745.825894971,714.825894971,683,657.825894971,632.825894971,881,784,815,651.174105029,629.174105029,653,0.452045456108,0.00465527767291,0.0797277533893,0.999999908326,0.000147073224831,-0.000397924763962,-5.80732466265e-05,1793248918732258048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.599097028,745.599097028,715,683,658,632.599097028,881,784,815,651,629.400902972,652.599097028,0.45201757405,0.00465558339242,0.0797157488161,0.999999900067,0.000148258497548,-0.000417784810955,-5.78072285107e-05,1793248918748924672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.025825361,745.025825361,715,683,658,632.025825361,881,784,815,651,629.974174639,652.025825361,0.451983010201,0.00465595346164,0.0797014573523,0.999999889456,0.000149862641832,-0.000441966060588,-5.74075963975e-05,1793248918765591296
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,632,881.561163447,784,815,651,630,652.561163447,0.451920899008,0.00465451404467,0.0796809202109,0.999999872689,0.00014981627333,-0.00047856596325,-5.61372426827e-05,1793248918782257920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.146816246,745,715,682.853183754,658,632,882,783.853183754,815,651.146816246,630,653,0.451855184433,0.00465333464841,0.0796625398148,0.999999857468,0.0001499957501,-0.00050945952174,-5.49227013298e-05,1793248918798924288
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.726620643,745,715,682.273379357,658,632,882,783.273379357,815,651.726620643,630,653,0.451782675344,0.00465317384641,0.0796513889865,0.999999850995,0.000151070915071,-0.000521796279218,-5.3993900374e-05,1793248918815591168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.695081311,745,715,682,658,632,882,783.304918689,814.695081311,652,630,653,0.45170347742,0.00465372544024,0.0796470556654,0.999999847572,0.000152865981141,-0.000527941434663,-5.2582606368e-05,1793248918832257792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.118127204,745,715,682,658,632,882,783.881872796,814.118127204,652,630,653,0.451618312009,0.00465491260317,0.0796488046335,0.999999846964,0.000155303312147,-0.000528562706774,-5.07408527502e-05,1793248918848924160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.457930854,745,715,682.457930854,658,632.457930854,882,784,814.457930854,651.542069146,629.542069146,653,0.451517604181,0.0046535446103,0.079651122912,0.999999847659,0.000156043246611,-0.000527301689663,-4.78061014156e-05,1793248918865590784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.965300989,745,715,683,658,633,882.034699011,784,815,651.034699011,629.034699011,653,0.451411224366,0.00465155675934,0.0796533659536,0.999999848551,0.000156527483389,-0.000525746368183,-4.45800300831e-05,1793248918882257408
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.373426077,745,715,683,658,633,882.626573923,784,815,651.626573923,629.626573923,653,0.45127802039,0.00465017875402,0.0796520473251,0.999999847369,0.000159923011244,-0.000527246771085,-4.11946293704e-05,1793248918898924288
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.213264913,745.213264913,715,683,658,633,882.786735087,784,815,652,630,653,0.451134167591,0.00464848111763,0.0796523804043,0.99999984855,0.000162444904181,-0.000524504763434,-3.74985195687e-05,1793248918915590912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.79109422,745.79109422,715,683,658,633,882.20890578,784,815,652,630,653,0.450972111243,0.00464623709001,0.0796555369852,0.999999853724,0.000163473366922,-0.000514510592958,-3.32712703703e-05,1793248918932257280
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.632518134,715,683,658.367481866,633,881.632518134,784,814.632518134,651.632518134,630,652.632518134,0.450786586866,0.00464485329739,0.0796609548858,0.999999858352,0.000168110810555,-0.000504227595989,-2.81075295469e-05,1793248918948923904
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.056946786,715,683,658.943053214,633,881.056946786,784,814.056946786,651.056946786,630,652.056946786,0.45058777352,0.00464395661936,0.0796676532766,0.999999862563,0.000174791867944,-0.000493781047767,-2.24134926114e-05,1793248918965590528
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.526956416,715,682.473043584,658.473043584,633,881.526956416,784,814,651.526956416,630,652.526956416,0.450364446056,0.00464063405263,0.0796749648073,0.999999867482,0.000177741733449,-0.000482893419437,-1.60754651258e-05,1793248918982257152
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.888629294,745.888629294,715,682.111370706,658.111370706,633,882,784,814,652,630.111370706,653,0.450130047014,0.00463732391525,0.0796823831001,0.999999872244,0.000181178015978,-0.000471800601086,-9.56622425231e-06,1793248918998923776
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.305923665,745.305923665,715,682.694076335,658.694076335,633,882,784,814,652,630.694076335,653,0.449860183349,0.00463519369527,0.0796899682985,0.999999876428,0.000188406771062,-0.000460044360307,-2.63164851559e-06,1793248919015590656
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.728926211,659,633,882,784.271073789,814,651.728926211,630.728926211,653,0.449570916888,0.0046313864341,0.079695936511,0.99999987952,0.000192995184891,-0.000451324861158,4.29727284012e-06,1793248919032257024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.158237966,659,633,882,784.841762034,814,651.158237966,630.158237966,653,0.449260204777,0.00462572556049,0.0797001174888,0.999999881549,0.000194665262261,-0.000445961835194,1.1219944063e-05,1793248919048923904
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.418900487,633,882,784.581099513,814,651.418900487,630,653,0.4489114144,0.00462121938993,0.0797074682217,0.999999885806,0.000195421008295,-0.000435762568951,1.76015146042e-05,1793248919065590528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.998513571,633,882,784.001486429,814,651.998513571,630,653,0.448548015174,0.00461715622526,0.0797160350418,0.999999890779,0.000195825967934,-0.000423707862731,2.37754898656e-05,1793248919082257408
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.58791887,745,715,682.58791887,660,633,882,784,814,652,630,652.41208113,0.448162647726,0.00461232490287,0.0797179861943,0.999999900084,0.000157833087758,-0.000417919933634,1.62204466875e-05,1793248919098923776
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.826757846,745,715,683,660,633,882,784,814,651.826757846,630,652,0.447771617198,0.00460645806768,0.0797261508283,0.999999911038,0.000126706083423,-0.000402152736905,1.19531637254e-05,1793248919115590656
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.250977933,745,715,683,660,633,882,784,814,651.250977933,630,652,0.447367559487,0.00459818975074,0.0797487923538,0.999999927693,0.000111761721811,-0.000363160721079,1.54071940683e-05,1793248919132257280
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.325192867,745,715,682.674807133,660,633.325192867,882,784,813.674807133,651,630,652.325192867,0.44692766302,0.00459223389472,0.0797733910787,0.999999940951,0.000101346489803,-0.000327794335118,1.94570903748e-05,1793248919148924416
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.901665773,745,715,682.098334227,660,633.901665773,882,784,813.098334227,651,630,652.901665773,0.446460073517,0.00458806490134,0.079799502155,0.999999951674,9.44309635437e-05,-0.000295229508377,2.39674191086e-05,1793248919165592320
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.525661386,745,715.474338614,682,660,633.525661386,881.525661386,784.474338614,813,651.474338614,630,653,0.445930974382,0.00458428223417,0.0798134402942,0.999999957234,8.28873707361e-05,-0.000279217196721,2.64325958917e-05,1793248919182258688
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715.951721563,682.048278437,660,633,881.048278437,784.951721563,813,651.951721563,630,652.951721563,0.445385985678,0.0045803866005,0.0798238859774,0.999999960657,7.79131012041e-05,-0.000267962570123,2.84835802725e-05,1793248919198925312
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715.354488591,682.645511409,660,633,881.645511409,784.354488591,813,651.354488591,630,652.354488591,0.444804161878,0.00457430305094,0.0798230865607,0.999999949958,0.000158458583591,-0.000272097885047,3.06075030045e-05,1793248919215591680
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.235162561,715,682.764837439,660,633,881.764837439,784.235162561,813,651,630,652,0.444201339455,0.00456910322322,0.0798159449487,0.999999939095,0.000196272398822,-0.000286739926833,3.2681783545e-05,1793248919232257792
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.813741666,715,682.186258334,660,633,881.186258334,784.813741666,813,651,630,652,0.443567852002,0.0045651939274,0.0797995415955,0.999999934503,0.000171683583742,-0.000316725330129,3.46835698375e-05,1793248919248924416
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.611417056,715,682.388582944,660,633,881,784.611417056,812.611417056,651.388582944,630,652,0.442922991808,0.00455822452083,0.0797890597443,0.999999935541,0.000141340507808,-0.0003281596202,3.53857186203e-05,1793248919265591040
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.038350367,715,682.961649633,660,633,881,784.038350367,812.038350367,651.961649633,630,652,0.442272732307,0.00454980229536,0.0797813891873,0.9999999388,0.000108265538055,-0.000330786577657,3.5470851069e-05,1793248919282257408
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.450867986,660,633,881.549132014,784,812,651.450867986,630,652,0.441588761237,0.00454519019668,0.0797907399059,0.999999945405,9.61523327934e-05,-0.000314020827862,3.65365881838e-05,1793248919298924032
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.13540904,882,784,812,651,630,652,0.440874077034,0.00454058315808,0.0797849049268,0.999999942924,9.17129021104e-05,-0.000322949744606,3.79966051412e-05,1793248919315590912
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.714351227,882,784,812,651,630,652,0.440066711524,0.00453509761042,0.0797253304192,0.999999904952,0.000107484580366,-0.000420597484848,4.05177216931e-05,1793248919332258560
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.292958852,745,715,682.292958852,660,634,881.707041148,784,812,651.292958852,630,652,0.439287270755,0.00452693330177,0.0796936636207,0.999999884153,0.000103863757317,-0.000468126121009,4.19976700124e-05,1793248919348925184
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.871240703,745,715,682.871240703,660,634,881.128759297,784,812,651.871240703,630,652,0.438535026785,0.00451616005229,0.0796891771213,0.999999886818,8.13558932278e-05,-0.000466842001666,4.24635883004e-05,1793248919365591296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.556166768,745,715,682.556166768,660,634,881,784,812,652,630,652,0.437806833193,0.00450783732753,0.0797406953788,0.999999918927,7.80283607136e-05,-0.000392521283564,4.45472835109e-05,1793248919382257664
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.01536686,745.01536686,715,682,660,634,881,784,812,651.98463314,630,652.01536686,0.437083728823,0.00450017802326,0.0798074464044,0.999999951238,7.98573802577e-05,-0.000298207663269,4.71074154797e-05,1793248919398924032
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.608354537,745.608354537,715,682,660,634,881,784,812,651.391645463,630,652.608354537,0.436292975695,0.00449107163935,0.0798437885845,0.99999996786,6.9004769808e-05,-0.000238753184952,5.01580140181e-05,1793248919415590912
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.803224201,715,682,660,634,881,784,811.803224201,651,630,652.803224201,0.435474506302,0.00448213732505,0.0798587033052,0.999999973689,6.00456186428e-05,-0.000215253975159,5.17926256989e-05,1793248919432258048
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.223685442,715,682,660,634,881,784,811.223685442,651,630,652.223685442,0.43460212403,0.00447353771646,0.0798319379094,0.999999962974,5.47695742311e-05,-0.000261693985885,5.06728980806e-05,1793248919448924928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.646544872,745,715,682,659.646544872,634,880.646544872,784,811.353455128,651,630,652,0.433720366545,0.00446509094019,0.0798034336577,0.999999950258,4.84446267641e-05,-0.000307375403806,5.15428292633e-05,1793248919465591296
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.070911799,745,715,682,659.070911799,634,880.070911799,784,811.929088201,651,630,652,0.432832715939,0.00445674023294,0.0797738363817,0.999999935544,4.14603507214e-05,-0.000352579976768,5.36634377422e-05,1793248919482257920
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715.514214979,682,659.514214979,634,880.514214979,784,811.485785021,651,630,652,0.431876489517,0.00444651956018,0.0797292843597,0.999999900327,3.36277339823e-05,-0.000441616899399,5.64780637993e-05,1793248919498924544
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.900608844,682,659.900608844,634,880.900608844,784,811,651,630,652,0.430936823372,0.00443614942411,0.0796993588551,0.99999987107,2.53733561569e-05,-0.00050375035933,5.875736467e-05,1793248919515590912
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.321630597,682,659.321630597,634,880.321630597,784,811,651,630,652,0.430123554808,0.00442632580474,0.0797501482696,0.999999915635,1.56589976617e-05,-0.000406352502862,5.79830916414e-05,1793248919532257536
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.25596889,682,659.511937779,634,880.25596889,784.25596889,811,651,629.74403111,652,0.429296382523,0.00441651550179,0.0798021335535,0.999999948194,5.30988100733e-06,-0.000316505040648,5.83738857471e-05,1793248919548924672
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715.831845292,682,660.663690584,634,880.831845292,784.831845292,811,651,629.168154708,652,0.428451833387,0.00440672184025,0.0798556134305,0.9999999703,-5.83255165001e-06,-0.000236093979067,6.02207699651e-05,1793248919565591808
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.590125564,681.590125564,660.590125564,634,880.590125564,784.590125564,811,651,629,652,0.427547136171,0.00439919032083,0.0798483228575,0.999999967349,-1.15194765509e-05,-0.000247798827946,6.13521515139e-05,1793248919582258432
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.011208608,681.011208608,660.011208608,634,880.011208608,784.011208608,811,651,629,652,0.426617632427,0.00439259176625,0.0798159690204,0.999999953703,-1.49564122679e-05,-0.00029749459807,6.21884416455e-05,1793248919598925312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.562268867,745,715.562268867,681,659.437731133,634,880,784.562268867,811.562268867,651,629.562268867,652,0.425679495399,0.00440097866625,0.0797790777205,0.999999936802,-6.86296102227e-06,-0.000350022770521,6.19061821095e-05,1793248919615591936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.859260881,681,659,634,880,784.859260881,811.859260881,651.140739119,630,652.140739119,0.424734352487,0.00441534684442,0.0797459283394,0.999999918259,1.07996643368e-05,-0.000399421506699,6.18613311574e-05,1793248919632258304
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.264331493,681,659,634,880,784.264331493,811.264331493,651.735668507,630,652.735668507,0.423767150468,0.00444806285954,0.0797251439103,0.999999900161,5.86090510698e-05,-0.000438540522414,6.26539101181e-05,1793248919648924928
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.681050991,745,715,681,659,634,880,784,811,651.681050991,629.681050991,652.681050991,0.422876716344,0.00447126262744,0.0797330394517,0.999999905279,8.55190683171e-05,-0.000422647033814,5.91504311245e-05,1793248919665591296
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.107084453,745,715,681,659,634,880,784,811,651.107084453,629.107084453,652.107084453,0.422047662483,0.00448685362314,0.0797638662309,0.999999928256,9.5718871142e-05,-0.000362767976295,5.22120140108e-05,1793248919682257664
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715.466408618,681,659.466408618,634,879.533591382,784,811,651,629,652,0.421249981998,0.00448776316402,0.0798181504332,0.999999958768,9.26252665483e-05,-0.000267035273323,5.07645652065e-05,1793248919698924288
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715.958941747,681,659.958941747,634,879.041058253,784,811,651,629,652,0.420451870055,0.00448461744444,0.079872389401,0.999999980049,8.62767812726e-05,-0.00017286948642,5.07312481728e-05,1793248919715590912
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715.367328014,681,659.367328014,634,879.632671986,784,811,651,629,652,0.419551483681,0.00447224745069,0.0798538777675,0.999999973584,7.71674534161e-05,-0.000209983746136,5.27725825321e-05,1793248919732258048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715.220516921,681,659,634,879.779483079,784.220516921,810.779483079,651,629,652,0.418656612775,0.00446452187198,0.0798292146564,0.999999963524,7.04907025004e-05,-0.00025527017148,5.31105394172e-05,1793248919748924928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715.80218953,681,659,634,879.19781047,784.80218953,810.19781047,651,629,652,0.417770774789,0.0044644027684,0.0797944768454,0.999999947139,6.77979482362e-05,-0.000313940718753,5.06587584692e-05,1793248919765591808
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,716,681,659,634,879.378143908,784.621856092,810.378143908,651.378143908,629,652,0.416932908963,0.00447128191845,0.0797942565992,0.999999942887,7.62052488772e-05,-0.000325284200393,5.10736192727e-05,1793248919782258432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,716,681,659,634,879.951151555,784.048848445,810.951151555,651.951151555,629,652,0.416119764028,0.00448176738301,0.0798118238204,0.999999945771,9.03325894983e-05,-0.000312239268166,5.29657076268e-05,1793248919798925312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,716,681,659,634,879.474868706,784,811,651.474868706,629,652,0.41531489711,0.00448558125164,0.079792330642,0.999999935136,0.000101370555396,-0.000341322885544,5.43123576104e-05,1793248919815591680
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.102834952,745,716,681.102834952,659.102834952,634,879.102834952,784,810.897165048,651.102834952,629,652,0.414521820337,0.00448678576565,0.0797753085172,0.999999926694,0.000107176661013,-0.000363476268171,5.48591984216e-05,1793248919832258048
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.697930965,745,716,681.697930965,659.697930965,634,879.697930965,784,810.302069035,651.697930965,629,652,0.413781488979,0.00447847581677,0.0797866481161,0.999999939004,8.93165547365e-05,-0.000333661300693,5.18207552253e-05,1793248919848924928
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,716,681.716719025,659.716719025,634,880,784.283280975,810,651.716719025,628.716719025,652,0.413053967872,0.004472164191,0.0797976491584,0.999999947024,7.69568387268e-05,-0.000312149671174,5.0912733207e-05,1793248919865591552
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,716,681.141415791,659.141415791,634,880,784.858584209,810,651.141415791,628.141415791,652,0.412339652353,0.00446791255168,0.0798083011966,0.999999951409,7.02672413052e-05,-0.00029919760024,5.22008716231e-05,1793248919882258688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,659.43382393,634,879.56617607,784.56617607,810,651,628.43382393,652,0.411621906808,0.00447209288235,0.0797992463042,0.999999945394,7.15954319442e-05,-0.000318265394177,5.28416649063e-05,1793248919898925312
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.990998396,745.009001604,715.990998396,681,659.990998396,634,878.990998396,784,810,651,629,652,0.410904385096,0.00447901414185,0.0797840850304,0.999999935441,7.5868490917e-05,-0.000347167910085,5.32587021488e-05,1793248919915591680
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.418412207,745.581587793,715.418412207,681,659.418412207,634,878.418412207,784,810,651,629,652,0.410270874402,0.0044854795116,0.0797887488646,0.999999936249,0.00010090603586,-0.000338415262511,5.28763092733e-05,1793248919932258304
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.161070188,745.838929812,715.161070188,681,659,634,878.161070188,784,810,651.161070188,629,652,0.409647107291,0.00448860889228,0.0797999194615,0.999999941166,0.000115797893764,-0.000318494719529,5.31016364119e-05,1793248919948924928
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.759268308,745.240731692,715.759268308,681,659,634,878.759268308,784,810,651.759268308,629,652,0.409049783119,0.00448268474304,0.0798287487444,0.999999957185,0.000103155405686,-0.000268265654634,5.49762531002e-05,1793248919965591296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.657475765,680.657475765,659,634,879.342524235,784,810,652,628.657475765,652,0.40845872065,0.00447967893184,0.0798344734332,0.999999959352,9.75010512396e-05,-0.000262160584277,5.53220883635e-05,1793248919982258176
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.084282521,680.084282521,659,634,879.915717479,784,810,652,628.084282521,652,0.407871875089,0.00447863844219,0.0798246385972,0.999999953014,9.65527758908e-05,-0.000285770313995,5.4638383285e-05,1793248919998924800
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.491309392,680.491309392,659,634,879.508690608,784.491309392,810,652,628.491309392,652,0.407295753627,0.00447892558165,0.0797902733007,0.999999934126,9.49722537596e-05,-0.000346212928818,5.35191652591e-05,1793248920015590912
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,716,680.930827922,658.930827922,634,879,784.930827922,810,651.930827922,629,652,0.406734914475,0.00447967538798,0.0797569358469,0.999999913077,9.33200958857e-05,-0.000402972723955,5.24446036002e-05,1793248920032257280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,716,680.338930036,658.338930036,634,879,784.338930036,810,651.338930036,629,652,0.406275591565,0.00448219198813,0.0797633220093,0.999999920709,9.1950237774e-05,-0.000383918930245,5.22748581425e-05,1793248920048923904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.753287763,745.246712237,716,680,658.246712237,634,879,784,810,651.246712237,629,652.246712237,0.405830053319,0.00448568173156,0.0797767730558,0.999999930883,9.85226557102e-05,-0.000354715343177,5.19938460887e-05,1793248920065590272
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.176026899,745.823973101,716,680,658.823973101,634,879,784,810,651.823973101,629,652.823973101,0.405402984004,0.00449047530623,0.079799689736,0.999999943328,0.000115736250095,-0.000311912917127,5.15637573933e-05,1793248920082257152
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.399620884,745.600379116,716,680,658.600379116,634,879,784,810.399620884,652,629,652.600379116,0.405001882474,0.00449173265536,0.0798156312566,0.999999950071,0.0001171379682,-0.000288838045383,5.20482289845e-05,1793248920098924032
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.974561038,745.025438962,716,680,658.025438962,634,879,784,810.974561038,652,629,652.025438962,0.404612173338,0.00449143861332,0.0798285126792,0.999999954719,0.000111602796676,-0.000274417923923,5.29339309425e-05,1793248920115590912
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.451383151,745,716,680,658.548616849,634,879,784,810.451383151,652,628.451383151,652,0.404243719058,0.00449153570794,0.0798317996253,0.999999952869,0.000116827116016,-0.000278628149183,5.45882631514e-05,1793248920132257280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.127293907,745,716,680,659,634,879,784,810,651.872706093,628.127293907,652,0.403885888052,0.00449153831295,0.0798337956826,0.999999950621,0.000122483901679,-0.000283909646988,5.61267644122e-05,1793248920148923904
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.723131725,745,716,680,659,634,879,784,810,651.276868275,628.723131725,652,0.403563537272,0.00449112646999,0.079832675145,0.999999948152,0.000127899079214,-0.00028995965121,5.71079393924e-05,1793248920165590528
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.692025149,634,879,784,810,651,629,652,0.403260984268,0.0044896583424,0.0798311727943,0.99999994814,0.00011789667877,-0.000294602500682,5.50408876827e-05,1793248920182257152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.116725545,634,879,784,810,651,629,652,0.40297561592,0.0044872733509,0.0798293390264,0.999999949858,9.45116909162e-05,-0.000298023927545,5.03279495504e-05,1793248920198924032
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.542399946,745.457600054,716,680,658,634,879,784,810,651,628.542399946,652,0.402730823119,0.00448439096357,0.0798301529872,0.999999950663,8.8820128425e-05,-0.00029687629412,5.14709222149e-05,1793248920215591424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.032639375,745.967360625,716,680,658.032639375,634,879,784,809.967360625,651,628,652,0.402498826276,0.00448158039991,0.0798318141075,0.999999951436,8.76283595801e-05,-0.000294170682269,5.39789245953e-05,1793248920232258560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.624144542,745.375855458,716,680,658.624144542,634,879,784,809.375855458,651,628,652,0.402309084984,0.00448216745749,0.079836440942,0.999999954266,8.6369901397e-05,-0.000284702239404,5.43374593759e-05,1793248920248925184
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.788609258,634,879,784.211390742,809.211390742,651,628,652,0.402129343136,0.00448341085526,0.0798414881315,0.999999956938,8.61204916916e-05,-0.000275164181334,5.46958361875e-05,1793248920265591808
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.208786061,634,879,784.791213939,809.791213939,651,628,652,0.401967029316,0.00448579818683,0.0798472679565,0.999999959399,8.76297504689e-05,-0.000265504792085,5.5053937641e-05,1793248920282258176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.633500978,745,716,680,658.366499022,634.366499022,879,785,809.633500978,651,628,652,0.401819123292,0.00449184976938,0.0798496287546,0.999999956986,0.00012130319153,-0.000261318711674,5.5010309512e-05,1793248920298924544
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.06076948,745,716,680,658.93923052,634.93923052,879,785,809.06076948,651,628,652,0.401679324656,0.00449996326091,0.0798500656345,0.999999949669,0.000173075722871,-0.000260212512579,5.47406242516e-05,1793248920315590656
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.525618282,745,716,680,658.474381718,634.474381718,878.474381718,784.474381718,809.525618282,651,628.525618282,652,0.401558224912,0.00451199433615,0.0798425909932,0.999999944242,0.000185110213028,-0.000273058749113,5.18545611163e-05,1793248920332257024
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658,634.11218172,878.11218172,784,810,651.11218172,628.88781828,652,0.401444006469,0.00452188700265,0.0798348881658,0.999999940355,0.000187680492335,-0.000285818661091,4.87279200993e-05,1793248920348923648
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.647595009,784,810,651.352404991,628.352404991,652,0.400963130206,0.00451433978588,0.0798274585802,0.999999944899,0.000148055734726,-0.000293314141975,4.74238917187e-05,1793248920815590656
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.071410241,784,810,651.928589759,628.928589759,652,0.400964140374,0.00451470518678,0.0798277869792,0.999999945074,0.00014985290852,-0.000291843505185,4.71607415775e-05,1793248920832257024
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.483059602,784.483059602,809.516940398,651.516940398,629,652,0.400963858123,0.00451453737641,0.0798280773672,0.999999945135,0.000149141018064,-0.000291960223478,4.73900283151e-05,1793248920848924672
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,879,785,809.038499367,651,628.961500633,652,0.400963515983,0.00451423079168,0.0798284313445,0.999999945239,0.000148025912056,-0.000292127021279,4.76662124777e-05,1793248920865592576
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.745163913,634,879,785,810,651.254836087,628.254836087,652,0.400965986161,0.00451304019592,0.0798305283899,0.999999946677,0.000145968784537,-0.000288245050979,4.74720533723e-05,1793248920898925056
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66c664acacaa3ba51abb578ac9ea05bbc3ae5541
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/fem_node.csv
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf290ab4af4e180a7abc90787c4b79aeebf03937
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,716,679,658,634,879,785,810,652,629,652,0.400964925262,0.00451438031569,0.0798304777013,0.999999946553,0.000146440523535,-0.000288521929603,4.69390843768e-05,1793248921035347712
+1,0.016666667,BASELINE,765.575164,745,716,679.575164,658.575164,634,879,784.424836,810,651.424836,629,652.575164,0.400965784008,0.00451279427209,0.0798308607639,0.999999947059,0.000145522193301,-0.00028719824937,4.71357896331e-05,1793248921052014848
+2,0.033333333,BASELINE,766,745,716,680,659,634,879,784,809.845379844,651,628.845379844,652.845379844,0.400966656831,0.00451171719151,0.0798312549435,0.999999947428,0.00014503568458,-0.000286134741703,4.7292094542e-05,1793248921068681728
+3,0.050000000,BASELINE,766,745,716,680,659,634,879,784,809.253793662,651,628.253793662,652.253793662,0.400967569441,0.00451207847126,0.0798316805405,0.999999947413,0.000145769529679,-0.000285806497331,4.73342256419e-05,1793248921085347840
+4,0.066666667,BASELINE,765.669247798,745,716,680,658.669247798,634,879,784,809.330752202,651.330752202,628.330752202,652,0.400966585486,0.0045120370305,0.0798311707448,0.999999947088,0.000145819292418,-0.000286912964753,4.73504175726e-05,1793248921102014464
+5,0.083333333,BASELINE,765.089991571,745,716,680,658.089991571,634,879,784,809.910008429,651.910008429,628.910008429,652,0.400964176584,0.00451169301375,0.0798299581603,0.999999946526,0.000145355083572,-0.000289097374087,4.73471206268e-05,1793248921118680832
+6,0.100000000,BASELINE,765.48576603,745,716,680,658.48576603,634,879,784.48576603,810,652,628.51423397,652,0.400963775724,0.00451268727698,0.0798299641689,0.999999946655,0.00014521881507,-0.00028875061655,4.71721252458e-05,1793248921135347200
+7,0.116666667,BASELINE,766,745,716,680,659,634,879,784.938099368,810,651.938099368,628,652,0.400963810717,0.00451362742326,0.0798302001277,0.999999946887,0.000145025395538,-0.000288072373118,4.69934530852e-05,1793248921152013824
+8,0.133333333,BASELINE,766,745,716,680,659,634,879,784.353344839,810,651.353344839,628,652,0.400964407495,0.00451203129064,0.0798304851742,0.999999946924,0.000143839747518,-0.000288526636847,4.70504775677e-05,1793248921168680704
+9,0.150000000,BASELINE,766,745,716,680,659,634,879,784.229752015,810,651,628.229752015,652,0.400964567368,0.00451172673357,0.0798303824826,0.999999946707,0.000144021541651,-0.000289187137806,4.70605133457e-05,1793248921185347584
+10,0.166666667,BASELINE,766,745,716,680,659,634,879,784.810317673,810,651,628.810317673,652,0.400964060121,0.00451339431311,0.0798296877446,0.999999946098,0.000146291314805,-0.000290162547098,4.69988009836e-05,1793248921202014464
+11,0.183333333,BASELINE,766,745,716,680,659,634,879,785,810,651.389996013,629,652,0.400964500773,0.0045129828218,0.0798300681975,0.999999946404,0.000145409143421,-0.000289540989925,4.70485013649e-05,1793248921218681088
+12,0.200000000,BASELINE,766,745,716,680,659,634,879,785,810,651.969243819,629,652,0.400965401409,0.0045115624283,0.0798309704039,0.999999947151,0.000142997440819,-0.000288144479357,4.71522665532e-05,1793248921235347968
+13,0.216666667,BASELINE,766,745,716,680,658.46355832,634,879,784.46355832,810,652,629,652,0.400966076116,0.00451139329907,0.0798315654288,0.999999947368,0.000143745507801,-0.000286976326917,4.73853920299e-05,1793248921252014336
+14,0.233333333,BASELINE,766,745,716,680,658.108397732,634,878.891602268,784,810,652,629,652,0.400966425029,0.00451149648204,0.0798318960924,0.999999947441,0.000144539690398,-0.000286310636913,4.74678304859e-05,1793248921268680704
+15,0.250000000,BASELINE,766,745,716,680,658.704818115,634,878.295181885,784,810,652,629,652,0.400965364206,0.00451250976827,0.0798311141114,0.999999946999,0.000144743796288,-0.000287849456942,4.68391962135e-05,1793248921285347328
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+17,0.283333333,BASELINE,766,745,716,680,659,634,878.871317638,784,809.128682362,652,628.128682362,652.871317638,0.400964899903,0.00451237732761,0.0798301363421,0.999999946755,0.000145669754993,-0.000288270400313,4.65985347657e-05,1793248921318680576
+18,0.300000000,BASELINE,765.55131922,745,716,679.55131922,658.55131922,634,878.55131922,784,809.44868078,652,628.44868078,652.55131922,0.40096446143,0.00451291054206,0.079829861102,0.999999946321,0.000147987827557,-0.000288492002447,4.72330289564e-05,1793248921335347200
+19,0.316666667,BASELINE,765,745,716,679.025608095,658,634,878.025608095,784,810,652,628.974391905,652,0.400963960859,0.00451368669258,0.0798296710593,0.999999945821,0.000150514882928,-0.000288796419236,4.79584131825e-05,1793248921352013824
+20,0.333333333,BASELINE,765,745,716,679.602724945,658,634,878.602724945,784,810,652,628.397275055,652,0.400965070199,0.00451382006982,0.0798305940662,0.999999946633,0.000146647914649,-0.000288127152625,4.70238881259e-05,1793248921368680448
+21,0.350000000,BASELINE,765,745,716,680,658.182600271,634,878.817399729,784,810,652,628,652,0.400965513227,0.0045134949522,0.0798310630363,0.999999947036,0.000144570173069,-0.00028785943489,4.65222747854e-05,1793248921385347072
+22,0.366666667,BASELINE,765,745,716,680,658.768569064,634,878.231430936,784,810,652,628,652,0.400964484354,0.00451215700808,0.0798305290275,0.999999946564,0.000146444878094,-0.000288478748662,4.6976974272e-05,1793248921402013696
+23,0.383333333,BASELINE,765.350920614,745,716.350920614,680,659,634,878.350920614,784.350920614,810,652,628.350920614,652,0.400965223174,0.00451153594312,0.0798312012734,0.99999994695,0.00014628359839,-0.000287171697761,4.72537470748e-05,1793248921418680320
+24,0.400000000,BASELINE,765.930911001,745,716.930911001,680,659,634,878.930911001,784.930911001,810,652,628.930911001,652,0.400967115889,0.00451138283386,0.0798326609239,0.999999947893,0.000144793293036,-0.000284607177559,4.7414375063e-05,1793248921435346944
+25,0.416666667,BASELINE,765.493277889,745.506722111,716.493277889,680,658.493277889,634,879,785,810,652,628.493277889,652,0.400967442152,0.00451190023408,0.0798329912758,0.999999947776,0.000146419785297,-0.00028417496358,4.74663896907e-05,1793248921452013824
+26,0.433333333,BASELINE,765.081978199,745.918021801,715.918021801,680.081978199,658.081978199,634,879,784.918021801,810,651.918021801,628.081978199,651.918021801,0.400967426895,0.00451219007259,0.0798330708893,0.999999947605,0.000147535609342,-0.000284201782003,4.74600528394e-05,1793248921468680448
+27,0.450000000,BASELINE,765.657295553,745.342704447,715.342704447,680.657295553,658.657295553,634,879,784.342704447,810,651.342704447,628.657295553,651.342704447,0.40096663118,0.00451056479833,0.0798325606021,0.999999947971,0.000143041810375,-0.000285255749564,4.71909506492e-05,1793248921485347072
+28,0.466666667,BASELINE,766,745,715.238932177,680.761067823,659,634,879,784,809.761067823,651,629,651.238932177,0.400966395638,0.00451030922862,0.0798322785657,0.999999948082,0.000141631120622,-0.000285614398336,4.69175337725e-05,1793248921502013952
+29,0.483333333,BASELINE,766,745,715.829878836,680.170121164,659,634,879,784,809.170121164,651,629,651.829878836,0.400966985387,0.00451207162009,0.0798323328072,0.999999947836,0.000144762720524,-0.000284948646376,4.66377601625e-05,1793248921518680576
+30,0.500000000,BASELINE,765.588844106,745,716,680,659,634,879.411155894,784,809,651,628.588844106,652,0.40096613687,0.00451188828893,0.0798311891051,0.99999994758,0.000143901235817,-0.000286266008551,4.67314000907e-05,1793248921535346944
+31,0.516666667,BASELINE,765.011476056,745,716,680,659,634,879.988523944,784,809,651,628.011476056,652,0.400964706926,0.00451091838804,0.0798295611273,0.999999947313,0.000141425523402,-0.000288385056141,4.69759946159e-05,1793248921552013568
+32,0.533333333,BASELINE,765,745,716,680,658.436846006,634,879.436846006,784,809.563153994,651,628.563153994,652,0.40096528954,0.00451105597751,0.079830431928,0.999999947255,0.000143935758515,-0.000287315627324,4.7144604624e-05,1793248921568680448
+33,0.550000000,BASELINE,765.141311687,745,716,680,658.141311687,634,879,784.141311687,810,651.141311687,628.858688313,652,0.400965696209,0.00451131401079,0.0798311705845,0.999999947199,0.000145717375387,-0.000286600788994,4.7199366291e-05,1793248921585347328
+34,0.566666667,BASELINE,765.73083433,745,716,680,658.73083433,634,879,784.73083433,810,651.73083433,628.26916567,652,0.400965415367,0.00451188282985,0.0798313293792,0.999999947161,0.000144867258887,-0.000287215728393,4.68979124508e-05,1793248921602013952
+35,0.583333333,BASELINE,765.68526331,745,716,680,659,634,879,784.68526331,810,652,628.31473669,652,0.400965190802,0.00451241161772,0.0798310312961,0.999999947094,0.000144986538061,-0.000287402048447,4.68157071716e-05,1793248921618680576
+36,0.600000000,BASELINE,765.106083078,745,716,680,659,634,879,784.106083078,810,652,628.893916922,652,0.40096501352,0.00451290677123,0.0798303493415,0.999999947003,0.000145920308853,-0.000287228240179,4.69177157358e-05,1793248921635347200
+37,0.616666667,BASELINE,765,745,715.529670741,679.529670741,658.529670741,634,879,784,810,652,629,652,0.40096521483,0.00451222546315,0.0798305745786,0.99999994705,0.000146015176648,-0.000287012084019,4.69494532528e-05,1793248921652013568
+38,0.633333333,BASELINE,765,745,715.045917844,679.045917844,658,634,878.954082156,784,809.954082156,651.954082156,628.954082156,652,0.40096545007,0.00451148906793,0.079830992449,0.999999947131,0.000145911192058,-0.000286784394986,4.69388461225e-05,1793248921668680192
+39,0.650000000,BASELINE,765,745,715.619174328,679.619174328,658,634,878.380825672,784,809.380825672,651.380825672,628.380825672,652,0.400965100041,0.00451314960394,0.0798312864329,0.999999947251,0.000145683815919,-0.000286533310254,4.66228954125e-05,1793248921685348096
+40,0.666666667,BASELINE,765,745,716,680,658,634,878.198473695,784,809.198473695,651.198473695,628.198473695,652,0.40096471057,0.00451399613407,0.0798313611438,0.999999947287,0.000145482338093,-0.000286536432195,4.64456873688e-05,1793248921702015232
+41,0.683333333,BASELINE,765,745,716,680,658,634,878.789732049,784,809.789732049,651.789732049,628.789732049,652,0.400964243045,0.00451323172509,0.0798310019074,0.999999947159,0.000145332113726,-0.000287042635838,4.65430547278e-05,1793248921718681088
+42,0.700000000,BASELINE,765.374224153,745,716,680,658,634,879,784,810,652,628.625775847,652.374224153,0.400965397723,0.00451247296837,0.0798317624272,0.999999947706,0.000144175194229,-0.000285699728507,4.66599981973e-05,1793248921735347456
+43,0.716666667,BASELINE,765.954981956,745,716,680,658,634,879,784,810,652,628.045018044,652.954981956,0.400967447691,0.00451171733113,0.0798331409384,0.999999948618,0.000142462681469,-0.000283336300068,4.67877456841e-05,1793248921752014080
+44,0.733333333,BASELINE,766,745,716,680,658.529341944,634.529341944,879,784,810.529341944,651.470658056,628.529341944,652.470658056,0.400966140646,0.00451238117587,0.0798325172839,0.99999994807,0.000144291393137,-0.000284336921563,4.68210663551e-05,1793248921768680960
+45,0.750000000,BASELINE,766,745,716,679.894040546,659,634.894040546,878.894040546,784.105959454,810.894040546,651.105959454,629,652,0.40096486946,0.00451274674626,0.0798317127617,0.999999947504,0.000145793212616,-0.000285557591988,4.68415800067e-05,1793248921785348096
+46,0.766666667,BASELINE,766,745,716,679.304671231,659,634.304671231,878.304671231,784.695328769,810.304671231,651.695328769,629,652,0.400965048816,0.00451120734981,0.0798308506351,0.999999947432,0.00014444610961,-0.000286492525315,4.68398648795e-05,1793248921802014976
+47,0.783333333,BASELINE,766,745.279576231,715.720423769,679.279576231,658.720423769,634,878,784.720423769,809.720423769,652,629,652,0.400965295414,0.00451120843393,0.0798309594155,0.9999999475,0.000144375130236,-0.000286291131388,4.68331394877e-05,1793248921818681344
+48,0.800000000,BASELINE,766,745.858342585,715.141657415,679.858342585,658.141657415,634,878,784.141657415,809.141657415,652,629,652,0.400965613972,0.0045128580721,0.0798321072176,0.999999947718,0.000145669801795,-0.000284873690378,4.68210523322e-05,1793248921835347712
+49,0.816666667,BASELINE,765.564660137,745.564660137,715,680.435339863,658.435339863,634,878.435339863,784.435339863,809.435339863,652,629,652,0.400965941529,0.00451228170836,0.079831903843,0.999999947814,0.000145917392366,-0.000284378030801,4.70016475181e-05,1793248921852014080
+50,0.833333333,BASELINE,765.011729524,745,715,681,659,634,879,784.988270476,810,651.988270476,628.988270476,652,0.40096625259,0.00451101292765,0.079831283566,0.999999947864,0.000145835047775,-0.00028420280203,4.7243570695e-05,1793248921868680704
+51,0.850000000,BASELINE,765.586474623,745,715,681,659,634,879,784.413525377,810,651.413525377,628.413525377,652,0.400965631804,0.00451113524629,0.0798316705358,0.999999947555,0.000146203940445,-0.000285069250049,4.74319206314e-05,1793248921885347328
+52,0.866666667,BASELINE,766,745,715.165848088,680.834151912,659,634,878.834151912,784,810,651.165848088,628.165848088,652,0.400965534578,0.00451154645129,0.0798322318084,0.999999947516,0.000146259712371,-0.000285184786942,4.73958506566e-05,1793248921902013952
+53,0.883333333,BASELINE,766,745,715.757093185,680.242906815,659,634,878.242906815,784,810,651.757093185,628.757093185,652,0.400966780272,0.00451269864401,0.0798332401644,0.999999948168,0.000145512335868,-0.00028337425185,4.67841481123e-05,1793248921918681088
+54,0.900000000,BASELINE,766,745,716,680,658.659131452,634,878,784,810,651.659131452,628.659131452,652,0.400966282342,0.00451262838087,0.0798325402822,0.99999994798,0.000145192861496,-0.00028423016444,4.66156909701e-05,1793248921935347968
+55,0.916666667,BASELINE,766,745,716,680,658.080564985,634,878,784,810,651.080564985,628.080564985,652,0.400964568531,0.00451170566234,0.0798306491938,0.999999947201,0.000145171776215,-0.000286945471486,4.67563222394e-05,1793248921952014848
+56,0.933333333,BASELINE,765.506094783,745,716,680,658.493905217,634,878.493905217,784,810,651,628,652,0.400964729489,0.00451093692386,0.0798305815647,0.999999947435,0.000143210865257,-0.000287108519387,4.67798780592e-05,1793248921968681216
+57,0.950000000,BASELINE,765,745,716,680,658.930632407,634,879,784,810,651,628.069367593,652,0.400965236453,0.00451049783386,0.0798308798544,0.999999947748,0.000141694005567,-0.000286771940163,4.678767009e-05,1793248921985347584
+58,0.966666667,BASELINE,765,745,716,680,658.342801722,634,879,784,810,651,628.657198278,652,0.400966062657,0.00451233639952,0.0798317082531,0.999999947432,0.000145841570914,-0.000285787119055,4.68192020719e-05,1793248922002014208
+59,0.983333333,BASELINE,765.241713286,745,716,680,658.241713286,634,879,784,810,651.241713286,628.758286714,652,0.400966493999,0.00451290831334,0.0798321756739,0.99999994747,0.000147019783977,-0.000285048918438,4.6829340325e-05,1793248922018681088
+60,1.000000000,BASELINE,765.82158966,745,716,680,658.82158966,634,879,784,810,651.82158966,628.17841034,652,0.400966372922,0.00451170814898,0.0798321380778,0.999999948016,0.000144043797607,-0.000284655746083,4.68095482076e-05,1793248922035347456
+61,1.016666667,BASELINE,766,745,716,680,658.601217811,634,879,784,810,651.601217811,628,652,0.400965974669,0.00451156557934,0.0798323675989,0.999999947948,0.000144748020519,-0.000284542150749,4.67721973421e-05,1793248922052014336
+62,1.033333333,BASELINE,766,745,716,680,658.02521801,634,879,784,810,651.02521801,628,652,0.40096545324,0.00451189300169,0.0798327158261,0.999999947606,0.000147087717612,-0.000284552798633,4.67270434226e-05,1793248922068681216
+63,1.050000000,BASELINE,766,745,716,680,658.55089189,634,878.44910811,784,810,651,628.55089189,652,0.400963341024,0.0045109354885,0.0798311693549,0.999999946913,0.000146706905583,-0.000287100375955,4.71609929795e-05,1793248922085347584
+64,1.066666667,BASELINE,765.869993575,745,716,680,658.869993575,634,878.130006425,784,810,651,628.869993575,652,0.40096230573,0.00451032312196,0.0798302995529,0.999999946598,0.00014614302549,-0.000288437399455,4.74353117496e-05,1793248922102013952
+65,1.083333333,BASELINE,765.280272221,745,716,680,658.280272221,634,878.719727779,784,810,651,628.280272221,652,0.400965336089,0.00451113926144,0.0798321292745,0.99999994769,0.000145372258268,-0.0002850830542,4.7067592728e-05,1793248922118680576
+66,1.100000000,BASELINE,765.303967999,745,715.696032001,680,658,634,879,784,810,651,628,651.696032001,0.400967311235,0.00451075283068,0.0798333696779,0.999999948616,0.000143496918118,-0.000282796827434,4.69401838539e-05,1793248922135346944
+67,1.116666667,BASELINE,765.88324385,745,715.11675615,680,658,634,879,784,810,651,628,651.11675615,0.400968330662,0.00450927721604,0.0798340763279,0.999999949392,0.000140621151645,-0.000281478009945,4.70304270903e-05,1793248922152013568
+68,1.133333333,BASELINE,766,745,715.460482083,680,658,634,879,784,809.539517917,651,628.460482083,651.460482083,0.400966446211,0.00451067915339,0.0798327121259,0.999999948447,0.00014288087588,-0.000283718587756,4.68437933977e-05,1793248922168680960
+69,1.150000000,BASELINE,765.963834448,745,715.963834448,680.036165552,658,634,879,784,809.036165552,651.036165552,629,652,0.400964140985,0.00451271473227,0.0798310007214,0.999999947195,0.000146157762034,-0.000286490592589,4.65916258068e-05,1793248922185348352
+70,1.166666667,BASELINE,765.403238244,745,715.403238244,680.596761756,658,634,879,784,809.596761756,651.596761756,629,652,0.400966363867,0.00451340530962,0.0798318349842,0.999999948044,0.000145385785899,-0.000283939499644,4.64026752274e-05,1793248922202014976
+71,1.183333333,BASELINE,765,745,715.169741655,680.830258345,658,634,879,784,810,652,628.830258345,652,0.400967362699,0.004513671499,0.0798322724495,0.99999994847,0.000145328855525,-0.000282481722716,4.62929130229e-05,1793248922218681856
+72,1.200000000,BASELINE,765,745,715.774455564,680.225544436,658,634,879,784,810,652,628.225544436,652,0.400965224838,0.00451285017118,0.0798316930995,0.999999947826,0.00014710426877,-0.00028382562721,4.63860753107e-05,1793248922235348480
+73,1.216666667,BASELINE,765,745,716,680,658.362542544,634,879,784,810,652,628,652,0.400965184534,0.00451194307108,0.0798315788914,0.999999947749,0.000146262420943,-0.00028450357853,4.65514812186e-05,1793248922252015104
+74,1.233333333,BASELINE,765,745,716,680,658.940739158,634,879,784,810,652,628,652,0.400966391937,0.00451098495041,0.0798317413675,0.999999948007,0.000143863726752,-0.000284785395536,4.67598603688e-05,1793248922268681472
+75,1.250000000,BASELINE,765,745,716,680,659,634,879,784.51712405,809.48287595,651.48287595,628,652,0.400965603716,0.00451086832246,0.0798318236207,0.999999948121,0.000142614309402,-0.000285003769252,4.6825583385e-05,1793248922285348096
+76,1.266666667,BASELINE,765,745,716,680,659,634,878.905039081,785,809.094960919,651,628,652,0.400965096389,0.00451105761488,0.0798321148871,0.999999948257,0.000141986942947,-0.000284834602801,4.68582450006e-05,1793248922302014464
+77,1.283333333,BASELINE,765,745,716,680,659,634,878.318616904,785,809.681383096,651,628,652,0.400967222241,0.00451233283441,0.0798335352943,0.999999948592,0.000143899702137,-0.000282697254779,4.68041123936e-05,1793248922318681088
+78,1.300000000,BASELINE,765.264623,745,716,680,658.735377,634,878.264623,784.735377,810,651,628,652,0.400967955472,0.00451327260085,0.0798340767126,0.999999948537,0.000145489156533,-0.000282093807405,4.67200833235e-05,1793248922335347456
+79,1.316666667,BASELINE,765.844076807,745,716,680,658.155923193,634,878.844076807,784.155923193,810,651,628,652,0.400967031852,0.00451381326749,0.0798335723683,0.999999948021,0.000146693964299,-0.000283315292925,4.66004854388e-05,1793248922352014592
+80,1.333333333,BASELINE,766,745,716,680,658.844828769,634,879.422414384,784.422414384,810,651,628,652,0.400966221706,0.00451324564705,0.0798327424183,0.999999947755,0.00014658203612,-0.000284311123414,4.65897865253e-05,1793248922368680960
+81,1.350000000,BASELINE,765.999660103,745,715.999660103,679.999660103,659.999660103,634,879.999320207,785,810,651,628.000339897,652,0.400965453793,0.00451227023824,0.0798317936775,0.999999947581,0.000145985164169,-0.000285222829844,4.6619096548e-05,1793248922385346816
+82,1.366666667,BASELINE,765.423720478,745,715.423720478,679.423720478,659.423720478,634,878.847440957,785,810,651,628.576279522,652,0.400965458795,0.00451168203999,0.079832676029,0.999999947966,0.00014507305804,-0.00028435806733,4.65089930161e-05,1793248922402013696
+83,1.383333333,BASELINE,765,745,715.155428171,679.155428171,658.844571829,634,878.155428171,784.844571829,810,651,628.844571829,652,0.40096510868,0.00451092613153,0.0798328232613,0.999999948209,0.000143479355531,-0.000284325543543,4.64278047528e-05,1793248922418680320
+84,1.400000000,BASELINE,765,745,715.743509662,679.743509662,658.256490338,634,878.743509662,784.256490338,810,651,628.256490338,652,0.400963770049,0.00450970338106,0.0798309241995,0.999999948051,0.000139988345942,-0.000286609657827,4.64271056505e-05,1793248922435346944
+85,1.416666667,BASELINE,765,745,716,680,658.327902864,634,879,784,810,651,628.327902864,652.327902864,0.400963811146,0.0045092252758,0.0798305439318,0.999999947933,0.000139912845086,-0.000287023859216,4.66440731512e-05,1793248922452013824
+86,1.433333333,BASELINE,765,745,716,680,658.909443088,634,879,784,810,651,628.909443088,652.909443088,0.400964919482,0.00450932316388,0.0798313384723,0.999999947848,0.000142479287263,-0.000285991657215,4.70294087533e-05,1793248922468680192
+87,1.450000000,BASELINE,765,745,716,680,658.515718771,634,879,784,810,651,629,652.515718771,0.400965158687,0.00451037777737,0.0798320122631,0.999999947997,0.000143426548432,-0.000285020019672,4.68843849529e-05,1793248922485346816
+88,1.466666667,BASELINE,765.058026713,745,716,680,658.058026713,634,879,784,810,651.058026713,629,652,0.400965309993,0.0045114117645,0.079832581765,0.999999948195,0.000143877965242,-0.000284128531095,4.66861925972e-05,1793248922502013696
+89,1.483333333,BASELINE,765.633050521,745,716,680,658.633050521,634,879,784,810,651.633050521,629,652,0.400966106385,0.00451068979798,0.0798324205179,0.999999948452,0.000142572376405,-0.000283851615741,4.68858234697e-05,1793248922518680320
+90,1.500000000,BASELINE,766,745,715.785204539,680,658.785204539,634,878.785204539,784,810,651.785204539,628.785204539,652,0.40096632603,0.00451050552686,0.0798321825779,0.999999948405,0.000142486199124,-0.000284046507353,4.69649881145e-05,1793248922535347200
+91,1.516666667,BASELINE,766,745,715.191606606,680,658.191606606,634,878.191606606,784,810,651.191606606,628.191606606,652,0.400965528554,0.00451126950839,0.0798318093864,0.999999947823,0.000144550514859,-0.000285073454027,4.68317045589e-05,1793248922552013568
+92,1.533333333,BASELINE,766,745,715.390313552,680,658.390313552,634,878.390313552,784,810,651,628,652,0.400965356518,0.00451129022683,0.0798318194055,0.999999947919,0.000143574442888,-0.000285242721347,4.67522708828e-05,1793248922568680192
+93,1.550000000,BASELINE,766,745,715.966667623,680,658.966667623,634,878.966667623,784,810,651,628,652,0.400965482595,0.00451095667363,0.0798320120795,0.999999948335,0.00014114918926,-0.000285003181242,4.66985044039e-05,1793248922585347072
+94,1.566666667,BASELINE,765.459139844,745,716,680,658.459139844,634,879,784.540860156,810,651,628,652,0.400965334791,0.0045115234523,0.0798320603566,0.999999948209,0.000143132560498,-0.000284471998952,4.65855041306e-05,1793248922602013696
+95,1.583333333,BASELINE,765.114781611,745,716,680,658,634,878.885218389,784.885218389,810,651.114781611,628.114781611,652,0.400965111729,0.00451182342681,0.0798320513242,0.999999948042,0.000144747656849,-0.000284254350196,4.65184323986e-05,1793248922618680320
+96,1.600000000,BASELINE,765.68815031,745,716,680,658,634,878.31184969,784.31184969,810,651.68815031,628.68815031,652,0.400964655158,0.00451083663745,0.079831848736,0.999999947856,0.000143810195527,-0.000285360885668,4.664938572e-05,1793248922635346944
+97,1.616666667,BASELINE,766,745,716,680,658.272429565,634.272429565,878.272429565,784.272429565,810,651.727570435,629,652,0.400965106847,0.00451034097769,0.0798322123125,0.999999947878,0.000143996036572,-0.000285175383316,4.67413227664e-05,1793248922652013568
+98,1.633333333,BASELINE,766,745,716,680,658.869719134,634.869719134,878.869719134,784.869719134,810,651.130280866,629,652,0.400966641593,0.00451043096793,0.0798332510151,0.999999948146,0.000145521365227,-0.000283449183902,4.67867346516e-05,1793248922668680192
+99,1.650000000,BASELINE,766,745.450067071,716,680,659,634.549932929,879,784.549932929,810,651,628.549932929,652,0.400966774832,0.00450958492146,0.0798329800592,0.999999948386,0.00014374654759,-0.000283479398004,4.69580659449e-05,1793248922685347072
+100,1.666666667,BASELINE,765.974424852,745.974424852,716,680.025575148,659,634,879,784,810,651,628,652,0.400966554964,0.0045084558781,0.0798324004648,0.999999948625,0.000141048474544,-0.000283957789557,4.71619814688e-05,1793248922702013696
+101,1.683333333,BASELINE,765.401350079,745.401350079,716,680.598649921,659,634,879,784,810,651,628,652,0.400967145775,0.00450685861333,0.0798330350022,0.99999994912,0.000138294366597,-0.000283541195295,4.73114501631e-05,1793248922718680576
+102,1.700000000,BASELINE,765.177658919,745,716,680.822341081,658.822341081,634,879,784,810,651,628,652,0.400967364248,0.00450298458263,0.079833311499,0.999999949735,0.000133596154238,-0.000283500618616,4.80626649592e-05,1793248922735347200
+103,1.716666667,BASELINE,765.770537138,745,716,680.229462862,658.229462862,634,879,784,810,651,628,652,0.400966712502,0.00449378936052,0.0798327511932,0.999999950583,0.000124354237524,-0.000284338859428,5.02202633588e-05,1793248922752013824
+104,1.733333333,BASELINE,765.647013321,745,716,680,658.352986679,634,878.647013321,784.352986679,810,651,628,652,0.400967043883,0.00448070059224,0.0798329195017,0.999999952503,0.000108805069072,-0.000283591200944,5.22667011097e-05,1793248922768680448
+105,1.750000000,BASELINE,765.071148459,745,716,680,658.928851541,634,878.071148459,784.928851541,810,651,628,652,0.400967996018,0.00446515341162,0.0798335478622,0.999999954826,8.92734581823e-05,-0.000281842194897,5.42429514702e-05,1793248922785347328
+106,1.766666667,BASELINE,765.506682613,745,716,679.493317387,659,634,878.506682613,784.493317387,810,651,628.506682613,652,0.400966499438,0.0044712152379,0.0798321521647,0.999999953439,9.74646091595e-05,-0.000284136878146,5.37561676011e-05,1793248922802013696
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,785,809,651,628,652,0.400965290673,0.00447292289653,0.0798327957955,0.999999952997,9.91822033706e-05,-0.000285067756261,5.38935541824e-05,1793248922845292800
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,716,680,658.406635399,634,878.406635399,784.406635399,809.593364601,651,628.593364601,652,0.400964840431,0.00447274900945,0.0798320159735,0.999999952597,0.000100740392625,-0.000285944700649,5.37950533091e-05,1793248922861959424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.818716552,745,715.818716552,680,658.181283448,634,878,784,809.818716552,651,628.818716552,652,0.400964711044,0.00447330358738,0.0798315521081,0.999999952398,0.000102342379041,-0.000286106752118,5.36071475933e-05,1793248922878626304
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.242656671,745,715.242656671,680,658.757343329,634,878,784,809.242656671,651,628.242656671,652,0.400965280372,0.00447544452531,0.0798317762934,0.999999952641,0.000104039741737,-0.000284711999329,5.32245471694e-05,1793248922895292928
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.332558382,679.667441618,658.667441618,634,878.332558382,784,809.332558382,651,628,652,0.400965550491,0.00447391960005,0.079832030716,0.99999995292,0.000102182446271,-0.000284413815463,5.31837571619e-05,1793248922911959296
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.907158519,679.092841481,658.092841481,634,878.907158519,784,809.907158519,651,628,652,0.400965602842,0.00446972659587,0.0798323071458,0.99999995321,9.77380088581e-05,-0.000284913733553,5.33917427241e-05,1793248922928625920
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483348764,745,716,679.483348764,658.483348764,634,879,784.483348764,810,651,628.483348764,652,0.400966016615,0.00447347512953,0.0798327952826,0.99999995303,0.000101567885351,-0.000284249347926,5.31676331092e-05,1793248922945292800
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.938603027,745,716,679.938603027,658.938603027,634,879,784.938603027,810,651,629,652,0.400966490742,0.00447791382476,0.0798332553905,0.999999952789,0.000105854264365,-0.000283579247185,5.29057649685e-05,1793248922961959424
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.347160307,745,716,679.347160307,658.347160307,634,879,784.347160307,810,651,629,652,0.400966884609,0.00447509829351,0.0798331213027,0.999999953007,0.000100315572248,-0.000284796876858,5.30368071926e-05,1793248922978626304
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.23706642,744.76293358,716,679.23706642,658.23706642,634,878.76293358,784,810,651.23706642,628.76293358,652,0.400972607293,0.0044731315878,0.0798355468089,0.999999954312,9.78177110082e-05,-0.000281037335898,5.3157453456e-05,1793248922995292928
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.811038137,744.188961863,716,679.811038137,658.811038137,634,878.188961863,784,810,651.811038137,628.188961863,652,0.400985902988,0.00447237118488,0.0798416098644,0.999999957112,9.96413059227e-05,-0.000270204523329,5.32633255583e-05,1793248923011959552
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.386876062,716,680,659,634,878.386876062,784,809.613123938,651.613123938,628,652,0.401016800917,0.00447258960922,0.0798538687735,0.999999963058,9.91113772367e-05,-0.000247494801059,5.29825168253e-05,1793248923028625920
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.963629969,716,680,659,634,878.963629969,784,809.036370031,651.036370031,628,652,0.401056337983,0.00447328843959,0.0798691685932,0.999999969904,9.74263449044e-05,-0.000218955918827,5.25119260399e-05,1793248923045292544
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.444434538,680,659,634,878.444434538,784,809,651.555565462,628,652,0.401119472158,0.00447410183416,0.079889731823,0.999999978009,9.71231026869e-05,-0.000178717813279,5.1078547885e-05,1793248923061959424
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.855447879,745,715.144552121,680.144552121,659,634,878.144552121,784,809.144552121,651.855447879,628,652,0.401186024483,0.00447544059855,0.0799079297108,0.999999983449,9.77124341615e-05,-0.000145233018876,4.96235968004e-05,1793248923078626048
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.278342625,745,715.721657375,680.721657375,659,634,878.721657375,784,809.721657375,651.278342625,628,652,0.401258052765,0.00447832838988,0.0799179895868,0.999999984744,0.000100694384399,-0.000134312813543,4.82979953809e-05,1793248923095292928
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.296562086,745,716,680.406875829,659.296562086,634,879,784,810,651.296562086,628,652,0.401341206052,0.00447885412815,0.0799250264448,0.999999986309,9.94241840177e-05,-0.000123913344246,4.62815319602e-05,1793248923111959552
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.869416623,745,716,679.261166754,659.869416623,634,879,784,810,651.869416623,628,652,0.401434723961,0.00447717925647,0.0799292469035,0.999999988115,9.41924618155e-05,-0.00011399902001,4.36214261389e-05,1793248923128626176
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,679.456488747,659.087022506,634,879,784,810,652,628.456488747,652.456488747,0.401541392926,0.00447801151507,0.0799318079383,0.999999988885,9.33176543489e-05,-0.000109063223367,4.03465252942e-05,1793248923145292800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.953150527,745.046849473,715.953150527,680.046849473,658.046849473,634,879,784,810,651.953150527,629,652.953150527,0.401654889183,0.00447968857889,0.0799343844748,0.99999998947,9.35221488714e-05,-0.000104698369665,3.67657487214e-05,1793248923161959424
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.373137104,745.626862896,715.373137104,680.626862896,658.626862896,634,879,784,810,651.373137104,629,652.373137104,0.401801893319,0.00448255556274,0.0799427132985,0.999999991262,9.1369715437e-05,-9.01025810427e-05,3.17697828966e-05,1793248923178626048
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.205805448,745.794194552,715.205805448,680.794194552,659,634,879,784,809.794194552,651,628.794194552,652,0.401958108113,0.00448496261031,0.0799495850927,0.999999992746,8.77770744645e-05,-7.80415319467e-05,2.67060841555e-05,1793248923195292928
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.782816438,745.217183562,715.782816438,680.217183562,659,634,879,784,809.217183562,651,628.217183562,652,0.402130935897,0.00448654008334,0.0799538288829,0.999999993951,8.15867716224e-05,-7.05523233711e-05,2.15202179938e-05,1793248923211959552
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,809.357663185,651,628,652,0.402324943389,0.00449008579624,0.0799576036915,0.999999994878,7.65479562216e-05,-6.44551256272e-05,1.51559673954e-05,1793248923228626176
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,809.931203702,651,628,652,0.402531734486,0.00449481949392,0.079961095434,0.999999995608,7.22041517469e-05,-5.91981131107e-05,8.08047036152e-06,1793248923245292800
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,716,680,658.479924921,634,879,784.520075079,810,651,628,652,0.402748896219,0.00449723185688,0.0799561370506,0.999999995519,6.40936970882e-05,-6.96691481983e-05,4.66409548789e-07,1793248923261959424
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.895637039,745,716,680,658.104362961,634,879,784.895637039,810,651,628.104362961,652.104362961,0.402976535998,0.0044999301235,0.0799503962707,0.999999995097,5.62198505139e-05,-8.11845954268e-05,-7.33583131149e-06,1793248923278626048
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.340191673,745,716,680,658.659808327,634,879,784.340191673,810,651,628.659808327,652.659808327,0.403243354996,0.00450523167979,0.0799462519105,0.99999999468,5.15876857519e-05,-8.79485575074e-05,-1.56341568209e-05,1793248923295292672
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.2321341,745,716,680.2321341,658.7678659,634,879,784,810,651.2321341,628.7678659,652.7678659,0.403530474553,0.00451048838098,0.0799443075526,0.9999999943,5.01004620248e-05,-9.1368975512e-05,-2.32644521247e-05,1793248923311959040
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.831138002,745,716,680.831138002,658.168861998,634,879,784,810,651.831138002,628.168861998,652.168861998,0.403849677541,0.00451567419189,0.0799458401266,0.999999994114,5.35835720899e-05,-8.95051830308e-05,-2.98389774037e-05,1793248923328625664
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,716,680.587515639,658.412484361,634,879,784,810,651.587515639,628,652,0.404206426385,0.0045258678586,0.0799494479011,0.999999991157,0.00010159354186,-8.23201794443e-05,-2.42605446947e-05,1793248923345292544
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,716,680.013101165,658.986898835,634,879,784,810,651.013101165,628,652,0.404577914701,0.00453802747284,0.0799538703427,0.999999983277,0.000167083542291,-7.30462131841e-05,-1.39111917725e-05,1793248923361959424
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.420427003,745,716,680,659,634,878.420427003,784,810,651,628,652.579572997,0.404984698694,0.00454230927586,0.0799543492618,0.999999995056,7.06391115509e-05,-6.70688877509e-05,-1.99723060929e-05,1793248923378626048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.167498987,784,809.832501013,651.167498987,628,652.832501013,0.405398911948,0.00454671250625,0.0799524577257,0.999999997432,6.05082285858e-06,-6.65837250712e-05,-2.57967820379e-05,1793248923395292416
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.74282631,784,809.25717369,651.74282631,628,652.25717369,0.40582920817,0.00455185907659,0.079945018686,0.999999996005,2.82287948668e-05,-7.92835969127e-05,-3.01124978257e-05,1793248923411959296
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.318135215,745,716,680,659,634,879,784,809.318135215,652,628,652,0.406290387963,0.00456302158551,0.0799392487532,0.999999993069,6.97408613632e-05,-8.98356971393e-05,-3.04619051429e-05,1793248923428625664
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.893429294,745,716,680,659,634,879,784,809.893429294,652,628,652,0.40677653198,0.00457904697047,0.079934828012,0.999999986703,0.000126881296791,-9.86516860887e-05,-2.76052189247e-05,1793248923445292544
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,810,651.519309086,628,652,0.40728812827,0.00458577514814,0.0799321443614,0.999999985166,0.000132612441155,-0.000105834828249,-2.96887382741e-05,1793248923461960448
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.930590215,745,715.930590215,680.069409785,659,634,879,784,810,651,628.069409785,652,0.407809356744,0.00459116950968,0.0799282752122,0.999999984483,0.000129232235138,-0.000115195946026,-3.2593346466e-05,1793248923478627840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.351156978,745,715.351156978,680.648843022,659,634,879,784,810,651,628.648843022,652,0.408358840474,0.00460229555147,0.0799127929073,0.999999978698,0.000144789738599,-0.000143288791056,-3.32778677722e-05,1793248923495294208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.225249731,745,715.225249731,681,659,634,879,784,810,651.225249731,628.774750269,652,0.408941002697,0.00461280884176,0.0799111858328,0.999999976516,0.000154616556469,-0.000147904088451,-3.44534947412e-05,1793248923511960832
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.797000702,745,715.797000702,681,659,634,879,784,810,651.797000702,628.202999298,652,0.409573434152,0.00462237953691,0.0799309229999,0.999999980453,0.000155627870595,-0.000116403916783,-3.63845886071e-05,1793248923528627712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.626893786,745,716,680.626893786,659,634,879.373106214,784,810.373106214,652,628,652,0.410258162861,0.00462862323909,0.0799625360766,0.999999983511,0.000166492957454,-6.19638692615e-05,-3.76636044022e-05,1793248923545294592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.048391101,745,716,680.048391101,659,634,879.951608899,784,810.951608899,652,628,652,0.410971681396,0.00463303541794,0.0800006868887,0.999999982538,0.000182782585232,5.10467140919e-06,-3.85836483979e-05,1793248923561961472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879.458388774,784,811,651.458388774,628.541611226,652,0.411643166925,0.00462542606981,0.0799912221497,0.999999985119,0.000166788187448,-1.88642015743e-05,-3.98380478929e-05,1793248923578627840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,716,680.129818138,659.129818138,634,879,784,811,651,629,652,0.412317233484,0.00461534056873,0.0799720932205,0.999999986701,0.000147920900736,-5.47336618681e-05,-4.14848577211e-05,1793248923595294208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,716,680.708194107,659.708194107,634,879,784,811,651,629,652,0.413013475875,0.00460049103193,0.0799345904471,0.999999985349,0.00012930982786,-0.000103008464218,-4.4382093864e-05,1793248923611961088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,716,681,659.714733798,634,879.285266202,784.285266202,811,651.285266202,629,652.285266202,0.413744401954,0.00459028209504,0.0799171002478,0.999999984864,0.000117547246026,-0.000120158097508,-4.49078387651e-05,1793248923628627456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,716,681,659.138989329,634,879.861010671,784.861010671,811,651.861010671,629,652.861010671,0.414510645505,0.00458479854411,0.0799199882655,0.99999998714,0.000112758281183,-0.00010561388353,-4.30187636251e-05,1793248923645293824
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.44471488,745,716,681,659.44471488,634,880,784.55528512,811,652,629,652.55528512,0.415311809874,0.00458179648948,0.0799404458501,0.999999990787,0.000106187757474,-7.38037910773e-05,-4.12587194126e-05,1793248923661960448
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.96940353,745.03059647,716,681,659.96940353,634,880,784,811,651.96940353,629,652,0.416122579968,0.00458020998763,0.0799641858521,0.999999993351,0.000100432140207,-4.03784083471e-05,-3.97512966779e-05,1793248923678627072
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.389901873,745.610098127,716,681,659.389901873,634,880,784,811,651.389901873,629,652,0.416906311852,0.00458985153995,0.0799465061067,0.99999998905,0.000119467198705,-7.65474736029e-05,-4.20392859145e-05,1793248923695293696
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.810365666,716,680.810365666,659.379268668,634,880.189634334,784,811,651,629,652.189634334,0.417729178508,0.0045960508059,0.0799436378007,0.999999987303,0.000130222692809,-8.05930427297e-05,-4.40567627789e-05,1793248923711960064
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.230758442,716,680.230758442,660.538483116,634,880.769241558,784,811,651,629,652.769241558,0.418632523688,0.00459517119303,0.079971228431,0.999999991109,0.000123951703382,-1.85783538897e-05,-4.55179452558e-05,1793248923728626688
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,716,680.345917043,661,634,881,784,811,651,629,653,0.419507420608,0.0045937868113,0.0799837675668,0.99999999174,0.000119136337981,1.00178074334e-05,-4.71758055108e-05,1793248923745293312
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,716,680.920653203,661,634,881,784,811,651,629,653,0.420363499381,0.00459206853233,0.0799863503559,0.99999999202,0.000115283847265,1.65080941271e-05,-4.89637652914e-05,1793248923761959936
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.493696058,680.493696058,660.493696058,634,880.493696058,784.506303942,811.506303942,651.506303942,629,653,0.421233484141,0.00459062735975,0.0799728747005,0.999999992493,0.000111768339814,-7.40139067865e-06,-4.96758921799e-05,1793248923778626304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.092148884,659.907851116,634,880.092148884,784.907851116,812,652,629,653,0.422113545682,0.00459039118492,0.0799640042073,0.999999992367,0.000110314604947,-2.45395218996e-05,-4.99534735271e-05,1793248923795292928
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.669806037,659.330193963,634,880.669806037,784.330193963,812,652,629,653,0.423034963598,0.00459626997813,0.0799929487788,0.999999991481,0.000119439430868,1.96531071602e-05,-4.88494402596e-05,1793248923811959552
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.247545083,715.247545083,680.752454917,659.247545083,634,881,784,812,652,629,653,0.423930726196,0.00460160432915,0.0800018724201,0.999999990658,0.000125597404426,2.48314375491e-05,-4.78859548277e-05,1793248923828626432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.825393483,715.825393483,680.174606517,659.825393483,634,881,784,812,652,629,653,0.424792256629,0.0046062122232,0.079984081822,0.999999990481,0.000127796661339,-2.20476210249e-05,-4.71100044671e-05,1793248923845293824
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.597699574,715.597699574,680.402300426,660,634,881,784,812,651.597699574,629.402300426,653,0.42566379252,0.00461015290612,0.0799517079384,0.999999987411,0.000132251673836,-7.32463869155e-05,-4.82016653205e-05,1793248923861960448
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.021200323,715.021200323,680.978799677,660,634,881,784,812,651.021200323,629.978799677,653,0.426539660792,0.0046138046818,0.0799130193939,0.999999981289,0.0001376834435,-0.00012631561255,-5.01020145149e-05,1793248923878627072
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.565385944,681,660.565385944,633.434614056,881,784.565385944,812.565385944,651,629.434614056,653,0.427463785099,0.00461141812623,0.079910144637,0.999999982251,0.000136538364425,-0.00011931989403,-5.11729706811e-05,1793248923895293184
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.848891241,745,716,681,660.848891241,633.151108759,881,784.848891241,813,651,629,652.848891241,0.428386279448,0.00460783972815,0.0799135882766,0.999999983867,0.000132617707728,-0.000109668312589,-5.14913231629e-05,1793248923911959808
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.26673009,745,716,681,660.26673009,633.73326991,881,784.26673009,813,651,629,652.26673009,0.42929886871,0.00460151910077,0.0799311553805,0.999999986483,0.000121495711966,-9.89821218365e-05,-4.97531273239e-05,1793248923928626432
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.310345335,745,716,681,660,634,881,784.310345335,813,651.310345335,629,652,0.43023146078,0.00459897489367,0.079963267923,0.999999990428,0.000116346865974,-5.62736780589e-05,-4.94085347266e-05,1793248923945292800
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.883120214,745,716,681,660,634,881,784.883120214,813,651.883120214,629,652,0.431180967276,0.0045996240465,0.0800076801592,0.99999999189,0.000116248944998,1.35129403377e-05,-5.02423798066e-05,1793248923961959424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.455902907,715.544097093,681,660.455902907,634,881,784.544097093,813,652,629,652.455902907,0.432061785691,0.0046038370306,0.0800194811245,0.999999991226,0.000118659108619,3.09026374568e-05,-5.01225198425e-05,1793248923978626048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.970104134,715.029895866,681,660.970104134,633.970104134,881,784,813,651.970104134,629.029895866,652.970104134,0.432922675695,0.0046089388962,0.0800189363004,0.999999990912,0.000121815915108,2.91422329156e-05,-4.9878510308e-05,1793248923995292928
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.373195813,715.626804187,681,660.373195813,633.373195813,881,784,813,651.373195813,629.626804187,652.373195813,0.43373959025,0.00461357051917,0.0799428091178,0.999999987311,0.000126938271285,-8.10459033157e-05,-5.19172002131e-05,1793248924011960320
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.783802046,681.216197954,660,633.216197954,881,784,813.216197954,651,629.783802046,652.216197954,0.434579319704,0.00461618202886,0.0799002805252,0.999999980473,0.00012947879605,-0.000139319413434,-5.36558448802e-05,1793248924028627200
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.206943916,681.793056084,660,633.793056084,881,784,813.793056084,651,629.206943916,652.793056084,0.435457108973,0.00461542359803,0.0799138008939,0.999999984179,0.000127712327449,-0.000110989263954,-5.48939569744e-05,1793248924045293568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.367891914,715.367891914,682,660.367891914,634,881,784,814,651,629.367891914,652.632108086,0.43631385116,0.00461403988556,0.0799421369061,0.999999988157,0.000123552228731,-7.38779729729e-05,-5.44315181148e-05,1793248924061959936
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.941596357,715.941596357,682,660.941596357,634,881,784,814,651,629.941596357,652.058403643,0.437158818769,0.00461230636715,0.079978761344,0.999999991119,0.000118053043539,-3.1854183806e-05,-5.30177271521e-05,1793248924078626304
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.469271216,716,681.469271216,661,634,881,784,814,651,630,652.530728784,0.437986319288,0.00460443710911,0.0800045859227,0.999999992714,0.000107856389016,1.10103158796e-05,-5.30797363889e-05,1793248924095292672
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.880976083,681,661,633.880976083,881,784,814,651,630,653,0.438804743737,0.0045975703911,0.080022787473,0.999999992795,9.86784236419e-05,4.2700087841e-05,-5.33824147748e-05,1793248924111959552
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.302659453,681,661,633.302659453,881,784,814,651,630,653,0.4395957845,0.0045972558004,0.0800162964498,0.999999993508,9.54858678143e-05,3.09008273956e-05,-5.39683449961e-05,1793248924128626688
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.274195055,745,715,681,661,633.274195055,881,784,814,651,630,653,0.44031894509,0.00459956336206,0.0799802119702,0.999999993695,9.4826881827e-05,-2.57682840496e-05,-5.43510295316e-05,1793248924145293568
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.84944418,745,715,681,661,633.84944418,881,784,814,651,630,653,0.440967576195,0.00460474993129,0.0799116351818,0.999999985142,9.6949643146e-05,-0.000131702510803,-5.45105587922e-05,1793248924161960192
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.56719154,745,715,681.43280846,660.56719154,634,881.43280846,784,814,651.43280846,630,652.56719154,0.441614377439,0.00460749598908,0.0798595197095,0.999999972583,9.88420943144e-05,-0.000204535410018,-5.68222869817e-05,1793248924178626560
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.981163634,660.018836366,633.981163634,882,784,814.018836366,652,630,652,0.442263973046,0.00460919986905,0.0798169040798,0.999999959306,0.000100452284324,-0.000260247879268,-5.97379227126e-05,1793248924195293184
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.401486101,660.598513899,633.401486101,882,784,814.598513899,652,630,652,0.443016082,0.00460563353671,0.0798833886521,0.999999981601,9.60892806596e-05,-0.00015559984438,-5.79177180326e-05,1793248924211959552
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.177922388,661,633,882,784,815,651.822077612,630,652.177922388,0.443749152363,0.00460240316793,0.0799451871278,0.999999992202,9.31448545596e-05,-6.12987839023e-05,-5.62327986312e-05,1793248924228626176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.756724801,661,633,882,784,815,651.243275199,630,652.756724801,0.444439326692,0.00459992976378,0.0799964272906,0.999999994087,9.33966510771e-05,9.68934623235e-06,-5.4852693511e-05,1793248924245292800
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.667530983,661,633,881.667530983,784,815,651,630,653,0.445062502233,0.00459764135712,0.0800140875173,0.999999993863,9.07655841684e-05,3.29955130293e-05,-5.42945078232e-05,1793248924261959936
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681.094004159,661,633,881.094004159,784,815,651,630,653,0.445637100029,0.00459548708368,0.0800074004925,0.999999994586,8.60442874062e-05,2.17297036687e-05,-5.43322578726e-05,1793248924278627328
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715.492155795,681.492155795,660.507844205,633,881.492155795,784,814.507844205,651.492155795,630,653,0.446170881885,0.00459550520368,0.07999803844,0.999999995251,8.11121362399e-05,7.62751931545e-06,-5.34843988676e-05,1793248924295293952
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715.920436238,682,660.079563762,633,881.920436238,784,814.079563762,651.920436238,630,653,0.446694432879,0.00459696219967,0.0799878828141,0.999999995465,7.90220101701e-05,-5.58856316304e-06,-5.2854450141e-05,1793248924311960576
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715.340750654,682,660.659249346,633,881.340750654,784,814.659249346,651.340750654,630,653,0.447203970132,0.00460478675178,0.0799760352446,0.999999993939,9.50561078061e-05,-9.73966772765e-06,-5.46855324045e-05,1793248924328626944
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.762078909,660.762078909,633,881,784,815,651,630,653,0.447685912136,0.00461076999524,0.0799609840065,0.999999992343,0.000107569056278,-2.44435129262e-05,-5.60804528803e-05,1793248924345293312
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.184853073,660.184853073,633,881,784,815,651,630,653,0.448128499877,0.00461412730534,0.0799413639435,0.999999990296,0.000115060411436,-5.41968641773e-05,-5.68533528108e-05,1793248924361959680
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,881,784,815,651,630,652.609910881,0.448512044014,0.00461876743815,0.0799093601051,0.999999984786,0.000124966354219,-0.000107568526413,-5.69161305546e-05,1793248924378626560
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,881,784,815,651,630,652.036044501,0.448867771798,0.00462401192968,0.0798715220689,0.999999974343,0.00013600984834,-0.000172067157304,-5.66443581888e-05,1793248924395293696
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.551753507,715,681.551753507,660,633,881.551753507,784,815,651,630,652,0.44920570811,0.0046292883766,0.079846376127,0.999999966106,0.000148046911164,-0.00020668229378,-5.61397788975e-05,1793248924411960320
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.138509927,745.861490073,715.138509927,682,660,633,882,784,815,651,630.138509927,652.138509927,0.449543513328,0.00463368298367,0.0798290843222,0.999999959686,0.000158458981775,-0.000228931269115,-5.57561320123e-05,1793248924428626944
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.718963973,745.281036027,715.718963973,682,660,633,882,784,815,651,630.718963973,652.718963973,0.449884704861,0.00463525706918,0.0798341386699,0.999999961294,0.000163473723578,-0.000218113756533,-5.58081278195e-05,1793248924445293568
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.703376403,745.296623597,715.703376403,682,660,633,882,784,814.703376403,651,630.703376403,653,0.450209707713,0.0046381783081,0.0798432381509,0.999999965006,0.000158131128792,-0.000204468211041,-5.63481758877e-05,1793248924461960192
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.12833968,745.87166032,715.12833968,682,660,633,882,784,814.12833968,651,630.12833968,653,0.450519515728,0.00464236399518,0.079856134424,0.999999970418,0.000143067060086,-0.0001881682533,-5.73463134391e-05,1793248924478626560
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.455712732,745.544287268,715,682.455712732,659.544287268,633,882,784,814,651,630,652.544287268,0.450775379524,0.00464468443447,0.0798556179149,0.99999997322,0.000117493116179,-0.000191055671067,-5.7040383749e-05,1793248924495293184
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.958155051,745,715,682.958155051,659,633,882,783.958155051,814.041844949,651.041844949,630,652,0.451012789522,0.00464670655373,0.0798506788783,0.999999974026,9.27841388564e-05,-0.000200458210871,-5.61689331105e-05,1793248924511959552
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.378582575,745,715,682.378582575,659,633,882,783.378582575,814.621417425,651.621417425,630,652,0.451212223996,0.00465178169942,0.0798384288649,0.999999966835,0.000117993332826,-0.000222742502846,-5.28449454471e-05,1793248924528626432
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,682.200414516,658.799585484,633,882,783.200414516,815,652,629.799585484,652.200414516,0.451397445873,0.00466121545375,0.0798251600032,0.99999995805,0.000142943667606,-0.000246466705072,-5.21569449745e-05,1793248924545293056
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,682.778327755,658.221672245,633,882,783.778327755,815,652,629.221672245,652.778327755,0.451555897027,0.00467885903793,0.0798099720507,0.999999947157,0.000167406415126,-0.000272903105112,-5.64340632912e-05,1793248924561959936
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,683,658,633,881.645782325,784,815,651.645782325,629.354217675,653,0.451697499612,0.00469028261969,0.0797951518727,0.999999936897,0.000184517211328,-0.000297551873354,-6.01823022284e-05,1793248924578626816
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,683,658,633,881.071151367,784,815,651.071151367,629.928848633,653,0.451828618126,0.00469783578319,0.0797805605424,0.999999927014,0.000197053230464,-0.000321088283525,-6.36014443909e-05,1793248924595293696
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.512893618,745.512893618,715,682.487106382,658,632.487106382,881.512893618,784,814.487106382,651.512893618,630,653,0.451940398996,0.00467197321942,0.0797725713394,0.999999928032,0.000170768691109,-0.000333026839411,-6.21908523934e-05,1793248924611960064
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.902324083,715,682,658,632,882,784,814,651.902324083,630,653,0.452045669503,0.00464746884341,0.0797656282458,0.99999992867,0.000144831404605,-0.000343479001476,-6.0872495452e-05,1793248924628626432
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.320481347,715,682,658,632,882,784,814,651.320481347,630,653,0.452132215068,0.00465310457496,0.07975924578,0.999999924165,0.00014780924395,-0.000354687619016,-6.33945699679e-05,1793248924645293312
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.738192485,745,715,682.261807515,658,632,882,784,814,651.261807515,630,653,0.452211895809,0.00465892299665,0.0797541921113,0.999999920415,0.000153173456086,-0.000362599717244,-6.50409517e-05,1793248924661959680
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.417125498,715,683,658,632,882,783.582874502,814,651.582874502,630,653,0.45234091074,0.00466229165273,0.0797484985498,0.999999917138,0.000158422679641,-0.000369316694371,-6.50488551911e-05,1793248924695293440
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.985844793,715,683,658,632,882,783.014155207,814,651.014155207,630,653,0.452393752261,0.0046564501827,0.0797466490542,0.999999917392,0.000151263356821,-0.00037179204189,-6.40708243942e-05,1793248924711960832
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.425388837,715,683,657.425388837,632,882,783.574611163,814.574611163,651.574611163,630,653,0.452426933414,0.00466457627906,0.0797440179782,0.999999914077,0.000159782831365,-0.000376988792346,-6.47743729893e-05,1793248924728627456
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.161475253,745.161475253,715,682.838524747,657.161475253,632,882,784,815,651.838524747,630,653,0.452456828917,0.00466868725456,0.0797412357057,0.999999911307,0.000164663339281,-0.000382188690621,-6.48382719774e-05,1793248924745294080
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.742073553,745.742073553,715,682.257926447,657.742073553,632,882,784,815,651.257926447,630,653,0.452479498764,0.0046614512522,0.0797381127712,0.999999910389,0.000159059837571,-0.000387216459737,-6.31304964648e-05,1793248924761960192
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+225,3.750000000,POSE1_TO_POSE2_PRESS,765.468553883,745.468553883,715,682,657.468553883,632,882,784,815,651.468553883,630,652.531446117,0.452522445182,0.00466475159402,0.0797337473454,0.999999908952,0.000156952237464,-0.000391653876692,-6.37860939041e-05,1793248924811959552
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+237,3.950000000,POSE1_TO_POSE2_PRESS,765.565314706,745,715,682,657,632.565314706,882,784,815,652,630,652.434685294,0.452542777758,0.00466308915336,0.079730202489,0.999999906631,0.000152976409512,-0.000399471447343,-6.13030946933e-05,1793248925011960832
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.006480965,745,715,682,657,632,882,784,815,651.993519035,630,652.993519035,0.452542533225,0.00466544787401,0.079730219196,0.999999905866,0.000157184061659,-0.000399760193582,-6.12547928458e-05,1793248925028627712
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.597401239,745,715,682,657,632,882,784,815,651.402598761,630,652.402598761,0.452543953333,0.00466374654968,0.0797313433373,0.99999990677,0.000154211173483,-0.000398717697826,-6.08480482994e-05,1793248925045294080
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682.185022296,657,632,882,783.814977704,814.814977704,651,630,652.185022296,0.452545005649,0.00466260206846,0.0797318259873,0.999999907355,0.000152315242871,-0.000398015843279,-6.06093595296e-05,1793248925061960448
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,682.765590164,657,632,882,783.234409836,814.234409836,651,630,652.765590164,0.45254527169,0.00466264802131,0.0797309372399,0.999999907275,0.000152721660882,-0.000398042220614,-6.07299448826e-05,1793248925078626816
+242,4.033333333,HOLD_POSE2,765,745,715,683,657,632,882,784,815,651,630,653,0.452545180789,0.00466194118881,0.0797295237617,0.999999907037,0.000151814434103,-0.000399026650739,-6.04711558923e-05,1793248925114393344
+243,4.050000000,HOLD_POSE2,765.570899617,745,715,682.429100383,657.570899617,632,882,784,815,651.570899617,630,653,0.452544525971,0.00466213986678,0.0797294547115,0.999999906611,0.000153022741003,-0.000399705620678,-5.99793637441e-05,1793248925131059712
+244,4.066666667,HOLD_POSE2,766,745,715,682.148766427,657.851233573,632,882,783.851233573,815,651.851233573,630,653,0.452544590674,0.00466221664032,0.0797297036423,0.999999906539,0.000153535662723,-0.000399740660744,-5.96370596322e-05,1793248925147726080
+245,4.083333333,HOLD_POSE2,766,745,715,682.747716894,657.252283106,632,882,783.252283106,815,651.252283106,630,653,0.45254683273,0.0046619245173,0.0797309148196,0.999999907538,0.000151944270516,-0.000397827096325,-5.97471231103e-05,1793248925164392704
+246,4.100000000,HOLD_POSE2,765.66708151,745,715,683,657,632,882,783.33291849,815,651,630,653,0.45254711699,0.00466134734416,0.0797306673605,0.999999907858,0.000149875923782,-0.000397764294367,-6.00337549325e-05,1793248925181059072
+247,4.116666667,HOLD_POSE2,765.091885526,745,715,683,657,632,882,783.908114474,815,651,630,653,0.452545976487,0.00466056272917,0.079729358396,0.999999907681,0.000147460479125,-0.000399048363009,-6.04488822717e-05,1793248925197725696
+248,4.133333333,HOLD_POSE2,765.484050961,745,715,683,657.484050961,632,882,783.515949039,815,651,630,653,0.452546151809,0.00466025738686,0.0797295087565,0.999999907528,0.000147331695055,-0.00039949294605,-6.03588561185e-05,1793248925214392064
+249,4.150000000,HOLD_POSE2,765.938413456,745,715,682.938413456,657.938413456,632,882,783.061586544,815,651.061586544,630,653,0.452546569737,0.00466022715156,0.0797299509971,0.999999907392,0.000147816768483,-0.000399676266571,-6.02024345822e-05,1793248925231058688
+250,4.166666667,HOLD_POSE2,765.34836434,745,715,682.34836434,657.34836434,632,882,783.65163566,815,651.65163566,630,653,0.452546922849,0.00466177569253,0.0797305171258,0.999999907361,0.000149838875505,-0.000398987244125,-6.03003729808e-05,1793248925247725312
+251,4.183333333,HOLD_POSE2,765.237199045,745,715,682.237199045,657,632,882,784,815,651.762800955,630,653,0.452546665919,0.00466281621885,0.07973031872,0.99999990709,0.000150908119835,-0.000399246533696,-6.03987037261e-05,1793248925264391936
+252,4.200000000,HOLD_POSE2,765.816296647,745,715,682.816296647,657,632,882,784,815,651.183703353,630,653,0.452545529675,0.00466312449302,0.0797290183146,0.99999990648,0.000150603908288,-0.000400872719685,-6.04975999912e-05,1793248925281058816
+253,4.216666667,HOLD_POSE2,765.607026471,745,715,683,657.392973529,632,882,784,815,651,630,653,0.452545290426,0.00466304175405,0.0797288913262,0.999999906481,0.000149806285155,-0.00040119476904,-6.03309437106e-05,1793248925297725696
+254,4.233333333,HOLD_POSE2,765.031474224,745,715,683,657.968525776,632,882,784,815,651,630,653,0.452545467929,0.0046627773472,0.079729309517,0.999999906765,0.000148779418932,-0.000400910905983,-6.00409095528e-05,1793248925314392576
+255,4.250000000,HOLD_POSE2,765,745,715,683,657.446246681,632.553753319,881.446246681,784,815,651,630,653,0.452544214994,0.00466272451517,0.0797287109924,0.999999905695,0.000150713040085,-0.000402912836779,-5.96420931179e-05,1793248925331058944
+256,4.266666667,HOLD_POSE2,765,745,715,683,657,632.86199455,881,784,814.86199455,651,630,652.86199455,0.452543660061,0.00466270556044,0.0797282172483,0.999999905019,0.0001519997304,-0.000404142005384,-5.93887528207e-05,1793248925347725312
+257,4.283333333,HOLD_POSE2,765,745,715,683,657,632.282651526,881,784,814.282651526,651,630,652.282651526,0.452545601949,0.00466275580331,0.0797282466797,0.999999905878,0.000150669868386,-0.000402477033896,-5.96207656223e-05,1793248925364391936
+258,4.300000000,HOLD_POSE2,765,745,715,683,657,632,881.296453218,784,814,651.296453218,630,652.296453218,0.45254713581,0.00466295540128,0.0797289100816,0.999999906536,0.000150877100551,-0.000400743456803,-5.9736345062e-05,1793248925381058560
+259,4.316666667,HOLD_POSE2,765,745,715,683,657,632,881.875330924,784,814,651.875330924,630,652.875330924,0.452548280952,0.00466329728659,0.0797301774535,0.999999907002,0.000152548688749,-0.000398944520755,-5.97410009746e-05,1793248925397725440
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,684,657,632,882,784,815,651,629,653,0.452543593656,0.00466311973593,0.0797256496721,0.999999904571,0.000151463081705,-0.000405354209669,-6.0044154266e-05,1793248925432461056
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.38520847,657,632,882,784,814.38520847,651.61479153,629,653,0.452546400088,0.00466083303257,0.0797280472197,0.999999906346,0.000149497018559,-0.000401753556017,-5.96123091292e-05,1793248925449128192
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.776596534,745,715,683,657,632,882.223403466,784,814.223403466,651.776596534,629.223403466,653.223403466,0.452547877781,0.00465964324255,0.0797292610256,0.999999907276,0.000148277359213,-0.000399919598198,-5.93881207812e-05,1793248925465794816
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.178353001,745,715,683,657,632,882.821646999,784,814.821646999,651.178353001,629.821646999,653.821646999,0.452547126036,0.00466029392083,0.0797284886773,0.999999906811,0.00014831006173,-0.00040104991067,-5.95123516896e-05,1793248925482461184
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.404105234,745,715,683,657,632,882.595894766,784,815,651.404105234,630,653.595894766,0.452547355806,0.00466153488081,0.0797290807827,0.999999906876,0.000148494437104,-0.000400783974038,-5.9742410178e-05,1793248925499127552
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.979858459,745,715,683,657,632,882.020141541,784,815,651.979858459,630,653.020141541,0.452548002485,0.0046630265692,0.0797302524544,0.999999907167,0.000148743237135,-0.000399924965697,-6.00174200477e-05,1793248925515794176
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,657,632,882,783.449618765,815,651.449618765,630,653,0.452547635336,0.00466262177636,0.0797301488018,0.999999907414,0.000147439843749,-0.000399796340284,-5.99646069686e-05,1793248925532460800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.874210472,745.125789528,715,682.874210472,657.125789528,632,882.125789528,783.125789528,815,651,630,653,0.452546031426,0.00466220726483,0.0797292044606,0.999999907118,0.00014691513957,-0.000400740855948,-5.98931147712e-05,1793248925549127168
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.279899144,745.720100856,715,682.279899144,657.720100856,632,882.720100856,783.720100856,815,651,630,653,0.452539957907,0.0046620126225,0.079725301047,0.999999904788,0.000149500360479,-0.000405583826872,-5.97963129481e-05,1793248925565793536
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.694017427,715,682.305982573,657.694017427,632,882.694017427,784,815,651,630,653,0.452523930644,0.00466154312477,0.079716758845,0.999999899289,0.000149989774683,-0.00041876595545,-5.96743807253e-05,1793248925582460416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.115640034,715,682.884359966,657.115640034,632,882.115640034,784,815,651,630,653,0.45249904226,0.00466082894255,0.0797040870553,0.999999890661,0.000148613439003,-0.000439371850758,-5.95300766572e-05,1793248925599127040
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.4601731,745,715,683,657.4601731,632,882,784,815,651,630,652.5398269,0.452451375448,0.0046602898938,0.0796845037217,0.999999875268,0.000149402024645,-0.00047295822418,-5.87665377148e-05,1793248925615793920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.964588501,657.964588501,632,882,784,815,651.035411499,630,652.035411499,0.452397155328,0.0046599343176,0.0796636461405,0.999999857554,0.000150738022627,-0.000508744585663,-5.78737938819e-05,1793248925632461056
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.388341439,657.388341439,632,882,784,815,651.611658561,630,652.611658561,0.452329787124,0.0046617124542,0.0796497068413,0.999999847074,0.000152171604582,-0.000528587728038,-5.73711907284e-05,1793248925649127424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.192028907,657,632,882,784,815,652,630,653,0.452259415863,0.0046627689615,0.0796383585773,0.999999838417,0.000153028839049,-0.000544572888885,-5.64695272094e-05,1793248925665793792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.780920883,657,632,882,784,815,652,630,653,0.452182838223,0.00466233408938,0.0796323651615,0.999999834169,0.000152694945745,-0.000552584825027,-5.47431319623e-05,1793248925682460672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.63633389,657,632,882,784,815,652,630,653,0.452088623702,0.00466109993112,0.0796274815253,0.999999829348,0.000154480613965,-0.000560973905985,-5.24232915835e-05,1793248925699127296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.057230065,657,632,882,784,815,652,630,653,0.451983961005,0.00465939227159,0.0796232553287,0.999999824141,0.00015752192159,-0.000569586409007,-4.97518912893e-05,1793248925715793664
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.481083747,745,715,682.518916253,657,632.518916253,882,784,814.481083747,652,630,653,0.451859290497,0.00466039247036,0.0796191434459,0.999999818901,0.000160485986223,-0.000578113599284,-4.71918561535e-05,1793248925732460544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,657,632.90303179,882,784,814,651.90303179,630,653,0.451728480607,0.00466112698161,0.0796150334034,0.999999813848,0.000163640551185,-0.000586134052123,-4.44053994406e-05,1793248925749127680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,657,632.313656008,882,784,814,651.313656008,630,653,0.451577636502,0.00465900439731,0.0796108690479,0.999999810092,0.000167805497026,-0.000591628784659,-4.0407151069e-05,1793248925765794304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.728402099,657.271597901,632,881.728402099,784,814,651,630,652.728402099,0.451417354993,0.00465607713714,0.0796137148885,0.999999812568,0.000170528100322,-0.000586946689697,-3.57350840974e-05,1793248925782460672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.14783723,657.85216277,632,881.14783723,784,814,651,630,652.14783723,0.451246337601,0.00465223448618,0.0796245354561,0.999999821974,0.000171609909318,-0.000570687540368,-3.029648831e-05,1793248925799127296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.428490637,658,632,881.428490637,784,814,651,630,652.428490637,0.451054666655,0.00465107376953,0.0796407879773,0.999999837569,0.00017561784085,-0.000541676328576,-2.46230540743e-05,1793248925815793920
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.003384857,745,715,682.996615143,658.003384857,632.003384857,882,784,814,651,630,653,0.450855682845,0.0046508101321,0.0796588707234,0.999999854281,0.000180622069878,-0.00050838703726,-1.886304148e-05,1793248925832460288
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.580625308,745,715,682.419374692,658.580625308,632.580625308,882,784,814,651,630,653,0.450613168951,0.00464729516382,0.079672621618,0.999999863532,0.000185052534668,-0.000488413620615,-1.20268849904e-05,1793248925849126912
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.160768573,658.839231427,633,881.839231427,784,814,651,630,653,0.450360131517,0.00464326658228,0.0796846405098,0.999999871482,0.000189545909027,-0.000470195195595,-5.04084867393e-06,1793248925865793536
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.74862337,658.25137663,633,881.25137663,784,814,651,630,653,0.450079137952,0.0046378735719,0.079692058291,0.99999987688,0.000194206405554,-0.000456638951144,2.34334909732e-06,1793248925882460160
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.668303375,745,715,683,658.663393251,633,881.331696625,784,814.331696625,651,630,653,0.449768968732,0.00463354409449,0.0796991925197,0.999999881852,0.000197957816984,-0.000443870829757,9.38040660456e-06,1793248925899127296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.088802357,745,715,683,659.822395286,633,881.911197643,784,814.911197643,651,630,653,0.449437002939,0.00463000916316,0.0797061149112,0.999999886484,0.00020103006753,-0.000431691501288,1.615812162e-05,1793248925915793920
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.48794741,745,715,683,659.51205259,633,882,784,814.02410518,651,630,652.51205259,0.449059826155,0.00462578902094,0.079712428632,0.999999890419,0.000194561966036,-0.00042533666248,1.99207502998e-05,1793248925932460800
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.936130871,745.063869129,715,682.936130871,659.063869129,633,882,784,813.063869129,651.063869129,630,652.063869129,0.448671010145,0.00462120083293,0.079717838217,0.999999894556,0.000182966898227,-0.000420626315705,2.20073570192e-05,1793248925949127424
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.362842417,745.637157583,715,682.362842417,659.637157583,633,882,784,813.637157583,651.637157583,630,652.637157583,0.448254618461,0.00461466616657,0.0797169149978,0.99999990102,0.000144249991812,-0.000420625204775,1.50780841008e-05,1793248925965793792
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.782930582,715,682,660,633,882,784,814,652,630,653,0.447835709881,0.00460717651787,0.0797234613446,0.999999910247,0.000115340050972,-0.000407492366447,1.23157541854e-05,1793248925982460416
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.191599043,715,682,660,633,882,784,814,652,630,653,0.447412461817,0.00459804032877,0.0797428864083,0.999999925433,0.000103338879069,-0.000371718346943,1.67378959224e-05,1793248925999127296
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,882,784,813.608779252,652,630,652.608779252,0.446950527078,0.00459335397224,0.0797698073357,0.999999940149,9.28228770689e-05,-0.00033266850394,2.04282071633e-05,1793248926015793920
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,882,784,813.030039245,652,630,652.030039245,0.446470049071,0.00459080050102,0.0798003211693,0.999999953625,8.30187430064e-05,-0.000292048495323,2.37677390351e-05,1793248926032460544
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,881.456564234,784,813,651.456564234,630,652.543435766,0.445910080325,0.00458443979929,0.0798140080178,0.999999957714,8.6210757147e-05,-0.000276493876112,2.63000915959e-05,1793248926049127680
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.119815266,660,633,881,784,813,651,630,652.880184734,0.445339542525,0.00457810853611,0.0798240149281,0.999999958763,0.000103026845306,-0.000266523552718,2.87243097565e-05,1793248926065794048
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.708694113,660,633,881,784,813,651,630,652.291305887,0.444744664734,0.00457270850469,0.0798232217343,0.999999947729,0.000170394284149,-0.000273042986352,3.08981930886e-05,1793248926082460672
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.70730093,660,633,881,784,813,651,630,652,0.444120528723,0.0045678735787,0.0798146564032,0.999999938867,0.00019065218999,-0.00029125804434,3.29493191395e-05,1793248926099127296
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.128067251,660,633,881,784,813,651,630,652,0.443467750728,0.00456359185692,0.0797984826219,0.999999934318,0.00016479272095,-0.000320922408336,3.48802732053e-05,1793248926115793920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.449022757,659.550977243,633.449022757,881.449022757,784.449022757,812.550977243,651,630,652.449022757,0.442803175406,0.00455614277117,0.0797922809875,0.999999938112,0.000132998239672,-0.000323780548561,3.53935133044e-05,1793248926132460544
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.974544376,659.025455624,633.974544376,881.974544376,784.974544376,811.974544376,651,630,652.974544376,0.442132519664,0.004547913699,0.0797890078721,0.999999943406,0.000100416159243,-0.000319121616633,3.55761705794e-05,1793248926149126912
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.399162149,659.600837851,633.399162149,881.399162149,784.399162149,811.399162149,651,630,652.399162149,0.441402850896,0.00454225748619,0.0797878485182,0.99999994543,8.72144782704e-05,-0.000316452182087,3.73109592876e-05,1793248926165793792
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.819388362,633,881,784,811.180611638,651,630,652,0.440648472144,0.00453686892318,0.079768326832,0.999999935459,8.61730710403e-05,-0.000346597512248,3.90564445418e-05,1793248926182460672
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.229667181,633,881,784,811.770332819,651,630,652,0.439838122066,0.00453208662353,0.0797072120044,0.999999891085,0.000112676313291,-0.000451072676367,4.08261583912e-05,1793248926199127296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.355005992,633.355005992,881,784,812,651,629.644994008,652,0.439060214344,0.00452437426842,0.0796882454303,0.999999879767,0.000104968958977,-0.000477194398194,4.16347439364e-05,1793248926215794176
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.936459254,633.936459254,881,784,812,651,629.063540746,652,0.438303000509,0.00451479292167,0.0796961639091,0.999999893522,7.54397331712e-05,-0.000453336910474,4.18302559942e-05,1793248926232461056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.512255296,633.487744704,881,784,812,651,629.512255296,652,0.437562802129,0.00450614591952,0.0797615866409,0.999999931391,7.25310351448e-05,-0.00036052019057,4.45312750782e-05,1793248926249127424
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.910905985,715,682,660.910905985,633.089094015,881,784,811.910905985,651,630,652,0.436814823272,0.00449755241675,0.0798274260984,0.999999960564,7.22200072385e-05,-0.000267209435769,4.74844233916e-05,1793248926265793792
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.324370246,715,682,660.324370246,633.675629754,881,784,811.324370246,651,630,652,0.436011747558,0.00448861759094,0.0798562019799,0.999999972575,6.81776251905e-05,-0.000218377262777,5.01290285471e-05,1793248926282460416
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.258573061,715,682,660,634,881,784,811,651,629.741426939,652,0.435173132703,0.0044790794318,0.079858312943,0.999999974129,6.08355089974e-05,-0.000213042488117,5.15079368545e-05,1793248926299127040
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,744.837071515,715,682,660,634,881,784,811,651,629.162928485,652,0.434290546286,0.00446879478533,0.0798274321283,0.999999963264,4.94107220662e-05,-0.000261525860621,5.13208328524e-05,1793248926315793664
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.583863022,633.583863022,880.583863022,784.416136978,811.416136978,650.583863022,629.416136978,652,0.433383605366,0.00445965440147,0.079794511086,0.999999947497,4.149469457e-05,-0.000317068781249,5.2448492877e-05,1793248926332460800
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.004575272,633.004575272,880.004575272,784.995424728,811.995424728,650.004575272,629.995424728,652,0.432467116033,0.00445096263776,0.0797607901523,0.999999927471,3.49543123904e-05,-0.000375379468264,5.40916195114e-05,1793248926349127424
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.577996668,715,682,659,633.577996668,880,784.422003332,812,650.577996668,629.422003332,652,0.431511643092,0.0044433997201,0.079718921171,0.999999893025,2.71759380054e-05,-0.000458415513346,5.53744404772e-05,1793248926365794048
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.840503005,715,682.159496995,659,634,880,784,811.840503005,651,629.159496995,652,0.43059642888,0.00443477286017,0.0797067977213,0.999999879959,1.81392131262e-05,-0.000486385094652,5.64103600045e-05,1793248926382460416
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.261887408,715,682.738112592,659,634,880,784,811.261887408,651,629.738112592,652,0.429787820304,0.00442332660978,0.0797730086215,0.999999930239,5.82175438134e-06,-0.000369136394158,5.6805021271e-05,1793248926399127040
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.681360466,659.637279068,634,880,784,811,651,630,652,0.428944194056,0.00441374058286,0.0798260675238,0.999999958744,-3.21331162301e-06,-0.000281319863267,5.797034306e-05,1793248926415793664
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.09925306,660.801493881,634,880,784,811,651,630,652,0.428071613272,0.00440569268498,0.0798682516718,0.999999974441,-9.53432454234e-06,-0.00021783938232,5.97728877102e-05,1793248926432460544
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.522858631,744.522858631,715,681.522858631,660.045717262,634,880,784,811,651,629.522858631,652,0.427142650267,0.00439677325946,0.0798358392061,0.999999962753,-1.41668045273e-05,-0.000265745255841,6.06057065689e-05,1793248926449126912
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.052241541,744.052241541,715,681,659.052241541,634,880,784.052241541,811,651,629,652,0.426202200861,0.004389883165,0.0797901796878,0.999999942294,-1.66565991366e-05,-0.000333760730394,6.11433756348e-05,1793248926465793536
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.626144558,744.626144558,715,681,659.626144558,634,880,784.626144558,811,651,629,652,0.425262781727,0.00440504597035,0.0797653564664,0.999999928235,-1.216318541e-06,-0.000373952415625,6.07242508291e-05,1793248926482460416
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.206431488,745,715,681,659.793568512,633.793568512,880.206431488,784.793568512,811,651,629,652,0.424318058865,0.0044275041636,0.0797428049669,0.999999913317,2.66821131826e-05,-0.000411128072892,6.02359002071e-05,1793248926499127296
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.798648849,745,715,681,659.201351151,633.201351151,880.798648849,784.201351151,811,651,629,652,0.423363424277,0.00446359621395,0.0797244989369,0.999999897214,7.78627416456e-05,-0.000442667276776,5.96181781812e-05,1793248926515793920
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.38097742,681,659,633.38097742,880.61902258,784,811,651,629,652.38097742,0.422500744991,0.00448398841969,0.0797478330654,0.999999915017,0.000100041858248,-0.000395969088207,5.6260912956e-05,1793248926532460544
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.958211853,681,659,633.958211853,880.041788147,784,811,651,629,652.958211853,0.421685435663,0.00449629299378,0.079792617739,0.999999945189,0.000107281110684,-0.000308967623604,5.14923969849e-05,1793248926549127168
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.467038519,745,715.467038519,681,660.065922962,634,879.467038519,784,811,651,629.532961481,652.467038519,0.420872945353,0.00448930963384,0.0798389964793,0.99999996727,9.50944692288e-05,-0.000231896359918,5.13944030494e-05,1793248926565793792
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.779782464,634,879,784,811,651,629.889891232,652,0.420042298915,0.00448050558968,0.0798706043414,0.999999978882,8.24002213904e-05,-0.000181030763953,5.1715838759e-05,1793248926582460160
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.602973333,634,879,784,811,651,629.301486666,652,0.419131829562,0.00447033156449,0.0798375093305,0.999999966937,7.40865765796e-05,-0.000240632210003,5.22758628535e-05,1793248926599127040
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,879.28264428,784,811,651,629,652,0.418243944378,0.00446519293132,0.0798110562022,0.999999954868,6.81307927211e-05,-0.000288041676798,5.15284433905e-05,1793248926615793920
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,879.862284678,784,811,651,629,652,0.417379790011,0.00446534537118,0.0797915822077,0.999999944641,6.46525941228e-05,-0.000322640099609,4.94071924379e-05,1793248926632460800
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.439483949,634,879.560516051,784,810.560516051,651,629,652,0.416546739138,0.00447354756484,0.0797952591673,0.999999941629,7.71429261706e-05,-0.000328939632506,5.08826165505e-05,1793248926649127424
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.968411324,634,879,784,810,651,629,652.015794338,0.415724421279,0.00448408706504,0.0798052073479,0.999999940528,9.44913451414e-05,-0.000327355952806,5.34208621318e-05,1793248926665793792
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.824811433,634,879,784,810,651,629,652.587594284,0.414938725211,0.00448859966286,0.0797819516274,0.999999928415,0.000107681585359,-0.000358702974725,5.39174957205e-05,1793248926682460416
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.165566974,634,879,784.165566974,810.165566974,651.165566974,629,652.834433026,0.414169283711,0.00448909707466,0.0797708104452,0.999999924239,0.00011127805427,-0.000369153087275,5.35186127781e-05,1793248926699126784
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.759510567,634,879,784.759510567,810.759510567,651.759510567,629,652.240489433,0.413441898215,0.00447920586965,0.0797910135887,0.999999941668,9.00522574642e-05,-0.000325535970083,5.08027318897e-05,1793248926715793664
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.344583148,745,715.344583148,681,658.655416852,634,879.344583148,784.655416852,810.655416852,651.655416852,629,652,0.41271575948,0.00447303495304,0.0798007966831,0.999999948181,7.46494367327e-05,-0.000309080064312,5.03508143747e-05,1793248926732460032
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.92361989,745,715.92361989,681,658.07638011,634,879.92361989,784.07638011,810.07638011,651.07638011,629,652,0.411990469069,0.00446939531263,0.0798034899988,0.999999948286,6.32085566801e-05,-0.000311104587347,5.14392925706e-05,1793248926749126656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.500486819,681,658,634,879.500486819,784,810,651,629,652,0.411283581825,0.00447488474308,0.0797939710235,0.999999941336,7.35546600206e-05,-0.000330502379104,5.18203588667e-05,1793248926765793536
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.925414865,745,715.074585135,680.925414865,658.074585135,634,879,784,810,651,628.925414865,652.074585135,0.410590533791,0.00448168755617,0.079785308097,0.999999934482,8.77067643229e-05,-0.000347323779093,5.20540561783e-05,1793248926782460672
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.352638785,745,715.647361215,680.352638785,658.647361215,634,879,784,810,651,628.352638785,652.647361215,0.409971246361,0.00448799738115,0.079794758234,0.999999938897,0.00010516792825,-0.000329302863267,5.20214038716e-05,1793248926799127296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.772010847,680,658.772010847,634,879.227989153,784,810,651.227989153,628.227989153,653,0.40936495888,0.00448977744579,0.0798117614374,0.999999947586,0.000110839114472,-0.000299622122539,5.26169386242e-05,1793248926815793920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.178804894,680,658.178804894,634,879.821195106,784,810,651.821195106,628.821195106,653,0.408779495977,0.00448430126891,0.0798408639319,0.999999962198,9.76238875404e-05,-0.000251263455286,5.42187688634e-05,1793248926832460544
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.402751354,680.402751354,658,634,879.597248646,784,810,651.597248646,629,652.597248646,0.408186134203,0.00448111992833,0.07983285287,0.999999957781,9.62613514409e-05,-0.000268645339827,5.47885475723e-05,1793248926849127168
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.979280977,680.979280977,658,634,879.020719023,784,810,651.020719023,629,652.020719023,0.407589364276,0.00447892875901,0.0798088281306,0.99999994407,0.000100012989028,-0.000314392815817,5.49130187986e-05,1793248926865794048
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.554780835,744.445219165,716,680.445219165,658,634,877.89043833,784,809.445219165,651,628.445219165,652,0.407039676866,0.00448000909835,0.0797801976901,0.999999928842,9.46184011342e-05,-0.000361312512632,5.3067969817e-05,1793248926882461184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744.133073202,715.866926798,680,658,634,877.266146403,784,809.133073202,651,628.133073202,652,0.406515625982,0.00448176439443,0.0797607851206,0.999999918014,9.16640240355e-05,-0.000391041645905,5.15419365575e-05,1793248926899128064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744.721042648,715.278957352,680,658,634,878.442085295,784,809.721042648,651,628.721042648,652,0.40607321118,0.00448541007532,0.0797734697353,0.999999928388,9.82167260031e-05,-0.000361857336329,5.13573958417e-05,1793248926915794432
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.112553492,745,715.887446508,680,658.887446508,634,879,784.887446508,810,651,629,652,0.405217206555,0.00448977656446,0.0798120088384,0.999999949351,0.000112435297389,-0.000293328980004,5.11348489859e-05,1793248926949127680
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.462869457,745,716,680,658.537130543,634,879,784.537130543,810,651,629,652,0.404824329264,0.00449356830679,0.0798235995969,0.999999952856,0.000115897387848,-0.000279641916154,5.15329627799e-05,1793248926965794048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.963044005,680,658,634,879,784.036955995,810,651,628.963044005,652,0.404440412857,0.00449748396017,0.0798323712367,0.999999954577,0.000118592904912,-0.000272143795998,5.21424298439e-05,1793248926982460416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.38641601,680,658,634,879,784.61358399,810,651,628.38641601,652,0.404080002561,0.00449598069781,0.0798340505026,0.999999952436,0.000123477705682,-0.00027740099883,5.41335966223e-05,1793248926999127040
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.804913803,745,715.195086197,680,658,634,878.804913803,784.804913803,809.804913803,651,628,652,0.403734805859,0.00449439796871,0.0798337947881,0.999999950408,0.000123600465583,-0.000284415694017,5.49070472201e-05,1793248927015793664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.213509516,745,715.786490484,680,658,634,878.213509516,784.213509516,809.213509516,651,628,652,0.403420515544,0.00449265380244,0.0798296081565,0.999999948568,0.000114049128607,-0.000295000740195,5.32067047569e-05,1793248927032460544
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,716,680,658.368957177,634,878,784,809.368957177,651,628,652,0.403133585192,0.00449083830838,0.0798304633847,0.99999994965,0.000103699245814,-0.000295396218253,5.18433646802e-05,1793248927049127424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,716,680,658.94637412,634,878,784,809.94637412,651,628,652,0.40286211316,0.00448898251443,0.0798341672499,0.999999952341,9.28981874532e-05,-0.00029003461837,5.06704301027e-05,1793248927065794048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.521468622,745.521468622,716,680,658.478531378,634,878,784,810,651.521468622,628,652,0.402633154158,0.0044855446646,0.0798367892321,0.999999954151,8.75257971819e-05,-0.000285155706165,5.21891181011e-05,1793248927082460672
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.901427461,716,680,658,634,878,784,810,651.901427461,628.098572539,652,0.402415029528,0.00448264428581,0.0798390420034,0.99999995572,8.3086286562e-05,-0.000280658182284,5.37429273028e-05,1793248927099127552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.313159836,716,680,658,634,878,784,810,651.313159836,628.686840164,652,0.402229105996,0.00448321864251,0.0798400108422,0.999999956706,8.05201135871e-05,-0.000277809843882,5.41022237469e-05,1793248927115793920
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.270829466,634,878.270829466,784.270829466,810,651,629,652,0.402055253354,0.00448409218264,0.0798421658099,0.999999957715,8.00251599965e-05,-0.000274163922916,5.47715038165e-05,1793248927132460288
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.849948639,634,878.849948639,784.849948639,810,651,629,652,0.401895141221,0.00448530628822,0.0798456709679,0.999999958746,8.18879102252e-05,-0.000269610100581,5.57936434034e-05,1793248927149127168
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.572874915,634,878.572874915,784.572874915,810,651,628.572874915,652,0.401752510991,0.00448977504766,0.0798450014149,0.999999957397,9.68138521292e-05,-0.000269574881227,5.62296925478e-05,1793248927165793792
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.996395247,679.996395247,658,634,878.003604753,784,809.996395247,651,628,652,0.401616132828,0.00449543128611,0.0798428416947,0.999999954865,0.000116388781636,-0.000271186367905,5.64063072369e-05,1793248927182460672
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715.422671355,679.422671355,658,634,878.577328645,784,809.422671355,651,628,652,0.401501643598,0.00450888120619,0.0798359042078,0.999999947659,0.000148710370768,-0.00028331275496,4.79680834673e-05,1793248927199127552
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.155595624,658,634,878.844404376,784,809.155595624,651,628.155595624,652,0.401394947555,0.00451898087948,0.0798300917473,0.999999941402,0.00017195410733,-0.000293033279234,4.19433188937e-05,1793248927215794432
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.746575091,658,634,878.253424909,784,809.746575091,651,628.746575091,652,0.401310058193,0.0045197059778,0.0798274273067,0.99999994086,0.000169796428223,-0.000296021781159,4.26718346269e-05,1793248927232461312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715.33096584,680,658.33096584,634,878,784,809.66903416,651,628.66903416,652,0.401235740999,0.00451775504938,0.0798243488714,0.999999940028,0.000165820067228,-0.000300853175654,4.40002693866e-05,1793248927249127936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715.910409962,680,658.910409962,634,878,784,809.089590038,651,628.089590038,652,0.401169361047,0.00451379504795,0.0798209596227,0.99999993893,0.000160478299735,-0.00030706815316,4.5779103599e-05,1793248927265794304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.512533406,659,634,878.487466594,784,809,651.487466594,628,652,0.401121307576,0.00451549660129,0.0798195321348,0.999999938716,0.000160307912625,-0.000307816982193,4.60170868542e-05,1793248927282460672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.937888265,745,716,679,659,634,878.937888265,784,809,652,628,652,0.401078285354,0.0045175797589,0.0798187864743,0.999999938796,0.000160457728239,-0.000307472858402,4.60562983056e-05,1793248927299127296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.379036924,745,716,679,659,634,878.379036924,784,809,652,628,652,0.401048694923,0.004514433783,0.0798206243185,0.999999939865,0.000155604316739,-0.000306383030499,4.67595946399e-05,1793248927315793664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,716,679,659,634,878,784,809.195437795,651.804562205,628.195437795,652,0.401022351624,0.00451295506593,0.0798217218593,0.999999940356,0.000153458574339,-0.000305764933675,4.73992142164e-05,1793248927332460288
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,716,679,659,634,878,784,809.802845489,651.197154511,628.802845489,652,0.401002853066,0.00451499082019,0.0798212588896,0.999999939664,0.000157020419291,-0.000306141214805,4.79046073262e-05,1793248927349127168
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,716,679.391170305,659,634,878.391170305,784.391170305,810,651.391170305,628.608829695,652,0.400990043782,0.00451492823738,0.0798212696564,0.999999939945,0.000157695491049,-0.000304850176134,4.80397584402e-05,1793248927365794048
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,716,679.970324554,659,634,878.970324554,784.970324554,810,651.970324554,628.029675446,652,0.400980449147,0.00451385726102,0.0798215080858,0.999999940695,0.000156983272207,-0.000302757876899,4.79969831313e-05,1793248927382460928
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,716,679.454702696,659,634,878.454702696,785,810,651.454702696,628,652,0.400974739155,0.00451381931729,0.0798220335129,0.999999941321,0.000154365010136,-0.000302089176909,4.76642609936e-05,1793248927399127808
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.122687663,745,715.877312337,679.122687663,658.877312337,633.877312337,878.122687663,784.877312337,810,651,628,652,0.400970102822,0.0045134763318,0.0798226070286,0.999999941946,0.000151852555301,-0.000301320188357,4.74829595943e-05,1793248927415794432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.710090985,745,715.289909015,679.710090985,658.289909015,633.289909015,878.710090985,784.289909015,810,651,628,652,0.400968738623,0.0045117665878,0.0798233039849,0.999999942617,0.000150130786743,-0.000299880107661,4.79345219011e-05,1793248927432460800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.293279749,680,658,633.293279749,878.706720251,784,810,651.293279749,628,652,0.400967734288,0.00450985400821,0.0798241188774,0.999999943354,0.000147523714745,-0.000298681149964,4.81446194989e-05,1793248927449127168
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.872361381,680,658,633.872361381,878.127638619,784,810,651.872361381,628,652,0.400967080641,0.00450774376493,0.079825048699,0.999999944149,0.000144053912332,-0.000297717167345,4.81194090789e-05,1793248927465793792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658,634,878.451130546,784,810,651.548869454,628,652,0.400966937785,0.00449843676297,0.0798254931355,0.999999945612,0.000135209596522,-0.000296602309922,5.02154523344e-05,1793248927482460672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.970623647,745,715.970623647,679.970623647,658,634,879,784,810,651,628.029376353,652,0.400966877548,0.00448700968018,0.0798257743682,0.999999947177,0.00012449423657,-0.000295557960781,5.28442576775e-05,1793248927499127552
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.400386874,745,715.400386874,679.400386874,658,634,879,784,810,651,628.599613126,652,0.400965679508,0.00447401196747,0.0798255774844,0.999999948787,0.000107307580945,-0.000296597155634,5.42396826556e-05,1793248927515794176
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.176253729,745,715.176253729,679.176253729,658,634,879.176253729,784,809.823746271,651.176253729,629,652,0.400964584112,0.00446821470735,0.0798256309187,0.999999949526,9.88482300163e-05,-0.000296962176998,5.46791810659e-05,1793248927532460800
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.767989983,745,715.767989983,679.767989983,658,634,879.767989983,784,809.232010017,651.767989983,629,652,0.400963730681,0.00447939106001,0.0798262744272,0.999999948716,0.000110961737665,-0.000295737970687,5.28652757182e-05,1793248927549127424
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.354166758,634,880,784,809,651.645833242,628.645833242,652,0.400963582206,0.00448070033229,0.0798262854151,0.999999948682,0.000112614037112,-0.000295229754577,5.28593959291e-05,1793248927565793792
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.936757935,634,880,784,809,651.063242065,628.063242065,652,0.400963888402,0.00447564570493,0.0798258884505,0.999999949194,0.000107519246631,-0.000295183325474,5.40196253621e-05,1793248927582460416
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,716,679.487138462,658.487138462,634,879.487138462,784,809,651.512861538,628.512861538,652,0.40096452578,0.00447782726927,0.079825960017,0.999999949056,0.000111207594104,-0.000294376366632,5.35031646014e-05,1793248927599127296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.087471732,658.087471732,634,879,784,809,651.912528268,628.912528268,652,0.4009649584,0.00448031975866,0.0798261684315,0.999999948877,0.000114882015139,-0.000293672970755,5.29473175837e-05,1793248927615794432
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.658196068,658.658196068,634,879,784,809,651.341803932,628.341803932,652,0.400964036994,0.00447966186659,0.0798268176827,0.99999994901,0.000112570650904,-0.000294053371625,5.33018659689e-05,1793248927632461056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.76076162,634,878.76076162,784,809.23923838,651,628.23923838,652,0.400964287003,0.00447826912929,0.0798276525996,0.999999949374,0.000110442315991,-0.000293578765433,5.35348573922e-05,1793248927649127936
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.16431344,634,878.16431344,784,809.83568656,651,628.83568656,652,0.400966286064,0.0044757791855,0.0798287647364,0.999999950087,0.00010858726457,-0.000291827537549,5.35863505841e-05,1793248927665795072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.582014873,745,716,679.582014873,658,634,878,784.417985127,809.582014873,651,628.582014873,652,0.400965560267,0.00447753169882,0.0798284577686,0.999999949706,0.00011071619502,-0.000292355122182,5.34585311431e-05,1793248927682461440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.00509652,745,716,679.00509652,658,634,878,784.99490348,809.00509652,651,628.00509652,652,0.400963798379,0.00448089734948,0.0798276112054,0.999999948898,0.000114359981068,-0.000293749194681,5.32625304819e-05,1793248927699127552
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.569298169,745,716,679,658.569298169,634,878,784.430701831,809.569298169,651.569298169,628,652,0.400963843788,0.00447671042427,0.0798278755967,0.999999949695,0.000109452546157,-0.000292833162104,5.36498520863e-05,1793248927715793920
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.856733388,745,716,679.143266612,659,634,878.143266612,784,810,651.856733388,628,652,0.400963924544,0.0044740237025,0.0798281716496,0.999999950262,0.000106269498819,-0.000292043124981,5.37946111476e-05,1793248927732460544
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.283975437,745,716,679.716024563,659,634,878.716024563,784,810,651.283975437,628,652,0.400964062978,0.00447603615975,0.0798285329353,0.999999950158,0.000108484383178,-0.000291692527112,5.31966189604e-05,1793248927749126912
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.69910857,716,679.69910857,659,634,879,784,810,651,628.30089143,652,0.400964422138,0.0044768474457,0.0798288021773,0.999999950218,0.000109410556939,-0.000291172169903,5.30206601384e-05,1793248927765793536
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.10233428,716,679.10233428,659,634,879,784,810,651,628.89766572,652,0.40096499835,0.00447647755504,0.0798289809078,0.999999950443,0.000109069471954,-0.000290484879088,5.32597095382e-05,1793248927782460416
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90c7f9acde8ada14e701cc1a77e65dab77667455
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+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
+9,0.150000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+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
+13,0.216666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+14,0.233333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+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
+19,0.316666667,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,0.583262238831,0.00992790173418,1.07004248108,0.553834064538,0.0186023463576,1.06966586854
+378,6.300000000,pose2_to_pose3_retreat,0.583256457221,0.00992792831513,1.07004246775,0.55382828245,0.0186023714851,1.06966585838
+379,6.316666667,pose2_to_pose3_retreat,0.58325289245,0.00992790543945,1.07004246004,0.553824717972,0.0186023496097,1.06966585094
+380,6.333333333,pose2_to_pose3_retreat,0.583250786858,0.00992789253334,1.07004247676,0.55382261242,0.0186023368206,1.06966586727
+381,6.350000000,pose2_to_pose3_retreat,0.583249616479,0.00992788653473,1.07004252732,0.553821441806,0.0186023299678,1.06966591653
+382,6.366666667,pose2_to_pose3_retreat,0.583249132616,0.00992788405476,1.07004254822,0.553820957846,0.0186023271347,1.0696659369
+383,6.383333333,pose2_to_pose3_retreat,0.58324867368,0.00992788170255,1.07004256805,0.553820498819,0.0186023244475,1.06966595622
+384,6.400000000,pose2_to_pose3_retreat,0.583248201083,0.00992787928033,1.07004258846,0.553820026127,0.0186023216803,1.06966597611
+385,6.416666667,pose2_to_pose3_retreat,0.583247718242,0.00992788021933,1.070042573,0.553819543247,0.0186023224619,1.06966596015
+386,6.433333333,pose2_to_pose3_retreat,0.583247259769,0.00992788564562,1.07004251006,0.553819084811,0.0186023279975,1.06966589681
+387,6.450000000,pose2_to_pose3_retreat,0.583246851361,0.00992789047936,1.07004245399,0.553818676437,0.0186023329287,1.06966584038
+388,6.466666667,pose2_to_pose3_retreat,0.583246693727,0.00992789234505,1.07004243235,0.553818518816,0.0186023348319,1.06966581859
+389,6.483333333,pose2_to_pose3_retreat,0.583246642588,0.00992789295031,1.07004242533,0.553818467681,0.0186023354494,1.06966581153
+390,6.500000000,pose2_to_pose3_retreat,0.583246600736,0.00992789344565,1.07004241959,0.553818425833,0.0186023359547,1.06966580575
+391,6.516666667,pose2_to_pose3_retreat,0.583246504439,0.00992789458537,1.07004240637,0.553818329544,0.0186023371174,1.06966579244
+392,6.533333333,pose2_to_pose3_retreat,0.583246189781,0.00992790107918,1.07004235363,0.553818014886,0.0186023436195,1.06966573981
+393,6.550000000,pose2_to_pose3_retreat,0.583246090137,0.00992791118731,1.07004230917,0.553817915171,0.018602353536,1.06966569655
+394,6.566666667,pose2_to_pose3_retreat,0.583245978401,0.00992792252205,1.07004225932,0.553817803355,0.0186023646558,1.06966564804
+395,6.583333333,pose2_to_pose3_retreat,0.583245959791,0.00992792440989,1.07004225102,0.553817784731,0.0186023665079,1.06966563996
+396,6.600000000,pose2_to_pose3_retreat,0.583245924878,0.00992792795153,1.07004223544,0.553817749793,0.0186023699824,1.0696656248
+397,6.616666667,pose2_to_pose3_retreat,0.583245710746,0.00992794967363,1.07004213991,0.553817535507,0.0186023912927,1.06966553183
+398,6.633333333,pose2_to_pose3_retreat,0.583245602363,0.00992794986715,1.07004212547,0.553817427156,0.0186023916266,1.0696655181
+399,6.650000000,pose2_to_pose3_retreat,0.58324549289,0.00992790795111,1.07004224313,0.553817318145,0.0186023512125,1.06966563417
+400,6.666666667,pose2_to_pose3_retreat,0.583245387559,0.00992786762125,1.07004235633,0.55381721326,0.0186023123277,1.06966574585
+401,6.683333333,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817211256,0.0186023156099,1.06966574855
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c05029943ff7704800d0bbeab90f05048255f82
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c7b4b63d559bc140164d6689b1000c2cd75a9abc3bb215bf4eeca7efd136735
+size 25485533
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a98fc33ca739da991c86cc4d40f36a94012f9d6b
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,403 @@
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+1,0.016666667,BASELINE,765,745,716,680,658,634,878.424916714,784,809,651.424916714,629,652,0.400965006344,0.0044761457062,0.0798295075923,0.999999950704,0.000108821120511,-0.00028969087423,5.31896996879e-05,1793248927917038592
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+41,0.683333333,BASELINE,765.206237925,745,716,679.793762075,659,634,878.793762075,785,810,651,628.793762075,652,0.400967200871,0.00447732300321,0.0798322566267,0.999999952094,0.000110339469673,-0.000284380062961,5.25809005432e-05,1793248928583705088
+42,0.700000000,BASELINE,765.376379023,745,716,679.623620977,658.623620977,634,879,785,809.623620977,651,629,652,0.400967322023,0.0044760917005,0.0798323288471,0.999999952146,0.000109795897096,-0.000284372840831,5.27766898319e-05,1793248928600371968
+43,0.716666667,BASELINE,765.955569177,745,716,679.044430823,658.044430823,634,879,785,809.044430823,651,629,652,0.40096779224,0.00447420797551,0.0798325623082,0.999999952399,0.000107976199506,-0.000284138526618,5.29990793069e-05,1793248928617038592
+44,0.733333333,BASELINE,766,745,715.46840695,679.53159305,658,634,879,784.46840695,809,651.53159305,628.46840695,652,0.400968900289,0.00447518329106,0.0798336256478,0.99999995293,0.000107313173226,-0.00028257497568,5.26723108077e-05,1793248928633704960
+45,0.750000000,BASELINE,766,745,715.106612058,679.893387942,658.106612058,634,878.893387942,784.106612058,809.106612058,651.893387942,628.106612058,652,0.400969700773,0.00447611907559,0.0798344706271,0.999999953353,0.000106839645449,-0.000281305757761,5.24060638767e-05,1793248928650371328
+46,0.766666667,BASELINE,766,745,715.678394309,679.321605691,658.678394309,634,878.321605691,784.678394309,809.678394309,651.321605691,628.678394309,652,0.400968928063,0.00447584591948,0.0798340620089,0.99999995321,0.000106773622458,-0.000281802649834,5.26029655702e-05,1793248928667038464
+47,0.783333333,BASELINE,765.739900611,745,716,679.260099389,658.739900611,634,878,785,809.739900611,651,628.739900611,652,0.400968451973,0.00447598012903,0.0798337289553,0.999999952991,0.000107322854015,-0.000282334973314,5.27876231578e-05,1793248928683705344
+48,0.800000000,BASELINE,765.145439507,745,716,679.854560493,658.145439507,634,878,785,809.145439507,651,628.145439507,652,0.400968357194,0.00447663801327,0.0798334930414,0.999999952674,0.000108663004629,-0.000282912844476,5.29565407885e-05,1793248928700371968
+49,0.816666667,BASELINE,765.436964207,745,716,680,658,634,878.436964207,784.563035793,809.436964207,651,628.436964207,652,0.400966369231,0.00447612608502,0.079831945346,0.999999952147,0.000107867213807,-0.000285107541119,5.27586784876e-05,1793248928717038592
+50,0.833333333,BASELINE,766.015321014,745,716,680,658.015321014,634.015321014,879,784,810,651,628.984678986,652,0.400963872814,0.00447527262177,0.079830051924,0.999999951566,0.000106458626404,-0.000287720739367,5.24544441949e-05,1793248928733704960
+51,0.850000000,BASELINE,766.588527362,745,716,680,658.588527362,634.588527362,879,784,810,651,628.411472638,652,0.40096519085,0.00447577994815,0.0798310410802,0.99999995175,0.000107928182734,-0.000286503533287,5.26027939931e-05,1793248928750371328
+52,0.866666667,BASELINE,766.667061983,745,716,680,659,634.833530991,879,784,809.833530991,651.166469009,628,652,0.400966393809,0.00447634956818,0.0798319432401,0.999999952061,0.00010889317592,-0.000285047279202,5.26125166624e-05,1793248928767037696
+53,0.883333333,BASELINE,765.48708427,745,716,680,659,634.243542135,879,784,809.243542135,651.756457865,628,652,0.400967303996,0.00447707767171,0.0798326240697,0.9999999527,0.000108574491609,-0.000282982854482,5.22695530117e-05,1793248928783704320
+54,0.900000000,BASELINE,765.340168413,745,716,679.659831587,659,634,878.659831587,784,809.340168413,651.659831587,628,652,0.400967360752,0.00447734936345,0.0798327727867,0.99999995271,0.000108818410678,-0.000282888400014,5.20743865752e-05,1793248928800371200
+55,0.916666667,BASELINE,765.919465465,745,716,679.080534535,659,634,878.080534535,784,809.919465465,651.080534535,628,652,0.400966817572,0.00447730021074,0.0798325474436,0.99999995228,0.000109457823803,-0.000284178778226,5.19831173561e-05,1793248928817038336
+56,0.933333333,BASELINE,766,745,716,679.495146342,659,634,878,784.495146342,810,651,628,652,0.400966629696,0.00447545896559,0.0798328343604,0.999999952407,0.000108375914216,-0.000284081919964,5.23187726469e-05,1793248928833705216
+57,0.950000000,BASELINE,765.928295505,745,716,680,659,634,878.071704495,784.928295505,810,651,628.071704495,652,0.400966603004,0.00447372813579,0.0798331297944,0.999999952581,0.000107353659691,-0.00028379351308,5.26721320009e-05,1793248928850371840
+58,0.966666667,BASELINE,765.341235872,745,716,680,659,634,878.658764128,784.341235872,810,651,628.658764128,652,0.400967322445,0.00447487062494,0.0798328919609,0.999999952446,0.000108757769985,-0.000283738307168,5.26572841356e-05,1793248928867038208
+59,0.983333333,BASELINE,765.242473441,745,715.757526559,680,659,634,878.757526559,784,810,651,629,652,0.400967236629,0.0044761275012,0.079832496862,0.999999952249,0.000109661509834,-0.000284105937898,5.25298101008e-05,1793248928883705088
+60,1.000000000,BASELINE,765.821532152,745,715.178467848,680,659,634,878.178467848,784,810,651,629,652,0.400966033007,0.0044775431621,0.079831883458,0.99999995197,0.000109870669396,-0.000285060521911,5.22459960157e-05,1793248928900371712
+61,1.016666667,BASELINE,766.399712206,745,715.399712206,680,659,634,878.399712206,784,810,651,628.600287794,652,0.400964813606,0.00447774810844,0.079831241356,0.999999951656,0.000110429767,-0.00028595089217,5.2197014984e-05,1793248928917038080
+62,1.033333333,BASELINE,766.977500774,745,715.977500774,680,659,634,878.977500774,784,810,651,628.022499226,652,0.400963587175,0.00447741366749,0.0798305864689,0.999999951327,0.000111144765992,-0.000286812654408,5.22526547819e-05,1793248928933704704
+63,1.050000000,BASELINE,766.446243716,745,716,680,658.446243716,634,878.446243716,784.553756284,810,651.553756284,628.553756284,652,0.400964938893,0.0044773865945,0.0798317666531,0.999999951653,0.000111104722541,-0.000285644355676,5.25031203657e-05,1793248928950371584
+64,1.066666667,BASELINE,766,745,716,680,658.132265085,634,878.132265085,785,810,651.867734915,629,652,0.400966048098,0.00447725356512,0.0798326528606,0.999999951955,0.000110713344833,-0.00028470902906,5.26684668868e-05,1793248928967038464
+65,1.083333333,BASELINE,766,745,716,680,658.7187249,634,878.7187249,785,810,651.2812751,629,652,0.400965965796,0.0044767139179,0.0798322742319,0.999999952085,0.000109220549715,-0.000284856180674,5.25144092014e-05,1793248928983705344
+66,1.100000000,BASELINE,766,745,716,680,659,634,879,784.698469999,810,651,628.698469999,652,0.400966426597,0.00447643404488,0.0798324821202,0.999999952268,0.000109074341591,-0.000284283601057,5.24427821451e-05,1793248929000371968
+67,1.116666667,BASELINE,766,745,716,680,659,634,879,784.119033316,810,651,628.119033316,652,0.400967387951,0.00447639359414,0.0798332305752,0.999999952498,0.000110169222397,-0.000283047677427,5.24471277117e-05,1793248929017038592
+68,1.133333333,BASELINE,765.5409752,745,716,679.5409752,659,634,879,784,810,651.4590248,628,652,0.400966361259,0.00447690321897,0.0798325766338,0.99999995196,0.00011148357609,-0.000284373288345,5.27597804628e-05,1793248929033704960
+69,1.150000000,BASELINE,765,745,715.963459462,679.036540538,658.963459462,634,878.963459462,784.036540538,810,651.963459462,628.036540538,652,0.40096500672,0.00447748297965,0.0798316507314,0.999999951299,0.000112663837561,-0.000286163613242,5.31006877872e-05,1793248929050371584
+70,1.166666667,BASELINE,765,745,715.388683562,679.611316438,658.388683562,634,878.388683562,784.611316438,810,651.388683562,628.611316438,652,0.400966394058,0.00447700099348,0.0798320595949,0.999999951823,0.000111033132652,-0.000285044080657,5.26836633924e-05,1793248929067038208
+71,1.183333333,BASELINE,765.190699459,745,715.190699459,679.809300541,658.190699459,634,878,784.809300541,809.809300541,651,628.809300541,652,0.400967231755,0.00447662277058,0.0798323869885,0.999999952225,0.000109470523465,-0.000284276848853,5.24604840146e-05,1793248929083704832
+72,1.200000000,BASELINE,765.779705295,745,715.779705295,679.220294705,658.779705295,634,878,784.220294705,809.220294705,651,628.220294705,652,0.400966921436,0.00447646127379,0.0798325442195,0.999999952379,0.000108050142805,-0.000284245453471,5.26421809393e-05,1793248929100371712
+73,1.216666667,BASELINE,766,744.637646199,716,679,659,634.362353801,878.362353801,784,809.362353801,651,628,652,0.40096635984,0.00447651587302,0.079832222195,0.999999952191,0.000108358192426,-0.000284791896113,5.26365152773e-05,1793248929117038848
+74,1.233333333,BASELINE,766,744.058796057,716,679,659,634.941203943,878.941203943,784,809.941203943,651,628,652,0.400965648113,0.00447669958364,0.0798316138287,0.999999951796,0.000109698931257,-0.000285683580938,5.25189056582e-05,1793248929133705472
+75,1.250000000,BASELINE,765.48239735,744,716,679.51760265,659,634.48239735,878.48239735,784,810,651.51760265,628,652,0.400965205363,0.00447685447332,0.0798317112516,0.999999951786,0.000109573432709,-0.000285767194579,5.2526027444e-05,1793248929150372096
+76,1.266666667,BASELINE,765,744.093001945,716,680,658.906998055,634,878.093001945,784,809.906998055,651.906998055,628,652,0.400964501205,0.00447701899045,0.0798316163222,0.99999995168,0.00010959477952,-0.000286124376206,5.25518080323e-05,1793248929167038720
+77,1.283333333,BASELINE,765,744.664683765,716,680,658.335316235,634,878.664683765,784,809.335316235,651.335316235,628,652,0.400962295069,0.00447724983098,0.0798301206552,0.999999950855,0.000111225149924,-0.000288359830389,5.26010432972e-05,1793248929183705088
+78,1.300000000,BASELINE,765,745,715.754517043,680,658.245482957,634,879,784,809.245482957,651.245482957,628,652,0.400962891807,0.00447676145208,0.0798303419917,0.999999951089,0.000110901108745,-0.000287680347379,5.25728677205e-05,1793248929200371456
+79,1.316666667,BASELINE,765,745,715.16078369,680,658.83921631,634,879,784,809.83921631,651.83921631,628,652,0.400967464798,0.00447525276424,0.0798329991272,0.999999952808,0.00010780447328,-0.00028286563603,5.24348745099e-05,1793248929217037824
+80,1.333333333,BASELINE,765,745,715.422539821,679.577460179,659,634,878.577460179,784,810,651.577460179,628,652,0.40096757383,0.00447621728073,0.0798331950271,0.999999952675,0.000109058925583,-0.000282875890804,5.23197238684e-05,1793248929233704704
+81,1.350000000,BASELINE,765.001899231,745,716,679,658.998100769,634,878.001899231,784,810,651.001899231,628.001899231,652,0.400966032976,0.00447808769161,0.0798324812878,0.999999951857,0.000111909757576,-0.000284668392034,5.22139091382e-05,1793248929250371072
+82,1.366666667,BASELINE,765.55285119,745,716,679,658.44714881,634,878.55285119,784,810,651.55285119,628.55285119,652,0.400966771853,0.00447632279002,0.0798330352932,0.999999952435,0.000109130317494,-0.000283687880469,5.2354666623e-05,1793248929267038208
+83,1.383333333,BASELINE,766,745,715.887327709,679.112672291,658.112672291,634,879,784,809.887327709,651.887327709,629,652,0.400967336205,0.00447497943473,0.0798334496827,0.999999952835,0.000107182188273,-0.00028299591049,5.24992956571e-05,1793248929283705088
+84,1.400000000,BASELINE,766,745,715.289301153,679.710698847,658.710698847,634,879,784,809.289301153,651.289301153,629,652,0.400967148764,0.00447545195827,0.0798332626546,0.999999952494,0.00010881506523,-0.000283546880133,5.26606020676e-05,1793248929300371968
+85,1.416666667,BASELINE,766,745,715.307001938,680,658.692998062,634,879,784,809.307001938,651,628.692998062,652,0.400967574227,0.00447621274349,0.0798334429274,0.99999995251,0.000109843653625,-0.000283107812228,5.25737942277e-05,1793248929317038592
+86,1.433333333,BASELINE,766,745,715.901689965,680,658.098310035,634,879,784,809.901689965,651,628.098310035,652,0.400968574032,0.00447724365361,0.0798339673913,0.999999952862,0.000110305973795,-0.000281740997604,5.22544829e-05,1793248929333704960
+87,1.450000000,BASELINE,766,745,716,680,658.481882304,634,879,784.481882304,810,651.481882304,628,652,0.400967466234,0.00447659150646,0.079834063029,0.99999995285,0.000108992394803,-0.000282256555348,5.24566155704e-05,1793248929350371328
+88,1.466666667,BASELINE,766,745,716,680,659,634,879.058810397,784.941189603,810,651.941189603,628.058810397,652,0.400966043916,0.00447578264394,0.0798339504951,0.999999952716,0.000107724010857,-0.000283166913181,5.27302451984e-05,1793248929367037952
+89,1.483333333,BASELINE,766,745,716,680,659,634,879.632296529,784.367703471,810,651.367703471,628.632296529,652,0.400965522128,0.00447651947999,0.0798327594278,0.999999952163,0.00010992925208,-0.00028426969111,5.2725775752e-05,1793248929383704832
+90,1.500000000,BASELINE,766,745,716,680,659,634,879.577599244,784,810,651.211200378,628.788799622,652,0.4009654675,0.00447723761412,0.0798322176692,0.999999951864,0.000111561504368,-0.000284693719731,5.26899422272e-05,1793248929400371712
+91,1.516666667,BASELINE,766,745,716,680,659,634,878.400430335,784,810,651.799784832,628.200215168,652,0.400966247616,0.00447792233062,0.0798328361298,0.999999952025,0.000112169909299,-0.000283904922851,5.25980656991e-05,1793248929417038592
+92,1.533333333,BASELINE,765.617140425,745,716,680,659,634,878.76571915,784.382859575,810,651.617140425,628,652,0.400966457184,0.00447716474958,0.0798326873103,0.999999952395,0.000109501382039,-0.000283691926145,5.23313198694e-05,1793248929433705216
+93,1.550000000,BASELINE,765.036906039,745,716,680,659,634,879.926187921,784.963093961,810,651.036906039,628,652,0.400966372619,0.00447566362392,0.0798321429365,0.999999952857,0.000105143504707,-0.000283775770445,5.19744240183e-05,1793248929450372096
+94,1.566666667,BASELINE,765,745,716,679.45963639,658.45963639,634,878.919272779,785,810,651,628,652,0.400967502569,0.00447575216198,0.0798333785601,0.999999953293,0.000105411075404,-0.000282122986153,5.20475939514e-05,1793248929467038720
+95,1.583333333,BASELINE,765.116274909,745,716,679,658,634,878.116274909,784.883725091,809.883725091,651,628,652,0.400968471751,0.00447598434243,0.0798344055034,0.999999953581,0.000105981274491,-0.000280879035266,5.20887107222e-05,1793248929483705344
+96,1.600000000,BASELINE,765.687657918,745,716,679,658,634,878.687657918,784.312342082,809.312342082,651,628,652,0.400968488776,0.00447635611089,0.079834142416,0.999999953305,0.000106506230639,-0.000281696997701,5.18900291219e-05,1793248929500371968
+97,1.616666667,BASELINE,765.730891972,745,715.730891972,679,658.269108028,634,878.730891972,784,809.269108028,651,628,652.269108028,0.400968914537,0.00447609638846,0.079834130768,0.999999953246,0.000107039423306,-0.000281680764444,5.20298241639e-05,1793248929517038080
+98,1.633333333,BASELINE,765.137303356,745,715.137303356,679,658.862696644,634,878.137303356,784,809.862696644,651,628,652.862696644,0.400969833137,0.00447507523746,0.0798344222966,0.999999953446,0.000107582547238,-0.000280658688573,5.25777419364e-05,1793248929533704448
+99,1.650000000,BASELINE,765.43148987,745,715.43148987,679.43148987,659,634,878,784,809.56851013,651.43148987,628,652.56851013,0.400968458346,0.0044762344058,0.0798339421462,0.99999995291,0.00010909447257,-0.000282002788596,5.24722152192e-05,1793248929550371328
+100,1.666666667,BASELINE,765.992821766,745,715.992821766,679.992821766,659,634,878,784,809.007178234,651.992821766,628,652.007178234,0.400966393438,0.00447804966622,0.0798332297855,0.999999952145,0.000110897925331,-0.000284058907837,5.21700568612e-05,1793248929567038208
+101,1.683333333,BASELINE,766,745,716,680,658.415418044,634,878.584581956,784,809.584581956,651.415418044,628,652.584581956,0.400966078507,0.00447767005867,0.079832789541,0.999999951973,0.000111303107589,-0.000284456607431,5.24427547072e-05,1793248929583704832
+102,1.700000000,BASELINE,765.824508853,745,716,680,658.175491147,634,879,784,810,651,628,652.824508853,0.400966224708,0.00447741117108,0.0798326501281,0.999999952021,0.000111449556197,-0.000284209604167,5.25528340321e-05,1793248929600371712
+103,1.716666667,BASELINE,765.236526469,745,716,680,658.763473531,634,879,784,810,651,628,652.236526469,0.400967401511,0.00447750286281,0.0798332095335,0.999999952568,0.000111030425724,-0.000282497723553,5.22631763936e-05,1793248929617038336
+104,1.733333333,BASELINE,765,745,716,679.651555245,659,634,879,784,810,651,628,652,0.40096749374,0.00447693254566,0.0798330627767,0.999999952606,0.000110280207948,-0.000282653859892,5.22852799056e-05,1793248929633704960
+105,1.750000000,BASELINE,765,745,716,679.068610445,659,634,879,784,810,651,628,652,0.400966856062,0.00447591670275,0.0798324407796,0.9999999523,0.000109307171487,-0.000284067153914,5.25171957132e-05,1793248929650371328
+106,1.766666667,BASELINE,765.508097197,745,716,679.508097197,658.491902803,634,878.491902803,784,810,651.508097197,628,652,0.400966571099,0.00447691779851,0.0798328027632,0.99999995217,0.000110303592571,-0.000284157047281,5.24108648193e-05,1793248929667038720
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,878,784,809,652,628,652,0.400965713051,0.00447645424783,0.0798317519372,0.999999951912,0.000109805874298,-0.000285267667238,5.23484005012e-05,1793248929710326016
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.591188655,745,715.591188655,679.591188655,659,634,878,784,809,651.408811345,628,652,0.400965934116,0.00447603562087,0.0798322044975,0.999999952236,0.000107822776855,-0.000284876210347,5.242393257e-05,1793248929726993408
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.82157161,745,715.82157161,680,659,634,878.17842839,784,809.17842839,651.17842839,628,652,0.400966243465,0.00447560816523,0.079832777316,0.999999952505,0.000106818055761,-0.000284286193858,5.25471934384e-05,1793248929743660288
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.243183538,745,715.243183538,680,659,634,878.756816462,784,809.756816462,651.756816462,628,652,0.400966750709,0.00447516091938,0.0798336197018,0.999999952659,0.000108006433105,-0.000283251092111,5.27774417552e-05,1793248929760325888
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.334145211,745,715,680,659,634,879,784,809.665854789,652,628.334145211,652,0.400966260645,0.00447619394476,0.0798331181879,0.999999952354,0.000108955644611,-0.000283984170073,5.26570378673e-05,1793248929776992000
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.910705409,745,715,680,659,634,879,784,809.089294591,652,628.910705409,652,0.400965047057,0.00447830087433,0.0798316417045,0.999999951715,0.000109731346501,-0.000286000023509,5.22822435181e-05,1793248929793658368
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.495144878,680,659,634,879,784,809,651.504855122,629,652,0.40096606436,0.00447759984152,0.0798322977947,0.999999952413,0.000107772147593,-0.000284364125011,5.19340666441e-05,1793248929810324992
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.919792913,745,716,680,659,634,879,784,809.080207087,651.080207087,629,652,0.400967271752,0.00447668253945,0.0798332509085,0.999999953116,0.000106184533141,-0.000282524807305,5.16992455826e-05,1793248929826991616
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.339847203,745,716,680,659,634,879,784,809.660152797,651.660152797,629,652,0.400967116289,0.00447762387717,0.0798336196879,0.999999952376,0.000110034820779,-0.00028358763085,5.21403079411e-05,1793248929843658240
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.760911602,679.760911602,659,634.239088398,878.760911602,784.239088398,809.760911602,651.760911602,629,652,0.400971664316,0.00447798865529,0.0798360497716,0.999999953039,0.000111814506534,-0.000280469777784,5.25020330236e-05,1793248929860325120
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.18340581,679.18340581,659,634.81659419,878.18340581,784.81659419,809.18340581,651.18340581,629,652,0.400982869892,0.00447753734274,0.079841397526,0.999999955647,0.000110663360935,-0.000271434390784,5.27514602119e-05,1793248929876992000
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715.398821505,679,658.601178495,634.601178495,878.398821505,785,809,651,628.601178495,652,0.401012013438,0.00447706379292,0.0798536860512,0.999999961617,0.000108791920004,-0.000249381318895,5.23333624171e-05,1793248929893658624
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715.98324617,679,658.01675383,634.01675383,878.98324617,785,809,651,628.01675383,652,0.401049504939,0.00447657989432,0.079869204666,0.999999968508,0.000106585268571,-0.000221270088681,5.16046124916e-05,1793248929910325248
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.562583255,745,716,679.562583255,658.562583255,634,879,784.437416745,809.562583255,651.562583255,628.562583255,652,0.401112289361,0.0044758615831,0.0798884747501,0.999999976408,0.000105306680109,-0.000183122720929,5.05940401156e-05,1793248929926991872
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,810,651.858262615,628.858262615,652,0.401178001778,0.00447578307292,0.0799057646831,0.999999981934,0.000104658061461,-0.000150764600968,4.94747417727e-05,1793248929943658496
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,879,784,810,651.279209558,628.279209558,652,0.401250445055,0.00447769994648,0.0799166034652,0.999999983832,0.000105868638459,-0.000137182474221,4.80456437115e-05,1793248929960325120
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,716,680,658.701727996,634,879,784,810,651,628,652,0.401333235487,0.00447888287633,0.0799239519445,0.999999985564,0.000105232753042,-0.000125330639173,4.57261959248e-05,1793248929976991744
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,716,680,658.12570982,634,879,784,810,651,628,652,0.40142566102,0.00447938236931,0.0799280503084,0.999999987179,0.000102877470969,-0.000115090025204,4.25776686465e-05,1793248929993658368
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658.449899777,634,879,784,809.550100223,651,628.449899777,652,0.401532866639,0.00448077058482,0.0799312376202,0.99999998805,0.000100973594882,-0.000110278781862,3.92802595027e-05,1793248930010325248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.973978618,744.973978618,716,679.973978618,659,634,878.973978618,784,809.026021382,651.026021382,628.973978618,652,0.401645454278,0.00448245438475,0.0799343212484,0.999999988758,9.91766882732e-05,-0.000106588077531,3.5883531897e-05,1793248930026991872
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.384295279,744.384295279,716,679.384295279,659,634,878.384295279,784,809.615704721,651.615704721,628.384295279,652,0.40178524783,0.0044851667856,0.0799406681626,0.999999990361,9.69671998697e-05,-9.43379406207e-05,3.12357216151e-05,1793248930043658496
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.201817324,744.201817324,716,679.201817324,658.798182676,634,878,784,810,651.798182676,628,652,0.401937419953,0.00448775073764,0.0799475526378,0.999999991889,9.37473140415e-05,-8.20772044739e-05,2.63999041158e-05,1793248930060325120
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.781248769,744.781248769,716,679.781248769,658.218751231,634,878,784,810,651.218751231,628,652,0.402112753218,0.00449009435284,0.0799554429259,0.999999993411,8.86369052658e-05,-6.97966378133e-05,2.12123126829e-05,1793248930076991744
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,680,658.357007832,634,878.357007832,784,810,651,628.357007832,652,0.402306837163,0.00449270291294,0.0799606991762,0.999999994536,8.37672259151e-05,-6.07199259193e-05,1.49925816925e-05,1793248930093658624
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658.930539664,634,878.930539664,784,810,651,628.930539664,652,0.402512293347,0.00449547216143,0.0799643578926,0.999999995407,7.90435476242e-05,-5.35863395377e-05,8.14686117468e-06,1793248930110325248
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.487890631,745,716,680,659,634,879,784,810,651.512109369,629,652,0.402721512461,0.00449968710122,0.0799572271855,0.999999995019,7.36667035666e-05,-6.73428408364e-05,7.19931203368e-07,1793248930126991616
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715.904915979,680,659,634,879.095084021,784,810,651.904915979,629,652,0.402939831798,0.00450388085803,0.0799492333772,0.999999994255,6.7750878458e-05,-8.27770621734e-05,-6.91066561623e-06,1793248930143658496
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715.320410622,680,659,634,879.679589378,784,810,651.320410622,629,652,0.403202323353,0.00450694017676,0.0799444497316,0.999999993879,5.95240605708e-05,-9.20299335057e-05,-1.51773471174e-05,1793248930160325120
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.738953481,715.261046519,680,659,634,879.738953481,784,810,651.261046519,629,652,0.403491367366,0.00451180108157,0.0799433869199,0.999999993768,5.51024017457e-05,-9.42711991889e-05,-2.32671846199e-05,1793248930176992000
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.161194597,715.838805403,680,659,634,879.161194597,784,810,651.838805403,629,652,0.403812625897,0.00451884774446,0.079946838377,0.999999994114,5.52973187733e-05,-8.80056962067e-05,-3.11424672217e-05,1793248930193658624
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.413822918,716,680,659,634,878.586177082,784,810,652,629,652,0.404167151568,0.00452640523066,0.0799514340551,0.999999991006,0.000104524268795,-8.06884147071e-05,-2.34890475221e-05,1793248930210324992
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.987779613,716,680,659,634,878.012220387,784,810,652,629,652,0.404534550353,0.00453416038596,0.0799564725032,0.999999982373,0.000172724755833,-7.29641346117e-05,-9.82660860426e-06,1793248930226991616
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.575602292,745,716,680,658.424397708,634,878.575602292,784,810,651.424397708,629,652,0.404934049599,0.00454498167419,0.079955947957,0.999999994587,7.75348463961e-05,-6.6928021893e-05,-1.83264469675e-05,1793248930243658496
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,716,680,658,634,879,784,810,651.162059046,628.837940954,652,0.405343241522,0.00455335858737,0.0799532739491,0.999999997427,1.11619626998e-05,-6.59828273955e-05,-2.58311668683e-05,1793248930260325120
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,680,658,634,879,784,810,651.744193169,628.255806831,652,0.405775747718,0.00455522650593,0.0799453419975,0.9999999961,2.86997025975e-05,-7.8138665033e-05,-2.95066856016e-05,1793248930276991744
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.677747659,745,716,680,658.322252341,634,879,784,810,651.677747659,628,652,0.406234853553,0.00456383712118,0.079938193907,0.999999993301,6.53308029618e-05,-9.07454128825e-05,-2.99232656145e-05,1793248930293658624
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.102882763,745,716,680,658.897117237,634,879,784,810,651.102882763,628,652,0.406714810803,0.00457773331446,0.0799316602817,0.9999999874,0.000116929127766,-0.000103705628897,-2.77851745825e-05,1793248930310325248
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879,784,810,651,628,652,0.407231359767,0.00458777603578,0.0799288827008,0.99999998418,0.000135998089065,-0.000110650941073,-3.0010638841e-05,1793248930326992896
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.044696135,745,716,680,659,634,879,784,810.044696135,651,628,652,0.407756989977,0.00459684706448,0.0799262847292,0.999999981709,0.000147269687095,-0.000117501609919,-3.29727167386e-05,1793248930343660288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.639572409,745,716,680,659,634,879,784,810.639572409,651,628,652,0.408296222141,0.00460429681217,0.0799158194356,0.999999978513,0.000149843439394,-0.000139326436756,-3.32937649786e-05,1793248930360326400
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.772513263,745,716,680,658.772513263,634,879,784,810.772513263,651,628,652,0.408869655639,0.00461287443022,0.079913794191,0.999999977079,0.000153468238483,-0.000145351002389,-3.41074721797e-05,1793248930376992512
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.195301855,745,716,680,658.195301855,634,879,784,810.195301855,651,628,652,0.409495668217,0.00462318596909,0.0799247441798,0.999999978694,0.000158708854725,-0.000127085178478,-3.56785641593e-05,1793248930393658880
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.619951899,680,658.760096202,634,879,784,810,651.380048101,628.380048101,652,0.410176022137,0.00463007931788,0.0799558636968,0.999999981868,0.000171353948062,-7.44179729045e-05,-3.69420213056e-05,1793248930410325504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.045553875,680,659.90889225,634,879,784,810,651.954446125,628.954446125,652,0.410884165246,0.004635224664,0.0799972975559,0.999999981636,0.000187785560029,-4.15850532621e-06,-3.80481591996e-05,1793248930426992128
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.542371971,660,634,879,784,810.542371971,652,628.457628029,652.542371971,0.411554342991,0.00462965404468,0.0799889357425,0.999999984268,0.000171261220709,-2.39423700539e-05,-3.95097415274e-05,1793248930443659264
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.129195654,715.129195654,681,659.870804346,634,879,784,810.870804346,651.870804346,628.129195654,652.870804346,0.41222766211,0.00462054314969,0.0799713283311,0.999999986019,0.000152172587197,-5.56851317859e-05,-4.12858857814e-05,1793248930460326144
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.708126198,715.708126198,681,659.291873802,634,879,784,810.291873802,651.291873802,628.708126198,652.291873802,0.41292330029,0.0046023216234,0.0799364679604,0.999999984839,0.000134039447609,-0.000102057620943,-4.40504509644e-05,1793248930476993024
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.714251087,716,680.714251087,659.285748913,634,879.285748913,784,810,651,628.714251087,652,0.413651796428,0.00458876209148,0.0799177151336,0.999999984616,0.000118067681641,-0.000121717517593,-4.48636328251e-05,1793248930493659392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.137958078,716,680.137958078,659.862041922,634,879.862041922,784,810,651,628.137958078,652,0.414413702003,0.00457994278517,0.0799153401489,0.999999987084,0.000104293557573,-0.000114216560561,-4.36926853949e-05,1793248930510325504
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.563576863,680.436423137,659.563576863,634,880,784,810.436423137,651,628,652,0.415211960553,0.00457983141539,0.0799358153278,0.999999990897,9.95504003845e-05,-8.04521854252e-05,-4.26898984767e-05,1793248930526991872
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.010516064,680.989483936,659.010516064,634,880,784,811,651,628.010516064,652.010516064,0.41602124932,0.00458256108034,0.0799627209412,0.999999993522,9.81235147771e-05,-3.97936461399e-05,-4.17673678513e-05,1793248930543658496
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.60192352,680.39807648,659.60192352,634,880,784,811,651,628.60192352,652.60192352,0.416807825007,0.00459083490186,0.079947576587,0.999999988748,0.000122876152806,-7.49098375247e-05,-4.23545482341e-05,1793248930560325120
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.811011205,680.188988795,660,634,880,784,811,651,629,652.811011205,0.41763019662,0.00459626639987,0.0799450787577,0.99999998655,0.000136331873903,-8.02393169966e-05,-4.33035959864e-05,1793248930576992000
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.232886693,680.767113307,660,634,880,784,811,651,629,652.232886693,0.418526273473,0.00459584543613,0.0799686206454,0.999999990689,0.000126526776089,-2.42367270188e-05,-4.49977435733e-05,1793248930593658880
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.344770333,680.655229667,660.344770333,634.344770333,880.344770333,784.344770333,811,651.344770333,629,652.344770333,0.419402726123,0.00459533948496,0.0799804051494,0.99999999125,0.000123677806694,3.91894594845e-06,-4.6779776105e-05,1793248930610325504
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.922111983,680.077888017,660.922111983,634.922111983,880.922111983,784.922111983,811,651.922111983,629,652.922111983,0.420265940862,0.00459477620392,0.0799842584879,0.999999990852,0.000125521225234,1.32899546127e-05,-4.8621093078e-05,1793248930626991872
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.493537849,745,715.493537849,680,660.493537849,634.493537849,880.493537849,784.493537849,811,651.493537849,629,652.493537849,0.421135807317,0.00459246379735,0.0799709610943,0.999999991728,0.000118378176136,-1.08980210459e-05,-4.91108242359e-05,1793248930643658496
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.090919228,745,715,680.090919228,660,634,880.090919228,784,811,651,629,652,0.42201488409,0.00459057678049,0.0799614958317,0.999999992112,0.000111797916872,-2.92738693137e-05,-4.92061340844e-05,1793248930660325120
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.670080964,745,715,680.670080964,660,634,880.670080964,784,811,651,629,652,0.422937850149,0.00459243892971,0.0799869721451,0.999999992064,0.000115765536775,1.16655575911e-05,-4.83152506806e-05,1793248930676992000
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.750966031,660,634,881,784,811.249033969,651,629,652,0.423840461301,0.0045976651683,0.0799974873751,0.999999991094,0.000122891637044,2.10444086534e-05,-4.76030073634e-05,1793248930693658624
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.172289241,660,634,881,784,811.827710759,651,629,652,0.424716129073,0.00460734440576,0.0799881988292,0.99999998982,0.000134198574777,-1.1353032601e-05,-4.71272273797e-05,1793248930710324992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.403249602,660,634,881,784,812,651,629,652,0.4255848166,0.00461285539239,0.0799547373239,0.999999986652,0.000140270668963,-6.85784957905e-05,-4.81459699777e-05,1793248930726991872
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.977458068,660,634,881,784,812,651,629,652,0.426450544778,0.00461659923615,0.0799110276213,0.999999979081,0.000144123434534,-0.000136329870252,-4.97983197077e-05,1793248930743658496
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.435873122,660,633.435873122,880.435873122,784,812,651,629,652,0.427388738147,0.00461368277862,0.0799120537289,0.999999982025,0.00014001122418,-0.000117231041116,-5.10223685186e-05,1793248930760325120
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.150234875,880.150234875,784,812.150234875,651,629.150234875,652,0.428322784619,0.00460973370619,0.0799180017539,0.999999984701,0.000134415673895,-9.94008536777e-05,-5.14834637828e-05,1793248930776991744
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.733260537,880.733260537,784,812.733260537,651,629.733260537,652,0.429236354776,0.00460359391626,0.0799328626928,0.999999986332,0.000125484551398,-9.54486562174e-05,-4.97970883896e-05,1793248930793658368
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715.311916845,680.311916845,660,634,881,784,813,651,630,652,0.430174035916,0.00460138879004,0.0799639295681,0.999999989833,0.000121477628106,-5.60280416554e-05,-4.93676309503e-05,1793248930810324992
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715.886888238,680.886888238,660,634,881,784,813,651,630,652,0.431132050967,0.00460250195615,0.0800086636918,0.999999991265,0.000121623519943,1.33048028741e-05,-4.99981930593e-05,1793248930826991616
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.462149526,715.537850474,681,660.462149526,634,881,784,813,651,629.537850474,652,0.432024943212,0.00460647318097,0.0800210629466,0.999999990611,0.000123408560554,3.19931738927e-05,-5.02446909059e-05,1793248930843658496
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.038505806,745.922988388,715,681,661,633.961494194,881,784,813,651,629,652,0.432898150285,0.00461116928939,0.0800205464058,0.999999990338,0.000125744891257,3.10332057864e-05,-5.04987795763e-05,1793248930860325120
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.629555419,744.740889162,715,681,661,633.370444581,881,784,813,651,629,652,0.433717742409,0.00461622313671,0.0799483273418,0.999999987427,0.000130231569827,-7.38933937008e-05,-5.22115080491e-05,1793248930876992000
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.784585575,744.215414425,715,681,660.784585575,633.215414425,881,784,813,651,629,652,0.434560356162,0.00461921179942,0.0799063310418,0.999999981008,0.000133203666714,-0.000131733255922,-5.37248513912e-05,1793248930893658624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.20744265,744.79255735,715,681,660.20744265,633.79255735,881,784,813,651,629,652,0.435441628459,0.00461873256086,0.0799150854404,0.999999983458,0.00013363244837,-0.000110504082283,-5.49033840147e-05,1793248930910325248
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.368167639,633.631832361,881,784,813,651,629.368167639,652.368167639,0.436308714655,0.00461669234111,0.0799425659821,0.99999998744,0.000129695699552,-7.33732648008e-05,-5.39977825606e-05,1793248930926991872
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.942917915,633.057082085,881,784,813,651,629.942917915,652.942917915,0.437167840832,0.00461377623883,0.0799805539543,0.999999990676,0.000123309406577,-2.73198730123e-05,-5.19227519417e-05,1793248930943658496
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.530041017,715.530041017,681,660.469958983,633.530041017,881.530041017,784,813,651,630,652.469958983,0.438003823463,0.00460631564877,0.0800074714983,0.99999999215,0.000112405096011,1.62346470057e-05,-5.29297296957e-05,1793248930960325888
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,716,681.116685393,660.116685393,633.883314607,882,784,813,651,630,652,0.438831286399,0.00459986603517,0.0800267505738,0.999999992154,0.000102032071509,4.85115622247e-05,-5.41145937827e-05,1793248930976993024
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,716,681.69602216,660.69602216,633.30397784,882,784,813,651,630,652,0.439635087652,0.00459941176522,0.0800205835803,0.999999993232,9.57408715976e-05,3.71658939699e-05,-5.46572966995e-05,1793248930993659136
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.725935751,716,681.725935751,660.725935751,633,881.725935751,784,813.274064249,651,630,652,0.440369517382,0.00460127410489,0.079982934734,0.999999993578,9.66738912129e-05,-2.2749522247e-05,-5.45993319985e-05,1793248931010325504
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.149322938,716,681.149322938,660.149322938,633,881.149322938,784,813.850677062,651,630,652,0.441027365547,0.00460569382637,0.0799105320323,0.999999983688,0.000105581964566,-0.000136282684515,-5.38782699498e-05,1793248931026992128
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715.574991209,681,660,633.425008791,881,784,814,651,630,652,0.441701379504,0.00460735647729,0.0798600321904,0.999999971903,0.000103632058319,-0.000205614364425,-5.63673762191e-05,1793248931043658752
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715.001456594,681,660,633.998543406,881,784,814,651,630,652,0.442381042897,0.00460805562807,0.0798171866322,0.99999995974,9.7887665743e-05,-0.000259499169251,-5.99783248723e-05,1793248931060325888
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.589194331,660,633.410805669,881.589194331,784,814,651.589194331,630,652,0.443133466001,0.00460974279707,0.0798898305848,0.999999982735,9.79218905302e-05,-0.000146903551257,-5.79760962159e-05,1793248931076992512
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715.176520198,682,660.176520198,633.176520198,882,784,814,652,630,652.176520198,0.443869845049,0.00460939076719,0.079954993034,0.999999992322,9.9131712463e-05,-4.86969352914e-05,-5.61965276723e-05,1793248931093658880
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715.756153339,682,660.756153339,633.756153339,882,784,814,652,630,652.756153339,0.444569161938,0.00460437614628,0.0800023987335,0.999999993063,0.000102992606219,1.56820358669e-05,-5.49580791153e-05,1793248931110325504
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715.667422186,681.667422186,661,633.667422186,882,784,814,651.667422186,630,652.667422186,0.445205594175,0.0045999757182,0.0800172359509,0.999999993326,9.52987778939e-05,3.55100510411e-05,-5.48141206873e-05,1793248931126992384
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715.093327865,681.093327865,661,633.093327865,882,784,814,651.093327865,630,652.093327865,0.44579635982,0.00459602131449,0.0800084220806,0.99999999506,7.92139624975e-05,2.29853592347e-05,-5.54649762252e-05,1793248931143659264
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.489607691,745,715,681.489607691,661,633,882,784,814.489607691,651,630,652.489607691,0.446337752413,0.00459562320461,0.0799950925575,0.99999999574,7.38556069707e-05,4.28647130947e-06,-5.52009859371e-05,1793248931160325888
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.925726793,745,715,682,660.925726793,633,881.925726793,784,815,651,630,652.925726793,0.446869068245,0.00459674940679,0.0799812569211,0.999999995698,7.35007297876e-05,-1.36168804099e-05,-5.49195157958e-05,1793248931176992256
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.340967299,745,715,682,660.340967299,633,881.340967299,784,815,651,630,652.340967299,0.447397000382,0.00460360744374,0.0799699676206,0.999999993943,9.32236886538e-05,-1.78146752393e-05,-5.57385153647e-05,1793248931193659392
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.760278181,660,633,881.239721819,784,815,651,630,652.239721819,0.447890308018,0.00460982041629,0.0799527176116,0.999999991793,0.000108563658367,-3.7669724696e-05,-5.66459244294e-05,1793248931210326528
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.185281934,660,633,881.814718066,784,815,651,630,652.814718066,0.448335189856,0.00461513120256,0.0799271309691,0.999999988247,0.000117773586973,-7.94229769879e-05,-5.76769827119e-05,1793248931226993152
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681.390835952,660,633,881.609164048,784,814.609164048,651,630,653,0.448729589223,0.0046201425962,0.079892432935,0.999999980763,0.000128208529546,-0.000137035341583,-5.70716408504e-05,1793248931243659264
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681.967487149,660,633,881.032512851,784,814.032512851,651,630,653,0.449099987734,0.00462501164998,0.0798534030674,0.999999968318,0.000139225881271,-0.000202187611639,-5.56883047262e-05,1793248931260325376
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.556061226,745,715,682.556061226,660,633,881.556061226,784,814.556061226,651,630,652.443938774,0.449467880267,0.00463177194703,0.0798413552039,0.999999964003,0.000148817720652,-0.000215998533857,-5.64898953775e-05,1793248931276992512
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.857116173,745,715,682.857116173,660,633,882,784,814.857116173,651,630,652,0.44983293284,0.00463747709653,0.0798355224754,0.999999961653,0.000156924704874,-0.000220932585889,-5.70668153161e-05,1793248931293659136
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.277818919,745,715,682.277818919,660,633,882,784,814.277818919,651,630,652,0.450189768687,0.00463961433557,0.0798437485852,0.999999963821,0.000160756618173,-0.000208123557816,-5.65587712592e-05,1793248931310325504
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,682,659.701672888,632.701672888,882.298327112,784,814.298327112,651.298327112,630.298327112,652.298327112,0.450525334637,0.00464361504484,0.0798513259388,0.999999967257,0.000151531209217,-0.000198246845108,-5.67594091237e-05,1793248931326992640
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659.128430811,632.128430811,882.871569189,784,814.871569189,651.871569189,630.871569189,652.871569189,0.450841299891,0.00464933298257,0.0798583054487,0.9999999716,0.000130273191688,-0.00019107232592,-5.76131129085e-05,1793248931343660032
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.446600181,745,715,682,658.553399819,632.446600181,882.553399819,784,815,651.553399819,630.553399819,652.553399819,0.45110872457,0.00465371760275,0.0798537033734,0.999999971093,0.000119262431994,-0.00020074307022,-5.73834235591e-05,1793248931360326400
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.977194991,745,715,682,658,632.977194991,882,784,815,651,630,652.022805009,0.451359786918,0.00465775855697,0.0798453413244,0.999999968753,0.000112262390411,-0.000216019897374,-5.67983400266e-05,1793248931376992256
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.384565568,745,715,682,658,632.384565568,882,784,815,651,630,652.615434432,0.451552201258,0.00466283157222,0.0798265844926,0.999999958615,0.000131548891457,-0.00024984525672,-5.51491937606e-05,1793248931393658880
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.202715129,745,715,682.202715129,658,632,882,784,815,651,630,652.797284871,0.451734644852,0.00467235319628,0.0798059682745,0.999999946236,0.000153233406353,-0.000284581563346,-5.53288146477e-05,1793248931410325504
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.780109682,745,715,682.780109682,658,632,882,784,815,651,630,652.219890318,0.451898659443,0.00469009720652,0.0797819153451,0.999999930662,0.000179350180668,-0.00032100157502,-5.8888555597e-05,1793248931426992128
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,682.643847684,658,632.356152316,882.356152316,784,815,651,630,652.356152316,0.452052922607,0.00470466984523,0.0797654972511,0.99999991811,0.000200664580518,-0.000346073654503,-6.12104773284e-05,1793248931443658496
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,682.068636519,658,632.931363481,882.931363481,784,815,651,630,652.931363481,0.452201187971,0.00471729186801,0.079753775118,0.999999907735,0.000219025183213,-0.000364165957211,-6.27710531116e-05,1793248931460325376
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.483265677,745,715,682,658,633,882.483265677,783.483265677,815,651,630,653,0.452329117455,0.00470958536682,0.0797505221974,0.999999907579,0.000210626059837,-0.000369413753322,-6.33449894286e-05,1793248931476992256
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.102290453,745.102290453,715,682,658,632.897709547,882,783.102290453,815,651,630,652.897709547,0.452450128336,0.0046992918889,0.0797483949035,0.999999908641,0.000198692500923,-0.000373020461537,-6.39891798422e-05,1793248931493659392
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.682283525,745.682283525,715,682,658,632.317716475,882,783.682283525,815,651,630,652.317716475,0.452551696553,0.0046897800069,0.0797461654331,0.999999909231,0.000187185210718,-0.000377090593109,-6.558576055e-05,1793248931510326016
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.739370055,746,715,682,657.739370055,632,882,784,815,651,630,652.260629945,0.452643743116,0.00467648507343,0.0797443179884,0.999999910833,0.00017205329977,-0.000380009383879,-6.57545873755e-05,1793248931526992384
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.163018389,746,715,682,657.163018389,632,882,784,815,651,630,652.836981611,0.452724255338,0.0046586074303,0.0797429333219,0.999999913523,0.000152530598958,-0.000381533463942,-6.41938625997e-05,1793248931543658752
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.413003922,745.586996078,715,682.413003922,657.413003922,632,882,784,815,651,630,653,0.452786098103,0.00465978607234,0.0797381397826,0.999999910424,0.000153221467262,-0.000389101142389,-6.53834899087e-05,1793248931560325632
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.988896323,745.011103677,715,682.988896323,657.988896323,632,882,784,815,651,630,653,0.452840577644,0.0046684805013,0.0797320017862,0.999999904986,0.000161884554549,-0.000399052412055,-6.76578543265e-05,1793248931576992512
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.422887296,745,715,683,657.422887296,632,882,784,815,651.577112704,630,653,0.452879566466,0.0046672552414,0.0797288161721,0.999999903277,0.00016159472612,-0.000403654249994,-6.62978888993e-05,1793248931593658880
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.162896136,745,715,683,657,632,882,784,815,651.837103864,630,653,0.452915522931,0.00466575710234,0.0797262022149,0.999999902276,0.000159157915106,-0.00040722540969,-6.54598988214e-05,1793248931610325248
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.741846629,745,715,683,657,632,882,784,815,651.258153371,630,653,0.452944512263,0.00466406010246,0.0797249000824,0.9999999029,0.00015168703517,-0.000408432718383,-6.6137582752e-05,1793248931626992128
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682.681025279,657,632,882,784,815,651.318974721,630,653,0.452966831337,0.00466557180329,0.0797230932939,0.999999902095,0.000150560176023,-0.000410746472625,-6.65518253834e-05,1793248931643659264
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682.105363656,657,632,882,784,815,651.894636344,630,653,0.45298378269,0.00466966562533,0.0797208803962,0.999999900153,0.000154538507607,-0.000413950611292,-6.67540703141e-05,1793248931660326400
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.532074405,745,715,682.467925595,657,632,882,783.532074405,814.532074405,652,630,653,0.452994801826,0.00466797087751,0.0797189473071,0.999999899866,0.000151206812787,-0.000415970827946,-6.61228445021e-05,1793248931676993280
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682.957917825,657,632,882,783.042082175,814,651.957917825,630,653,0.453004201854,0.00466536463595,0.079717248465,0.99999989992,0.000146591516744,-0.000417605683979,-6.53872046129e-05,1793248931693659648
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682.365466292,657,632,882,783.634533708,814,651.365466292,630,653,0.453009808131,0.00466779822305,0.0797177933553,0.999999899869,0.000146607392145,-0.00041766956523,-6.57280944182e-05,1793248931710325760
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.222054337,745.222054337,714.777945663,682,657,632,882,784,814.222054337,651,630,653,0.453014215586,0.00466782412868,0.07971766929,0.999999899869,0.000144959041717,-0.000418233988171,-6.57969136969e-05,1793248931726992128
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.801635741,745.801635741,714.198364259,682,657,632,882,784,814.801635741,651,630,653,0.453016692829,0.00466397345464,0.0797164681469,0.999999899937,0.000140631140916,-0.000419604327371,-6.54276754096e-05,1793248931743658752
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.621685081,714.378314919,682.378314919,657,632,882,784,815,651,630,653,0.453015274777,0.00466307885548,0.0797138907861,0.999999898464,0.000138964195789,-0.000423679509213,-6.52391085326e-05,1793248931760325632
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.046516079,714.953483921,682.953483921,657,632,882,784,815,651,630,653,0.45301182983,0.00466372243372,0.079710597318,0.999999896172,0.000138681864417,-0.000429162140969,-6.51445530388e-05,1793248931776992512
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,683,657,632,882,784,815,651.541700017,630,653,0.453013558727,0.0046660177964,0.0797110474549,0.999999895828,0.000142159682932,-0.000428839241687,-6.50561023854e-05,1793248931793659136
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,683,657,632,882,784,815,652,629.871144604,653,0.453015276958,0.0046669785886,0.0797115925462,0.999999895824,0.000143893268881,-0.000428298104678,-6.48631748425e-05,1793248931810325760
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,683,657,632,882,784,815,652,629.291712756,653,0.453015366003,0.00466276448707,0.0797113178401,0.999999896433,0.000138370770073,-0.000428780084798,-6.43030383327e-05,1793248931826992128
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,683,657,631.713226075,882,784,815,651.713226075,629.286773925,653,0.453015247471,0.00466218149411,0.0797104920691,0.99999989616,0.000137596702684,-0.000429685456495,-6.41647386332e-05,1793248931843658752
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,683,657,631.13569761,882,784,815,651.13569761,629.86430239,653,0.453014918482,0.00466528001145,0.079709107584,0.999999895003,0.000141636977471,-0.000431020096791,-6.44541310555e-05,1793248931860325376
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.561120803,745.438879197,714.561120803,682.561120803,657,631.438879197,882.438879197,784,815,651,630,653,0.453016043041,0.00466486143595,0.0797094427749,0.999999895285,0.000141747577646,-0.000430345092511,-6.4353497291e-05,1793248931876991744
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.012900386,745.987099614,714.012900386,682.012900386,657,632,882.987099614,783.987099614,815,651.012900386,629.987099614,653,0.453017577535,0.00466342657942,0.0797102734162,0.999999895984,0.000140700812528,-0.000429094087766,-6.41355445267e-05,1793248931893658624
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.60261345,745.39738655,714.60261345,682.60261345,657,632,882.39738655,783.39738655,815,651.60261345,629.39738655,653,0.453017480537,0.00466484925112,0.0797096416679,0.999999895572,0.00014186906258,-0.000429685830391,-6.40279453279e-05,1793248931910325504
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.811224608,745.188775392,715,683,657,632,882.188775392,783.188775392,815,651.811224608,629.188775392,653,0.453017758446,0.00466629550418,0.0797094227223,0.999999895407,0.000142392845569,-0.000429870454208,-6.42022900435e-05,1793248931926992128
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.232400057,745.767599943,715,683,657,632,882.767599943,783.767599943,815,651.232400057,629.767599943,653,0.45301881099,0.00466779048116,0.0797100567129,0.999999895755,0.000141585025719,-0.000429213886002,-6.49591894367e-05,1793248931943659008
+242,4.033333333,HOLD_POSE2,766,745,715,683,657,632,882,783,815,651,630,653,0.453017457389,0.00466572020856,0.0797084027955,0.999999894642,0.000141118359916,-0.000432091700289,-6.40185183618e-05,1793248931979266560
+243,4.050000000,HOLD_POSE2,765.414855017,745,715,683,657,632,882,783,815,651,630,652.414855017,0.453017452865,0.00466626974273,0.0797092203142,0.999999894678,0.000142341314413,-0.000431545666218,-6.44353359471e-05,1793248931995933440
+244,4.066666667,HOLD_POSE2,765,745,715,683,657,632,882.168848954,783,815,651.168848954,630,652.168848954,0.453017505639,0.00466672925232,0.0797096700596,0.999999894629,0.000143595028666,-0.000431218848174,-6.46001629956e-05,1793248932012599808
+245,4.083333333,HOLD_POSE2,765,745,715,683,657,632,882.749042498,783,815,651.749042498,630,652.749042498,0.453017697998,0.00466696944699,0.0797092238476,0.999999894377,0.000144923679136,-0.000431426077311,-6.41510985956e-05,1793248932029266432
+246,4.100000000,HOLD_POSE2,765,745,715,683,657,632,882.672488232,783,814.672488232,651.672488232,630,653,0.453018036031,0.00466625783449,0.0797090067446,0.999999894595,0.000143686618211,-0.000431391792795,-6.37616470714e-05,1793248932045932800
+247,4.116666667,HOLD_POSE2,765,745,715,683,657,632,882.095333311,783,814.095333311,651.095333311,630,653,0.453018485101,0.00466482071479,0.079708964278,0.999999895165,0.000140493864779,-0.000431173416467,-6.34176349986e-05,1793248932062599424
+248,4.133333333,HOLD_POSE2,765,745,715,682.520170218,657,632,882,783,814.479829782,651,630,653,0.453017750987,0.00466605705572,0.0797081247691,0.999999894529,0.000141268660043,-0.000432314978767,-6.3937709812e-05,1793248932079266048
+249,4.150000000,HOLD_POSE2,765,745,715,682,657,632.055982658,882,783.055982658,815,651.055982658,630,653,0.453017093689,0.00466767990513,0.0797073329776,0.999999893837,0.000142689711762,-0.000433360203119,-6.45380591864e-05,1793248932095932928
+250,4.166666667,HOLD_POSE2,765,745,715,682,657,632.645320052,882,783.645320052,815,651.645320052,630,653,0.453019398574,0.0046679454901,0.0797084982547,0.999999894892,0.0001427887445,-0.000430924060745,-6.42743556341e-05,1793248932112599808
+251,4.183333333,HOLD_POSE2,765,745,715,682.230624273,657,632.769375727,882,784,815,651.769375727,630,653,0.453020459194,0.00466834214946,0.0797091675043,0.999999895247,0.000143393015216,-0.000429923417662,-6.41054813502e-05,1793248932129266176
+252,4.200000000,HOLD_POSE2,765,745,715,682.809832382,657,632.190167618,882,784,815,651.190167618,630,653,0.453019639131,0.00466893692503,0.0797090870185,0.999999894549,0.000144760942714,-0.000431092502398,-6.40799395758e-05,1793248932145932800
+253,4.216666667,HOLD_POSE2,765,745,715,683,657,632,882,784,815,651,630,653,0.453019611044,0.00466771623729,0.0797091712408,0.99999989475,0.000143106108096,-0.000431185405091,-6.40284564872e-05,1793248932162599424
+254,4.233333333,HOLD_POSE2,765,745,715,683,657,632,882,784,815,651,630,653,0.453019970086,0.00466560812931,0.0797093359744,0.999999895384,0.00013997371113,-0.000430752257162,-6.39642929695e-05,1793248932179265792
+255,4.250000000,HOLD_POSE2,765,745,715,683,656.462849634,632,882,784,815,651,630,653,0.453020553416,0.00466684098043,0.0797097020048,0.999999895165,0.000141702063265,-0.000430690919665,-6.39994467799e-05,1793248932195932672
+256,4.266666667,HOLD_POSE2,765,745,715,683,656.11474601,632,882,784,815,651,629.88525399,652.88525399,0.45302049845,0.00466831342071,0.0797095037199,0.999999894627,0.000143692762496,-0.000431263177524,-6.41111876598e-05,1793248932212599296
+257,4.283333333,HOLD_POSE2,765,745,715,683,656.706280919,632,882,784,815,651,629.293719081,652.293719081,0.453017726903,0.00466982281502,0.0797069028549,0.999999893017,0.000145378924692,-0.000434361451328,-6.45126647825e-05,1793248932229265920
+258,4.300000000,HOLD_POSE2,765.291579799,745,715,683,657,632,881.708420201,784,815,651,629.291579799,652.291579799,0.453017661355,0.00466922339382,0.0797064723409,0.999999892939,0.000145259560019,-0.000434621905736,-6.42218711296e-05,1793248932245932288
+259,4.316666667,HOLD_POSE2,765.870728398,745,715,683,657,632,881.129271602,784,815,651,629.870728398,652.870728398,0.453020264582,0.00466654416607,0.0797081823227,0.999999894376,0.000143359505366,-0.000432083577863,-6.32483296162e-05,1793248932262598656
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,657,632,883,784,815,652,630,652,0.453020824562,0.00466857978944,0.0797089704754,0.999999894675,0.000144909132862,-0.000430800437731,-6.37334286582e-05,1793248932295363328
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765.412681691,745,715,682.412681691,656.412681691,632,882.412681691,784,815,652,630,652,0.453018775194,0.00466767492477,0.0797071422687,0.999999893745,0.000143864220088,-0.000433362684004,-6.33295108335e-05,1793248932312029952
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,656.17231793,632,882,783.82768207,815,652,629.82768207,652.17231793,0.453018010935,0.00466668916229,0.0797063501803,0.999999893458,0.00014295855647,-0.000434363915916,-6.30498194846e-05,1793248932328696576
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,656.751838407,632,882,783.248161593,815,652,629.248161593,652.751838407,0.453020283501,0.00466551223094,0.0797080065312,0.999999894703,0.000142381950742,-0.000431676333006,-6.30636862322e-05,1793248932345362688
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.330199133,657,632,881.669800867,783.330199133,814.669800867,651.669800867,629.330199133,653,0.453021238955,0.0046643891199,0.0797084232593,0.999999895111,0.000140783197775,-0.000431237804259,-6.31866401463e-05,1793248932362029056
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.907691263,657,632,881.092308737,783.907691263,814.092308737,651.092308737,629.907691263,653,0.453021207997,0.00466330631606,0.0797079116081,0.99999989489,0.000138418937523,-0.000432483639102,-6.3391291707e-05,1793248932378695680
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.483349607,745.483349607,715,683.483349607,657,632,881.483349607,784,814,651,630,653,0.453020618549,0.00466386762263,0.0797079206635,0.999999894915,0.000138789303529,-0.000432339752723,-6.31620545694e-05,1793248932395362560
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.940137919,745.940137919,715,683.880275838,657,632,881.940137919,783.940137919,814,651.059862081,629.940137919,653,0.453019956356,0.00466475954762,0.0797079727309,0.999999895023,0.000139493005859,-0.000431891842888,-6.29711622723e-05,1793248932412029184
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.35302962,745.35302962,715,682.70605924,657,632,881.35302962,783.35302962,814,651.64697038,629.35302962,653,0.453019589324,0.00466580840462,0.0797075310803,0.999999895442,0.000138550191627,-0.000431094958917,-6.38450702455e-05,1793248932428696064
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.231197376,715,682.231197376,657,632,881.462394752,783,814.231197376,651.768802624,629.231197376,653,0.453013073404,0.00466648529554,0.0797039913213,0.999999893247,0.00013890430773,-0.000436003180638,-6.41316599676e-05,1793248932445362688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.811078835,715,682.811078835,657,632,882.622157669,783,814.811078835,651.188921165,629.811078835,653,0.452997283938,0.00466660119968,0.0796957790997,0.999999886979,0.00014121441048,-0.000449515650307,-6.35324760305e-05,1793248932462029312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.61248661,715,683,656.61248661,632,882.61248661,783,814.61248661,651.38751339,629.61248661,652.61248661,0.452962280436,0.00466635449205,0.0796793248513,0.999999874596,0.000142028314879,-0.000476079917465,-6.31155102699e-05,1793248932478695680
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,656.539163839,632,882,783.539163839,814.539163839,651.460836161,629.539163839,652.539163839,0.452852206154,0.00466694561894,0.0796390665948,0.999999839531,0.000144386838728,-0.000544313888741,-6.17480563603e-05,1793248932512028672
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,656.88120322,632,882,784,814.88120322,651,630,653,0.452784507074,0.00466763013922,0.0796218354896,0.999999822894,0.000146021371624,-0.000573761675863,-6.07230206564e-05,1793248932528695296
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.293227585,745,715,683,656,632,882,783.706772415,814.293227585,651.293227585,630,653,0.452632764111,0.00466587214704,0.0796100037212,0.999999815861,0.000146013797341,-0.000586148074628,-5.8209164885e-05,1793248932562028288
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.872354209,745,715,683,656,632,882,783.127645791,814.872354209,651.872354209,630,653,0.452537500955,0.00466540379606,0.079607668809,0.999999810144,0.00015037269233,-0.000594992876159,-5.55270439446e-05,1793248932578695168
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.551393837,745,715,683,656.448606163,632,882,783,814.551393837,651.551393837,630,652.551393837,0.452424881887,0.00466456263003,0.0796030056496,0.999999805179,0.000153005085067,-0.000602878088032,-5.26280462789e-05,1793248932595361792
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.9754945,657,632,882,783.0245055,814,651,630,652.0245055,0.45230633078,0.00466365159886,0.0795976782903,0.999999800313,0.000155156499557,-0.000610602156845,-4.96473719825e-05,1793248932612028160
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.389043538,657,632,882,783.610956462,814,651,630,652.610956462,0.452164273685,0.00466355554308,0.0795922146793,0.999999793805,0.000157471884484,-0.000620852323994,-4.61998193854e-05,1793248932628695040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.194965061,745,715,682,657,632,882,784,814,651,630,652.805034939,0.452011610313,0.00466290713384,0.079588196635,0.999999789221,0.000160233603155,-0.0006277529177,-4.2545061539e-05,1793248932645361664
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.774160267,745,715,682,657,632,882,784,814,651,630,652.225839733,0.451838044488,0.00466117016622,0.0795870274624,0.999999788607,0.000163874940105,-0.000628052291161,-3.84819514384e-05,1793248932662028288
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.647069859,745,715,682.352930141,657.352930141,632,882,784,814,651,629.647069859,652.352930141,0.451650156437,0.00465821924399,0.0795938731831,0.999999795127,0.000166488286647,-0.000617198713909,-3.305800845e-05,1793248932678695168
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.068571772,745,715,682.931428228,657.931428228,632,882,784,814,651,629.068571772,652.931428228,0.451453114619,0.0046544924478,0.0796058414557,0.999999805925,0.000168444614848,-0.000599216960422,-2.67643170633e-05,1793248932695361792
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,632.506786149,882,784,814,651.506786149,629.506786149,653,0.451239896724,0.00465344768336,0.0796232219296,0.999999821295,0.000175906027607,-0.000571008953194,-2.03932545069e-05,1793248932712028416
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.083445345,745,715,682.916554655,658,633,882,784,814,652,630,652.916554655,0.451019891758,0.00465191147255,0.0796415122315,0.999999836858,0.000182991789369,-0.000540930388169,-1.38637453452e-05,1793248932728695040
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.670506859,745,715,682.329493141,658,633,882,784,814,652,630,652.329493141,0.450772053124,0.00464523253989,0.0796609011336,0.99999985421,0.000183342536364,-0.000507861972297,-6.44075716257e-06,1793248932745361664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.255008345,658,633,882,783.744991655,814,652,630,652,0.450496902211,0.00463960869263,0.0796771200381,0.999999867646,0.000185785737869,-0.000479782035001,9.13593163506e-07,1793248932762028288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.836234892,658,633,882,783.163765108,814,652,630,652,0.450186812211,0.0046353345587,0.0796892837372,0.999999876824,0.00019090570188,-0.000458083587356,8.18013838979e-06,1793248932778694912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.589111244,745.410888756,715,682.589111244,658.410888756,632.589111244,882,783,814,651.589111244,630,652,0.449841003952,0.00463249547041,0.0796998318182,0.999999884246,0.000193931236982,-0.000440100335188,1.44972756396e-05,1793248932795361792
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.017035778,745.982964222,715,682.017035778,658.982964222,632.017035778,882,783,814,651.017035778,630,652,0.449481183858,0.00463021933334,0.0797097461114,0.999999890849,0.000196135152704,-0.000423574509913,2.0441971402e-05,1793248932812028416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.440540096,715,682,659,632.559459904,881.440540096,783.559459904,814,651,630,652.559459904,0.449078959123,0.00462484638085,0.0797141893488,0.999999896512,0.000173016996543,-0.000420332503211,1.90202471317e-05,1793248932828695040
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.140246778,659,633,881.140246778,784,814,651.140246778,630,652.859753222,0.448666517663,0.00461838717781,0.0797170727067,0.999999901073,0.000147844083026,-0.000419156189605,1.74519794668e-05,1793248932845361664
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.734485355,659,633,881.734485355,784,814,651.734485355,630,652.265514645,0.448225216944,0.00460871936872,0.0797154501701,0.999999903233,0.000118535628447,-0.000423346892832,1.61412338703e-05,1793248932862028544
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.680141004,659.639717992,633,881.680141004,784,813.680141004,651.680141004,630,652.319858996,0.447773389517,0.00460131418881,0.0797249841896,0.999999913136,9.80213407994e-05,-0.000404748688779,1.72785989194e-05,1793248932878695168
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.101927626,660.796144749,633,881.101927626,784,813.101927626,651.101927626,630,652.898072374,0.44731305948,0.00459573656365,0.0797435295083,0.999999928595,8.46102159731e-05,-0.000367743580174,2.0393335474e-05,1793248932895361792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.054339973,633,881.472830014,784,813,651,630,652.527169986,0.446806228569,0.00459191715809,0.079770665786,0.999999942753,7.59246559438e-05,-0.000328919771488,2.32680983806e-05,1793248932912028672
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.046931701,633,881.953068299,784,813,651,630,652,0.446284944707,0.00458817185508,0.0797987340054,0.999999954335,7.62137066341e-05,-0.000291275901,2.60555335607e-05,1793248932928695040
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.62197447,633,881.37802553,784,813,651,630,652,0.445713005927,0.00458102635318,0.079816600854,0.999999949,0.000166112012363,-0.00027128926385,2.84381854744e-05,1793248932945361920
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.203133413,745,715,682.203133413,660,633,881,784,813,651,630,652,0.445123650256,0.00457539584209,0.079827570027,0.999999941461,0.000217573114742,-0.000262281706638,3.07999295503e-05,1793248932962039808
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.796027689,745,715,682.796027689,660,633,881,784,813,651,630,652,0.444500876081,0.0045726722098,0.0798253043306,0.999999942752,0.00019528309004,-0.000274340189522,3.31215570842e-05,1793248932978739456
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.621290354,745,715,682.621290354,660,633.378709646,881,784,813,651,629.621290354,652,0.443838599253,0.00456634376428,0.0798116512051,0.999999941148,0.000166586344181,-0.000297844962706,3.5242641509e-05,1793248932995396608
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.043964323,745,715,682.043964323,660,633.956035677,881,784,813,651,629.043964323,652,0.443155605057,0.00455812475446,0.079792025879,0.999999936677,0.000134529558173,-0.000327352805872,3.72585498617e-05,1793248933012031744
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,881,784,812.469788952,651,629.530211048,652,0.442459062196,0.00455192157499,0.0797925242809,0.99999994235,0.000111808504237,-0.000318424414633,3.74872606539e-05,1793248933028695808
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.892942544,881.107057456,784,812,651,630,652,0.441754698232,0.00454599229519,0.0797920339056,0.99999994656,9.2802108244e-05,-0.00031118807565,3.78075436017e-05,1793248933045362176
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.302873672,881.697126328,784,812,651,630,652,0.441020086646,0.00454054909607,0.0797795985693,0.999999942341,8.70832496029e-05,-0.000325879978054,3.92056207826e-05,1793248933062028800
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.281674687,633,881.436650626,784,811.718325313,651,630,652,0.440236404551,0.00453427547814,0.0797445435717,0.99999992215,9.22868785885e-05,-0.00038148935839,4.06124234908e-05,1793248933078695424
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.86040123,633,880.279197541,784,811.13959877,651,630,652,0.439400973002,0.00452712610657,0.0796856340599,0.999999877855,0.0001090092737,-0.000480249980575,4.20284279497e-05,1793248933095362304
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.564153614,633,880.871692771,784,811.435846386,651,630,652,0.438623188523,0.00451799786075,0.0796930235371,0.999999886898,8.91791941341e-05,-0.000465217424417,4.27137162956e-05,1793248933112029184
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.010482831,745,715,682.010482831,660,633,881.989517169,784,811.989517169,651,629.989517169,652,0.437863783106,0.0045082826438,0.0797222502465,0.999999912017,5.85718560641e-05,-0.000413118511003,4.32233026073e-05,1793248933128696320
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.59802686,745,715,682.59802686,660,633,881.40197314,784,811.40197314,651,629.40197314,652,0.437107295466,0.00450088565124,0.0797933564048,0.999999947483,7.43578148388e-05,-0.000311944367623,4.68482205934e-05,1793248933145362688
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.816974127,745,715,682.816974127,660,633,881,784,811,651,629.183025873,652,0.436324476909,0.0044926213713,0.079846198551,0.999999967639,7.92828627082e-05,-0.000236597955198,4.95687860534e-05,1793248933162029056
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.237488019,745,715,682.237488019,660,633,881,784,811,651,629.762511981,652,0.43548462186,0.00448247842319,0.0798594782289,0.999999973305,6.06816236577e-05,-0.000217198116206,5.03303951753e-05,1793248933178695424
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.341732079,880.658267921,784,811,651,630,652,0.43461809846,0.0044730958409,0.0798468829362,0.999999970334,4.88321876599e-05,-0.000233049510748,5.13358965864e-05,1793248933195362304
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.920767433,880.079232567,784,811,651,630,652,0.433733056239,0.00446424126713,0.0798163197213,0.999999960385,4.16712937219e-05,-0.000273379828631,5.25107599463e-05,1793248933212028928
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.505120698,745,715,682,660,634,880.494879302,784,811,651,630,652,0.432776774748,0.00445602571339,0.0797691417493,0.999999932081,3.26636481812e-05,-0.000363295152802,5.28016343717e-05,1793248933228695296
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.069790175,745,715,681.930209825,659.930209825,633.930209825,880.930209825,784,811,651,629.930209825,652,0.431815788016,0.00444749954229,0.079723721059,0.999999895964,2.44609525403e-05,-0.000452353005256,5.33850005064e-05,1793248933245361920
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.656397507,745,715,681.343602493,659.343602493,633.343602493,880.343602493,784,811,651,629.343602493,652,0.430903589035,0.0044359229865,0.079710818399,0.999999884375,2.43871434309e-05,-0.000476850931868,5.71721127914e-05,1793248933262028288
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.759168572,715,681.240831428,659,633.240831428,880.240831428,784,811,651,629,652,0.430030712447,0.00442464743482,0.0797349129895,0.999999902688,1.71081245291e-05,-0.000436847261804,5.91166947715e-05,1793248933278694912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.177807715,715,681.822192285,659,633.822192285,880.822192285,784,811,651,629,652,0.429213436576,0.00441379749353,0.0798113207363,0.999999951583,-3.58875515018e-07,-0.000305639995091,5.84559862605e-05,1793248933295361536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744.401105365,715.401105365,682,659.80221073,634,881,784,811,651,629,652,0.428344216211,0.00440493124367,0.0798468107391,0.999999967614,-8.74931962709e-06,-0.000247243684338,5.97196406818e-05,1793248933312028160
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.978939906,715.978939906,682,660.957879813,634,881,784,811,651,629,652,0.427452108873,0.00439693901956,0.0798642721596,0.999999973597,-1.31405834807e-05,-0.000220928280436,6.18311800329e-05,1793248933328694784
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,716,681.445335577,659.890671154,634,881,784,811,651,629,652,0.426489888309,0.00439651397648,0.0798121163954,0.999999951985,-1.49930480162e-05,-0.000303254181069,6.19859028155e-05,1793248933345361408
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,716,681,659,634,880.866963996,784,811,651,629,652,0.425528432162,0.00440434157462,0.0797652349303,0.999999927203,-6.30718889567e-06,-0.000376494758472,6.1696601685e-05,1793248933362028288
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,716,681,659,634,880.279273259,784,811,651,629,652,0.424578651937,0.00443939463404,0.0797453778779,0.999999915599,3.8065535546e-05,-0.000404642034325,6.0142791332e-05,1793248933378694912
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715.695938446,681,659,634,880,784,811,651,629.304061554,652,0.423646158443,0.00446631492739,0.0797330557977,0.99999990622,7.16758920011e-05,-0.000423215370319,5.75400684777e-05,1793248933395361536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715.116547972,681,659,634,880,784,811,651,629.883452028,652,0.422729318202,0.00448587096752,0.0797275566651,0.999999900182,9.55408800041e-05,-0.000433119465523,5.39875514364e-05,1793248933412028416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715.458843526,681.458843526,659,634,880.458843526,784,811,651,629.541156474,652,0.421911437727,0.00449122898901,0.0797741960227,0.99999993256,0.00010069754204,-0.000349238858255,5.26613130983e-05,1793248933428695040
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715.966094344,681.966094344,659.033905656,634,880.932188688,784,810.966094344,651,629,652.033905656,0.421114938006,0.00449228617664,0.0798318174968,0.999999963407,0.000100290433296,-0.000245824986192,5.19346476292e-05,1793248933445361664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715.379997279,681.379997279,659.620002721,634,879.759994558,784,810.379997279,651,629,652.620002721,0.420260815405,0.00448152545682,0.079854475348,0.999999973139,8.5993835991e-05,-0.000208900676123,5.18427517863e-05,1793248933462028288
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.204247114,745,715,681,660,634,879.204247114,784,810.204247114,651,629,652.795752886,0.419385893011,0.00447218332213,0.0798535337737,0.999999973179,7.58500976803e-05,-0.000212596378455,5.18868052385e-05,1793248933478695168
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.785075734,745,715,681,660,634,879.785075734,784,810.785075734,651,629,652.214924266,0.418472620761,0.00446545670813,0.0798090806596,0.999999953553,7.33632086731e-05,-0.000291185399032,5.21815156873e-05,1793248933495361792
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.364084215,681,659.635915785,634,879.635915785,784,810.635915785,651,629,652,0.417610704502,0.00446759480344,0.0797967976971,0.999999945509,7.31185345038e-05,-0.00031773269184,5.17751120586e-05,1793248933512028160
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.942023551,681,659.057976449,634,879.057976449,784,810.057976449,651,629,652,0.416778953685,0.00447493983591,0.0798034107821,0.999999946742,7.41908887145e-05,-0.000313711805824,5.09568894368e-05,1793248933528694784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.48224095,681,659.51775905,634,879,784,810,651,628.48224095,652,0.415951718814,0.00448373164334,0.0797961165303,0.999999937958,9.49364989447e-05,-0.000335120408006,5.25837617136e-05,1793248933545361408
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.904897784,745,715,681,659.904897784,633.904897784,879.095102216,784.095102216,810,651.095102216,628.095102216,652,0.415134312075,0.00449070962124,0.0797869024133,0.999999928701,0.000111974934941,-0.000356587493075,5.38981052524e-05,1793248933562028032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.317969692,745,715,681,659.317969692,633.317969692,879.682030308,784.682030308,810,651.682030308,628.682030308,652,0.414365127993,0.00448747302953,0.079775779056,0.999999927651,9.84972716267e-05,-0.000363693527075,5.21862669166e-05,1793248933578694656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715.266494609,680.733505391,659,633.266494609,879.733505391,784.733505391,810,651.733505391,629,652,0.413622296916,0.00448138449726,0.0797803010571,0.999999934149,8.88254862803e-05,-0.000348112622065,5.12892951812e-05,1793248933595361536
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715.848046109,680.151953891,659,633.848046109,879.151953891,784.151953891,810,651.151953891,629,652,0.412910621108,0.00447192432656,0.0798033194107,0.999999948453,8.36531101914e-05,-0.000305710623927,5.13556801021e-05,1793248933612028160
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.425500228,745,715.574499772,680,659,634,879,784,810,651,629,652,0.412183214155,0.00447063147315,0.0798017649196,0.9999999465,7.28307869822e-05,-0.000314660890711,5.18020654427e-05,1793248933628694784
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.001498442,659,634,879.001498442,784,810.001498442,651,629,652,0.411450403262,0.00447224525436,0.0797915228177,0.99999993843,6.01213090406e-05,-0.000341733392898,5.23804438288e-05,1793248933645361408
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.574955148,659,634,879.574955148,784,810.574955148,651,629,652,0.410778823645,0.0044806362211,0.0797828470673,0.999999932338,8.98957217259e-05,-0.00035289414794,5.2035964473e-05,1793248933662028032
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.846511401,745,715,681,659,634,879.846511401,784,810.846511401,651,629,652,0.410123641082,0.0044869881532,0.0797832770147,0.999999931509,0.000110673127185,-0.0003493321505,5.19632367179e-05,1793248933678694912
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.253438244,745,715,681,659,634,879.253438244,784,810.253438244,651,629,652,0.409515418805,0.00448750038222,0.0798097852762,0.999999946941,0.00010568350894,-0.000303604844248,5.26687935076e-05,1793248933695361536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.33019553,681,659,634,879,784,810,651,629,652,0.408924380831,0.00448630780329,0.0798302014718,0.999999956922,9.77440607628e-05,-0.000271618580448,5.3157771966e-05,1793248933712028672
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.906785528,681,659,634,879,784,810,651,629,652,0.408346165954,0.0044838430834,0.0798460717189,0.999999963511,8.76034269697e-05,-0.000249885992111,5.34851379859e-05,1793248933728696320
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,716,680.517798882,659,634,879,784,810,651,628.517798882,652,0.407752601839,0.00448312551835,0.0798171667365,0.999999947915,9.82910992567e-05,-0.000302619163673,5.4132845963e-05,1793248933745362688
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715.94118648,680,658.94118648,634,879,784,810,651,628.05881352,652,0.407165377189,0.0044825871306,0.0797818980703,0.999999925898,0.000110039755351,-0.000364847370971,5.46029996922e-05,1793248933762029056
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715.351732572,680,658.351732572,634,879,784,810,651,628.648267428,652,0.406662055828,0.0044806254986,0.079767117541,0.999999920662,9.51220960425e-05,-0.000383181572795,5.29138263053e-05,1793248933778695936
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.233459102,745,715.233459102,680.233459102,658,634,878.766540898,784,810,651.233459102,629,652,0.406181985419,0.00448140165963,0.0797653295739,0.999999922818,9.11195564749e-05,-0.000378684487054,5.1575390401e-05,1793248933795362560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.812344322,745,715.812344322,680.812344322,658,634,878.187655678,784,810,651.812344322,629,652,0.405736317168,0.00448622865975,0.0797827654046,0.999999935442,0.000103267030801,-0.000340406223412,5.07559058483e-05,1793248933812028928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.610516845,745,716,680.610516845,658,634,878.389483155,784,810,651.610516845,629,652,0.405320990776,0.00449030631352,0.079801037078,0.999999944125,0.00011117478443,-0.000311189519042,5.05117111797e-05,1793248933828695808
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.034215625,745,716,680.034215625,658,634,878.965784375,784,810,651.034215625,629,652,0.40492021801,0.00449402453899,0.0798197096702,0.999999950883,0.000117048930225,-0.000286319245611,5.0543457876e-05,1793248933845362944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.539209778,745,716,680,658.539209778,634,878.460790222,784.539209778,810,651,628.460790222,652,0.404543327524,0.00449412078803,0.0798276498941,0.999999952693,0.000117290222369,-0.000279631240538,5.16125181627e-05,1793248933862029568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.883947772,745,716,680,658.883947772,634,878.116052228,785,810.116052228,651,628,652,0.404174259057,0.0044941042112,0.0798332044718,0.999999953367,0.000117356778377,-0.000276953685111,5.28290769075e-05,1793248933878695936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.292359657,745,716,680,658.292359657,634,878.707640343,785,810.707640343,651,628,652,0.403831065219,0.00449456208674,0.0798317593828,0.99999995064,0.000118164185318,-0.000286006794395,5.43817409663e-05,1793248933895362304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.29312877,745,716,680,658.29312877,634,879,784.70687123,810.70687123,651,628.29312877,652,0.40350689749,0.00449433988724,0.0798312878392,0.999999950048,0.000112446423892,-0.000290538198839,5.33533833226e-05,1793248933912028672
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.872657494,745,716,680,658.872657494,634,879,784.127342506,810.127342506,651,628.872657494,652,0.403201319142,0.00449345322388,0.0798317674931,0.999999951485,0.00010035328028,-0.000290651694307,4.98032516266e-05,1793248933928695552
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,658.551230088,634,879,784,809.551230088,651,629,652,0.402937742549,0.00448954665257,0.0798349128805,0.9999999527,9.35044315199e-05,-0.000288574975681,5.08103149067e-05,1793248933945362176
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.97610241,745,716,680,658,634,879,784,809.02389759,651,628.97610241,652,0.402687696286,0.00448499083261,0.0798386749474,0.999999953858,8.82694382723e-05,-0.000285799191818,5.30215053273e-05,1793248933962028800
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.401496666,745,716,680,658,634,879,784,809.598503334,651,628.401496666,652,0.402476871643,0.00448507164157,0.079839348327,0.999999955343,8.61911360518e-05,-0.00028112758891,5.34064615653e-05,1793248933978695680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.178193951,745,715.821806049,680,658,634,879,784,809.821806049,651,628,652,0.402276348629,0.00448500921419,0.0798399788642,0.999999956558,8.38169395798e-05,-0.000277420202103,5.38248697956e-05,1793248933995362560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.769677972,745,715.230322028,680,658,634,879,784,809.230322028,651,628,652,0.402099718492,0.00448461457484,0.0798405100358,0.99999995719,8.07564678253e-05,-0.000275949148552,5.43208640893e-05,1793248934012029184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.647667476,745,715.352332524,680,658,634,879,784,809,651,628,652,0.401937129431,0.00448562176874,0.0798416957952,0.99999995764,8.23326725652e-05,-0.000273634928462,5.53580952625e-05,1793248934028695552
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.070643642,745,715.929356358,680,658,634,879,784,809,651,628,652,0.401783494699,0.00448752294691,0.0798432990019,0.999999957956,8.68658022095e-05,-0.000270782999717,5.67404868527e-05,1793248934045361920
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.505725883,744.494274117,716,680,658,633.494274117,878.494274117,784,809,651,628,652,0.401655472993,0.00449304311776,0.0798415431755,0.999999950734,0.000144623888115,-0.000272751988123,5.67603977519e-05,1793248934062028800
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.916949675,744.083050325,715.916949675,680,658,633.083050325,878.083050325,784,809,651,628,652,0.401534064309,0.00450006494103,0.079838871135,0.999999940764,0.000197467153504,-0.000276492300386,5.50546089366e-05,1793248934078695424
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.333319104,744.666680896,715.333319104,680,658,633.666680896,878.666680896,784,809,651,628,652,0.40143097789,0.00451309477429,0.0798335011835,0.999999942409,0.000175931442749,-0.000286855391581,4.40929512134e-05,1793248934095362048
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,879,784,809,651.251218662,628,652,0.401335496942,0.00452126524649,0.0798281872438,0.999999941747,0.000164805071188,-0.000296374053522,3.8831122606e-05,1793248934112028928
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,879,784,809,651.83696443,628,652,0.401250143577,0.00452296490883,0.0798229478908,0.999999938676,0.000167539956799,-0.00030476825846,4.11592855313e-05,1793248934128695808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.584129632,878.584129632,784,809,651.584129632,628,652,0.401184284503,0.00451979174882,0.079819452213,0.999999937694,0.000164851699714,-0.0003091538555,4.31272805139e-05,1793248934145362432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.007861769,878.007861769,784,809,651.007861769,628,652,0.401125944206,0.00451473918462,0.0798166290554,0.999999937508,0.000160071784759,-0.000311993368,4.49563618766e-05,1793248934162029056
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715.561758498,679.438241502,658,633.561758498,878,784,809.561758498,651,628,652,0.401089368094,0.00451526936012,0.0798180914049,0.999999938194,0.000160625113347,-0.000309400182515,4.56501729821e-05,1793248934178695680
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.862547384,716,679,658,634,878.137452616,784,810,651,628,652,0.401055370505,0.00451508171757,0.079819372845,0.999999938886,0.000160080283894,-0.000307333978516,4.63581221532e-05,1793248934195362304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.266271672,716,679,658,634,878.733728328,784,810,651,628,652,0.40102897531,0.00451224021398,0.0798198525417,0.999999939569,0.000155623520314,-0.000307277687445,4.71656793899e-05,1793248934212028672
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.319580562,744.319580562,716,679.319580562,658,634,879.319580562,784,809.680419438,651,628,652,0.401007967242,0.00451168820385,0.0798199824904,0.999999939584,0.000155098154387,-0.000307410898433,4.7702641866e-05,1793248934228695296
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.897022427,744.897022427,716,679.897022427,658,634,879.897022427,784,809.102977573,651,628,652,0.400991305905,0.00451298352654,0.0798198302366,0.999999939067,0.00015774493121,-0.000307697013734,4.80212685061e-05,1793248934245361920
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715.527150638,680,658,634,879.527150638,784,809.472849362,651,628,652,0.400983637595,0.00451003002532,0.0798216344283,0.999999940987,0.000152701619693,-0.000303903858802,4.84784582175e-05,1793248934262028544
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.049377243,680,658.049377243,634,879,784,809.950622757,651,628,652,0.400978071814,0.00450480947503,0.0798237426348,0.999999943457,0.000144688843767,-0.000299551052413,4.91960954122e-05,1793248934278695168
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.63737504,680,658.63737504,634,879,784,809.36262496,651,628,652,0.400974149746,0.00448491853847,0.0798245351803,0.999999946498,0.000122490831179,-0.00029875119896,5.2426713759e-05,1793248934295361792
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.777852285,745,716,680,659,634,878.777852285,784,809,651,628,652,0.400970956096,0.00447314886148,0.0798253317715,0.999999948201,0.000109162714459,-0.000297866329629,5.43719370686e-05,1793248934312028672
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.198268865,745,716,680,659,634,878.198268865,784,809,651,628,652,0.40096893447,0.00447444629349,0.079826134872,0.999999948408,0.000110106262869,-0.000296844669976,5.42489594201e-05,1793248934328695040
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.379602685,745,716,679.620397315,658.620397315,634,878.379602685,784,809.379602685,651,628,652,0.40096915247,0.00447833275024,0.0798276086875,0.999999948795,0.000114080641719,-0.000294138682487,5.36512464449e-05,1793248934345361664
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.95658411,745,716,679.04341589,658.04341589,634,878.95658411,784,809.95658411,651,628,652,0.400970534989,0.00448356539988,0.0798294312488,0.999999949238,0.000119630935355,-0.000290556909567,5.28066894293e-05,1793248934362028288
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.469596523,679,658,634,879,784,810,651,628,652,0.40096870006,0.00447862617772,0.0798287334095,0.999999949492,0.000113644762858,-0.000291957787297,5.34870771971e-05,1793248934378694912
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.106915178,679.106915178,658,634,878.893084822,784,810,651,628,652,0.400966961564,0.00447496622387,0.0798279890157,0.999999949555,0.000109175738152,-0.000293348238846,5.40148187181e-05,1793248934395361792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.696749726,679.696749726,658,634,878.303250274,784,810,651,628,652,0.400966841162,0.00448082302668,0.0798279606725,0.999999948992,0.000115799468758,-0.000292860308516,5.32926131041e-05,1793248934412028416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.718581591,679.718581591,658,634,878,784,810,651.281418409,628.281418409,652,0.400966861547,0.00448153183159,0.0798280547347,0.999999948999,0.000116678634102,-0.000292502975473,5.3193768181e-05,1793248934428695040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.139379118,679.139379118,658,634,878,784,810,651.860620882,628.860620882,652,0.400967030908,0.00447679326174,0.0798282783205,0.999999949627,0.000111479164554,-0.000292283834438,5.37545348866e-05,1793248934445361664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.561651436,745,715.438348564,679.438348564,658.438348564,634,878.438348564,784,809.561651436,651.561651436,628.561651436,652,0.400967133599,0.00447809317687,0.0798283904281,0.999999949436,0.000113911744849,-0.000292023915277,5.36035264207e-05,1793248934462028288
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,716,679.984510211,658.984510211,634,878.984510211,784,809.015489789,651,628,652,0.400967205214,0.00448117012552,0.0798284654858,0.999999948998,0.00011855853894,-0.000291742405758,5.32357597652e-05,1793248934478694912
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,716,679.411653237,658.411653237,634,878.411653237,784,809.588346763,651,628,652,0.400966918888,0.00447933362016,0.0798284785536,0.999999949491,0.000115851626288,-0.000291149001491,5.31847100271e-05,1793248934495361536
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88df509ab44464a28e46d26b43de91388dba7811
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..720df6a3a6c6aaa96a0131cbe224589943a2d4d6
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9cf0fe92f34433715d5cbe0d66530ab3a6a72345a2c6d75a5aecb6a70353364
+size 25627928
diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..005898b2ddbdc3c93925b8ff1a12cfbe9fdb386e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+21,0.350000000,BASELINE,765.80668167,744.80668167,716,679.19331833,658,634,879.80668167,784.80668167,809,651,628,652,0.400968858694,0.0044790974821,0.0798330173759,0.999999951729,0.000115935740827,-0.000283402695849,5.2766856286e-05,1793248935144309248
+22,0.366666667,BASELINE,765.226656242,744.226656242,716,679.773343758,658,634,879.226656242,784.226656242,809,651,628,652,0.400969194407,0.00447966037474,0.0798329251829,0.999999951666,0.00011475719105,-0.000284167858676,5.24072345004e-05,1793248935160976384
+23,0.383333333,BASELINE,765.352974097,744.352974097,716,679.647025903,658.352974097,634,879,784,809.352974097,651,628,652,0.400969381647,0.00447890796776,0.0798336335794,0.999999951966,0.000113511493528,-0.000283604210475,5.2466579728e-05,1793248935177643264
+24,0.400000000,BASELINE,765.932351076,744.932351076,716,679.067648924,658.932351076,634,879,784,809.932351076,651,628,652,0.400969473654,0.00447731190793,0.0798348554861,0.999999952494,0.000112222726317,-0.000282188243014,5.279465665e-05,1793248935194309376
+25,0.416666667,BASELINE,766,745,716,679,659,634,879,784,810,651,628,652,0.400968672536,0.00447737323922,0.0798338302104,0.999999951999,0.000112926229251,-0.000283660286334,5.27950545185e-05,1793248935210976000
+26,0.433333333,BASELINE,766,745,716,679.082703054,658.917296946,634,879,784,809.917296946,651.082703054,628.082703054,652,0.400968115425,0.00447781168183,0.0798328428494,0.99999995155,0.000113981918639,-0.000284829851982,5.27172581444e-05,1793248935227642368
+27,0.450000000,BASELINE,766,745,716,679.671187795,658.328812205,634,879,784,809.328812205,651.671187795,628.671187795,652,0.40096977264,0.00447921645088,0.0798339041371,0.999999952237,0.000115580764132,-0.000281814709071,5.24261725745e-05,1793248935244309248
+28,0.466666667,BASELINE,766,745,715.744510673,680,658,634,879,784,809,651.744510673,628.744510673,652,0.400970215262,0.00447918547215,0.0798341876985,0.999999952529,0.000115327968118,-0.000280904614395,5.22937263492e-05,1793248935260975872
+29,0.483333333,BASELINE,766,745,715.165506191,680,658,634,879,784,809,651.165506191,628.165506191,652,0.400969119896,0.00447733646766,0.0798334864586,0.999999952327,0.000112730517954,-0.000282660052005,5.2362158325e-05,1793248935277642496
+30,0.500000000,BASELINE,766,745,715.412531282,680,658.412531282,634,879,784,809.412531282,651.412531282,628,652,0.400968381486,0.00447736792477,0.0798331922842,0.999999952086,0.000112860520906,-0.000283445484321,5.24245251694e-05,1793248935294309120
+31,0.516666667,BASELINE,766,745,715.990181688,680,658.990181688,634,879,784,809.990181688,651.990181688,628,652,0.400967785949,0.00447815205253,0.0798330610413,0.999999951832,0.000114082210027,-0.000283842663799,5.24844643923e-05,1793248935310976256
+32,0.533333333,BASELINE,765.440548034,745,715.440548034,679.440548034,659,634,879,784,809.440548034,651.440548034,628.559451966,652,0.400967436565,0.00447998318071,0.0798326358891,0.999999951562,0.000115620340298,-0.000284229308862,5.21750593117e-05,1793248935327643136
+33,0.550000000,BASELINE,765.134393361,745,715.134393361,679,658.865606639,634,879,784.134393361,809,651.134393361,629,652,0.400967298156,0.00448078203632,0.0798325644638,0.999999951511,0.000116024402646,-0.000284270480364,5.20289287352e-05,1793248935344310016
+34,0.566666667,BASELINE,765.729262203,745,715.729262203,679,658.270737797,634,879,784.729262203,809,651.729262203,629,652,0.400967868036,0.00447798196041,0.079833722435,0.999999952212,0.000112524030854,-0.000283128570802,5.24641114162e-05,1793248935360976384
+35,0.583333333,BASELINE,766,745,716,679,658.315950851,634,879,784.684049149,809.315950851,652,628.684049149,652,0.400968637294,0.00447746369846,0.0798342074684,0.999999952306,0.000112372896304,-0.000282803550311,5.27433978607e-05,1793248935377643008
+36,0.600000000,BASELINE,766,745,716,679,658.895806869,634,879,784.104193131,809.895806869,652,628.104193131,652,0.400969573087,0.00447885137347,0.0798341304154,0.999999951896,0.000115019288304,-0.000283160854954,5.28924684598e-05,1793248935394309888
+37,0.616666667,BASELINE,766,745,716,679,659,634,879,784,809.527568568,651.527568568,628,652,0.400970090956,0.00447803618268,0.0798348688287,0.999999952457,0.000113802719707,-0.000281706041193,5.27017200749e-05,1793248935410976256
+38,0.633333333,BASELINE,765.950948102,745,716,679.049051898,658.950948102,634,878.950948102,784,809.049051898,651.049051898,628,652,0.400970327502,0.00447707371469,0.079835548457,0.999999953068,0.000112098712463,-0.000280264801866,5.24405689471e-05,1793248935427642880
+39,0.650000000,BASELINE,765.366648009,745,716,679.633351991,658.366648009,634,878.366648009,784,809.633351991,651.633351991,628,652,0.400968493217,0.00447976952533,0.0798336374809,0.999999951973,0.000114309188158,-0.000283303058758,5.22234363213e-05,1793248935444309760
+40,0.666666667,BASELINE,765,745,716,680,658,634,878,784,809.782988122,651.782988122,628,652,0.400967421066,0.00448114877226,0.0798327428363,0.999999951515,0.000114800658392,-0.000284772905767,5.19206362545e-05,1793248935460976384
+41,0.683333333,BASELINE,765,745,716,680,658,634,878,784,809.200406735,651.200406735,628,652,0.400967632779,0.00448031018859,0.0798335602631,0.999999952144,0.000112396360824,-0.0002836006722,5.14735242652e-05,1793248935477643264
+42,0.700000000,BASELINE,765,745,716,680,658,634,878,784,809.377809703,651,628,652,0.400968062525,0.00447869122164,0.0798337526305,0.999999952406,0.000111127212983,-0.00028313140876,5.17164645688e-05,1793248935494309632
+43,0.716666667,BASELINE,765,745,716,680,658,634,878,784,809.953737207,651,628,652,0.400968606605,0.00447666303331,0.079833617226,0.999999952478,0.000110453320893,-0.000283030772463,5.232125807e-05,1793248935510976000
+44,0.733333333,BASELINE,765.526798371,745,716,680,658,634,878,784,810,651,628,652,0.400968444772,0.00447683208779,0.0798333083363,0.999999952396,0.000110615947339,-0.000283273039237,5.22370833874e-05,1793248935527642624
+45,0.750000000,BASELINE,765.896988233,745,715.896988233,679.896988233,658.103011767,634,878.103011767,784,810,651,628,652,0.400968489429,0.00447724552299,0.0798332897932,0.999999952413,0.00011080448655,-0.00028315708561,5.21390390112e-05,1793248935544308992
+46,0.766666667,BASELINE,765.304610738,745,715.304610738,679.304610738,658.695389262,634,878.695389262,784,810,651,628,652,0.400969807944,0.00447790820087,0.0798347225498,0.999999952964,0.000110769027584,-0.000281197095261,5.22609809142e-05,1793248935560975616
+47,0.783333333,BASELINE,765,745.28130257,715.28130257,679,658.71869743,634,879,784.28130257,809.71869743,651,628.28130257,652,0.400969743084,0.00447867516414,0.0798349277062,0.99999995291,0.000111699702978,-0.000281016847534,5.22792715527e-05,1793248935577642496
+48,0.800000000,BASELINE,765,745.860373392,715.860373392,679,658.139626608,634,879,784.860373392,809.139626608,651,628.860373392,652,0.400968213875,0.0044795525171,0.0798338334066,0.999999952214,0.00011365306415,-0.000282720517114,5.21878438492e-05,1793248935594309376
+49,0.816666667,BASELINE,765,745.561966828,716,679,658.438033172,634,878.561966828,784.561966828,809,651,628.561966828,652,0.400968521018,0.00447936734772,0.0798335069633,0.999999952154,0.000114271813284,-0.000282685649431,5.21744890151e-05,1793248935610976000
+50,0.833333333,BASELINE,765.01517394,745,716,679.01517394,658.98482606,634,878.01517394,784,809.01517394,651,628.01517394,652,0.400969364225,0.00447883367201,0.0798334171318,0.999999952289,0.00011442073759,-0.000282145040839,5.2187828037e-05,1793248935627642112
+51,0.850000000,BASELINE,765.589710668,745,716,679.589710668,658.410289332,634,878.589710668,784,809.589710668,651,628.589710668,652,0.400968459805,0.00447789795236,0.0798330558849,0.999999952126,0.000112882333843,-0.000283324197613,5.22707433362e-05,1793248935644308992
+52,0.866666667,BASELINE,765.831486724,745,715.831486724,680,658,634,878.831486724,784,809.831486724,651,628.831486724,652,0.400967785459,0.00447733748281,0.0798328247237,0.999999952064,0.000111637411409,-0.000284025702601,5.23260059401e-05,1793248935660975616
+53,0.883333333,BASELINE,765.242028001,745,715.242028001,680,658,634,878.242028001,784,809.242028001,651,628.242028001,652,0.400967685837,0.00447771438648,0.0798329185162,0.999999952261,0.000111125604139,-0.000283534035393,5.23121922237e-05,1793248935677642240
+54,0.900000000,BASELINE,765,745,715,680,658,634,878,784,809,651,628,652,0.400968437719,0.00447852936469,0.0798333896317,0.999999952386,0.000112100378991,-0.000282750012515,5.21036596317e-05,1793248935694308864
+55,0.916666667,BASELINE,765,745,715,680,658,634,878,784,809,651,628,652,0.400969782777,0.00447964951537,0.0798341235986,0.999999952455,0.000114110740063,-0.00028176232819,5.17594815364e-05,1793248935710975488
+56,0.933333333,BASELINE,765.495960372,745,715.495960372,680,658,634,878.495960372,784.495960372,809,651,628,652,0.40097085207,0.00447819176522,0.0798344831418,0.999999952849,0.000112681359665,-0.000280867731676,5.21452497016e-05,1793248935727641856
+57,0.950000000,BASELINE,765.926711281,745,716,680,658,634,879,784.926711281,809.073288719,651,628.073288719,652,0.40097149354,0.00447672071464,0.0798346607573,0.999999953168,0.000111122200678,-0.000280273054414,5.25552902678e-05,1793248935744308480
+58,0.966666667,BASELINE,765.340531411,745,716,680,658,634,879,784.340531411,809.659468589,651,628.659468589,652,0.400969452702,0.004478070365,0.07983398841,0.999999952629,0.000112542733283,-0.000281672064443,5.23101422825e-05,1793248935760975104
+59,0.983333333,BASELINE,765,745,716,679.756248484,658,634,879,784.243751516,810,651.243751516,628.756248484,652,0.400968543872,0.00447932185537,0.079833615243,0.999999952273,0.000113987524249,-0.000282393375175,5.21107117482e-05,1793248935777641984
+60,1.000000000,BASELINE,765,745,716,679.17459512,658,634,879,784.82540488,810,651.82540488,628.17459512,652,0.400969204293,0.00448043727114,0.0798336568163,0.999999952172,0.000115465943701,-0.000282175221818,5.19746572409e-05,1793248935794308608
+61,1.016666667,BASELINE,765,745,716,679.402070729,658,634,879,784.597929271,810,651.597929271,628.402070729,652,0.400967708465,0.00448014053787,0.0798324952306,0.999999951743,0.000114432123081,-0.000284075094675,5.21665564928e-05,1793248935810975232
+62,1.033333333,BASELINE,765,745,716,679.976597303,658,634,879,784.023402697,810,651.023402697,628.976597303,652,0.40096528778,0.00447923810674,0.0798308175869,0.999999951163,0.000112320754443,-0.000286883429587,5.24991214067e-05,1793248935827642368
+63,1.050000000,BASELINE,765.55159579,745,715.44840421,679.44840421,658,634,879,784,810,651,628.44840421,652,0.400967863626,0.00447711922361,0.0798327802483,0.999999952266,0.00011045533575,-0.000283754917289,5.24402336178e-05,1793248935844308736
+64,1.066666667,BASELINE,765.869694285,744.869694285,715.130305715,679.130305715,658,634,879,784,809.869694285,651,628,652,0.400970265779,0.00447580062348,0.0798346756562,0.999999953261,0.000109545150386,-0.000280591410877,5.23959642652e-05,1793248935860975360
+65,1.083333333,BASELINE,765.277911318,744.277911318,715.722088682,679.722088682,658,634,879,784,809.277911318,651,628,652,0.400971301395,0.00447749915875,0.0798357854401,0.999999953657,0.000111980933663,-0.00027819678384,5.24623345422e-05,1793248935877641984
+66,1.100000000,BASELINE,765,744.306597225,716,680,658.306597225,634,879,784,809.306597225,651.306597225,628,652,0.400970067763,0.00447803623793,0.0798351825737,0.999999953242,0.000112865324706,-0.000279336209764,5.24356767045e-05,1793248935894308608
+67,1.116666667,BASELINE,765,744.884664745,716,680,658.884664745,634,879,784,809.884664745,651.884664745,628,652,0.40096682487,0.00447754492927,0.0798330632756,0.999999952101,0.000112376066833,-0.000283604791323,5.23266490057e-05,1793248935910975488
+68,1.133333333,BASELINE,765.460289503,745,715.539710497,680,658.539710497,634,878.539710497,784,810,651.539710497,628.460289503,652,0.400967591387,0.00447870517889,0.0798335710952,0.999999952185,0.000113312312179,-0.000282953187802,5.22309937308e-05,1793248935927642112
+69,1.150000000,BASELINE,765.963932089,745,715,680,658,634,878,784,809.963932089,651,628.963932089,652,0.400969091858,0.00448009438081,0.0798345490735,0.999999952492,0.000114479564274,-0.000281410642984,5.21434559988e-05,1793248935944308736
+70,1.166666667,BASELINE,765.376498023,745,715,680,658,634,878,784,809.376498023,651,628.376498023,652,0.400966535415,0.00447869072897,0.0798327043866,0.999999951561,0.000113746691556,-0.00028499542584,5.21290583185e-05,1793248935960975616
+71,1.183333333,BASELINE,765.207870047,745,715.207870047,680,658.207870047,634,878.207870047,784.207870047,809,651,628,652,0.400965724805,0.00447770081596,0.079832130995,0.999999951297,0.000113241936239,-0.000286099772622,5.22374443599e-05,1793248935977642240
+72,1.200000000,BASELINE,765.786765743,745,715.786765743,680,658.786765743,634,878.786765743,784.786765743,809,651,628,652,0.400968030321,0.00447744938198,0.0798338267281,0.999999952236,0.000113144345793,-0.000282776808746,5.25649861197e-05,1793248935994308864
+73,1.216666667,BASELINE,766,745,716,680,658.63544087,634,878.63544087,784.63544087,809.36455913,651,628,652,0.400969018468,0.00447750216932,0.0798345223154,0.999999952675,0.000112594647344,-0.000281426372177,5.2640829234e-05,1793248936010975488
+74,1.233333333,BASELINE,766,745,716,680,658.058290326,634,878.058290326,784.058290326,809.941709674,651,628,652,0.400969238395,0.0044777323623,0.0798346346709,0.999999952827,0.000111781303658,-0.000281226208389,5.25698951208e-05,1793248936027642112
+75,1.250000000,BASELINE,766,745,716,680,658,634,878.516559807,784,810,651,628,652,0.400970094308,0.00447776982129,0.0798353099174,0.999999952895,0.000113762871194,-0.000280211658884,5.24351808824e-05,1793248936044308736
+76,1.266666667,BASELINE,766,745,715.90656075,680,658.09343925,634,879,784,810,651,628.09343925,652,0.400970733607,0.00447772791217,0.0798358583605,0.999999952946,0.000115413973583,-0.000279377032455,5.23108776871e-05,1793248936060975616
+77,1.283333333,BASELINE,766,745,715.317547809,680,658.682452191,634,879,784,810,651,628.682452191,652,0.400969845109,0.00447737989582,0.079835398888,0.999999952981,0.000113647086029,-0.000279981902367,5.22797938839e-05,1793248936077642240
+78,1.300000000,BASELINE,765.732626213,745,715.267373787,680,659,634,879,784,810,651,628.732626213,652,0.400969767814,0.00447762946493,0.0798351353544,0.999999952982,0.000112813240116,-0.000280332442427,5.21825975993e-05,1793248936094308864
+79,1.316666667,BASELINE,765.152490529,745,715.847509471,680,659,634,879,784,810,651,628.152490529,652,0.400970639429,0.0044785780628,0.0798351010214,0.999999952947,0.000113070824702,-0.000280385478756,5.20080658932e-05,1793248936110975488
+80,1.333333333,BASELINE,765.424265751,745,716,680,659,634,879,784,810,651,628.424265751,652,0.400969513385,0.00447846141044,0.0798341427804,0.999999952438,0.000113741744632,-0.000281887071512,5.22215240158e-05,1793248936127642624
+81,1.350000000,BASELINE,765.999817044,745,716,680,659,634,879,784,810,651,628.999817044,652,0.400967675013,0.00447796490906,0.0798328550903,0.999999951755,0.000114560052537,-0.00028390519346,5.25733323243e-05,1793248936144310272
+82,1.366666667,BASELINE,766,745,716,680,659,634,879,784,809.411938641,651,629,652,0.400966684878,0.00447923376262,0.0798328410711,0.999999951552,0.000113877269963,-0.000284935028687,5.23421168263e-05,1793248936160976384
+83,1.383333333,BASELINE,765.826800461,745,716,680,658.826800461,634,879,784.173199539,809,651,629,652,0.400966491423,0.00447976627118,0.0798330309466,0.999999951603,0.000113284338275,-0.000285011894127,5.22343513174e-05,1793248936177643008
+84,1.400000000,BASELINE,765.248928921,745,716,680,658.248928921,634,879,784.751071079,809,651,629,652,0.400968158742,0.00447857703543,0.0798336962653,0.999999952247,0.00011290245375,-0.00028286292809,5.24154536011e-05,1793248936194310656
+85,1.416666667,BASELINE,765.329182977,745,716,680,658.329182977,634,879,784.670817023,809.329182977,651,628.670817023,652,0.400968773087,0.00447863263529,0.0798339377043,0.99999995237,0.000113750987553,-0.000282089481773,5.24050187927e-05,1793248936210977280
+86,1.433333333,BASELINE,765.907476731,745,716,680,658.907476731,634,879,784.092523269,809.907476731,651,628.092523269,652,0.400968590588,0.00447963027046,0.0798338583704,0.999999952099,0.000115530646279,-0.000282356966654,5.2249637371e-05,1793248936227643648
+87,1.450000000,BASELINE,765.509515432,745,716,680,659,634,878.509515432,784,809.509515432,651,628,652,0.40096777587,0.00447831727756,0.079833681414,0.99999995219,0.000113271051953,-0.000282951002766,5.22309857218e-05,1793248936244309504
+88,1.466666667,BASELINE,765.073885722,745,715.926114278,680,658.926114278,634,878,784,809.073885722,651.073885722,628,652,0.400967141576,0.00447690751781,0.0798335677175,0.999999952354,0.000110685338649,-0.000283395605055,5.22253069572e-05,1793248936260975872
+89,1.483333333,BASELINE,765.653831049,745,715.346168951,680,658.346168951,634,878,784,809.653831049,651.653831049,628,652,0.400968567803,0.00447784931217,0.0798340146544,0.999999952593,0.000111135375257,-0.000282390699498,5.21301114108e-05,1793248936277642496
+90,1.500000000,BASELINE,766,745,715.233458836,680,658.233458836,634,878.233458836,784,810,651.766541164,628,652,0.400969378859,0.00447875222009,0.0798343696774,0.999999952656,0.000112459937456,-0.000281651964133,5.20774549159e-05,1793248936294309120
+91,1.516666667,BASELINE,766,745,715.812616365,680,658.812616365,634,878.812616365,784,810,651.187383635,628,652,0.400969278987,0.00447959754608,0.079834588597,0.999999952455,0.000115079470329,-0.000281307365522,5.20877889542e-05,1793248936310975744
+92,1.533333333,BASELINE,766,745,716,679.609938322,658.609938322,634,879,784,810,651,628,652,0.400969295289,0.00447856788101,0.0798346724563,0.999999952673,0.000113671750708,-0.000281108055625,5.20753817336e-05,1793248936327642624
+93,1.550000000,BASELINE,766,745,716,679.033311904,658.033311904,634,879,784,810,651,628,652,0.400969367157,0.00447664141625,0.0798346917169,0.999999953084,0.000110337814618,-0.000280978236631,5.20520974718e-05,1793248936344309504
+94,1.566666667,BASELINE,765.459300019,745,716,679,658,634,879,784,810,651.540699981,628,652,0.400969234667,0.00447535238271,0.0798345036798,0.999999953044,0.000109778826487,-0.000281303347795,5.22456887855e-05,1793248936360976384
+95,1.583333333,BASELINE,765,745,716,679,658.117814296,633.882185704,879,784,809.882185704,651.882185704,628,652,0.40096910506,0.00447500667595,0.0798343076858,0.99999995291,0.000110263092124,-0.000281565137785,5.23712780242e-05,1793248936377643264
+96,1.600000000,BASELINE,765,745,716,679,658.708010881,633.291989119,879,784,809.291989119,651.291989119,628,652,0.40096903725,0.00447828658164,0.0798341307492,0.999999952503,0.00011424815619,-0.000281461200721,5.21708940055e-05,1793248936394309376
+97,1.616666667,BASELINE,765,744.707074272,715.707074272,679,659,633.292925728,879,784,809,651,628,652,0.400969059574,0.00447954593561,0.0798341161671,0.99999995239,0.000114389112133,-0.000281854235132,5.18906719451e-05,1793248936410976000
+98,1.633333333,BASELINE,765,744.127331059,715.127331059,679,659,633.872668941,879,784,809,651,628,652,0.400969170155,0.00447882687127,0.0798342605542,0.999999952568,0.000110766119116,-0.00028273387791,5.15322766808e-05,1793248936427642624
+99,1.650000000,BASELINE,765,744.44917513,715.44917513,679.44917513,658.55082487,634,879,784,809.44917513,651,628,652,0.4009690143,0.00447816267463,0.0798343446501,0.999999952693,0.000110664632348,-0.000282274857669,5.18519177447e-05,1793248936444308992
+100,1.666666667,BASELINE,765,745,715.975498677,680,658,634,879,784,810,651,628,652,0.400968788239,0.00447750705994,0.0798343917844,0.999999952802,0.000111460627546,-0.000281484958733,5.23412084339e-05,1793248936460975872
+101,1.683333333,BASELINE,765,745,715.406152789,680,658,634,879,784,810,651,628,652,0.40096866853,0.00447669888496,0.0798339943345,0.999999952878,0.000110174243716,-0.000281715464986,5.23594412701e-05,1793248936477643008
+102,1.700000000,BASELINE,765.171708511,745,715,680.171708511,658,634,878.828291489,784,809.828291489,651,628,652,0.400968382683,0.00447665979689,0.0798336400378,0.999999952741,0.000110277697413,-0.000282171585112,5.23129428678e-05,1793248936494310144
+103,1.716666667,BASELINE,765.770762765,745,715,680.770762765,658,634,878.229237235,784,809.229237235,651,628,652,0.400967683354,0.00447853480176,0.07983339314,0.999999952065,0.000113840159522,-0.000283189209862,5.21053422601e-05,1793248936510976512
+104,1.733333333,BASELINE,765.645227131,745,715,680.645227131,658,633.645227131,878.354772869,784,809.354772869,651,628.354772869,652,0.400967933375,0.00447927872463,0.0798338729627,0.999999952138,0.000114844141633,-0.000282523888263,5.21144351952e-05,1793248936527643136
+105,1.750000000,BASELINE,765.070542339,745,715,680.070542339,658,633.070542339,878.929457661,784,809.929457661,651,628.929457661,652,0.400968771866,0.0044793215275,0.0798348032552,0.999999952678,0.000114262207271,-0.000280815364191,5.22578492441e-05,1793248936544309504
+106,1.766666667,BASELINE,765.505354584,745,715,680,658.505354584,633.505354584,878.494645416,784,810,651,629,652,0.400968855852,0.00447848417303,0.0798344376972,0.999999952646,0.000113344202737,-0.000281337721121,5.20568322336e-05,1793248936560976128
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,878,784,809,651,628,652,0.400968697636,0.00448009294972,0.0798339435499,0.999999952183,0.000115415047309,-0.000282139214774,5.20655754972e-05,1793248936603549184
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.578893303,634,878,784,809,651,628,652,0.40096925267,0.00447898858313,0.0798346091485,0.999999952663,0.000113687803869,-0.000281108688521,5.2213647153e-05,1793248936620215808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715.843405531,680,658.843405531,634,878,784,809,651,628,652,0.40096948091,0.00447831761836,0.0798349659005,0.999999952964,0.000112421080926,-0.00028052863874,5.23113136595e-05,1793248936636881920
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715.268885855,680,658.268885855,634,878,784,809,651,628,652,0.400968836986,0.00447880333244,0.0798344983913,0.999999952796,0.000112383412022,-0.000281150837282,5.22744570423e-05,1793248936653547776
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.305190066,745,715,679.694809934,658.305190066,634,878.305190066,784,809,651.305190066,628.305190066,652,0.400968089234,0.00447973958887,0.0798343832992,0.999999952582,0.000112951149539,-0.00028174143287,5.19644752189e-05,1793248936670214144
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.878875553,745,715,679.121124447,658.878875553,634,878.878875553,784,809,651.878875553,628.878875553,652,0.400967250135,0.0044810722165,0.0798345782512,0.999999952327,0.000114051502204,-0.000282304225258,5.1414207507e-05,1793248936686881024
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.468223924,679.468223924,659,634,879,784,809.468223924,651.531776076,628.531776076,652,0.400967136243,0.00447967362524,0.0798344699877,0.99999995236,0.00011210876206,-0.000282953361474,5.14757495352e-05,1793248936703547648
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.939740814,680,659,634,879,784,810,651,628,652,0.400967606244,0.00447771629501,0.0798344948117,0.999999952528,0.000109812929854,-0.000283209598104,5.17352802102e-05,1793248936720214272
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.360664575,680,659,634,879,784,810,651,628,652,0.400971432307,0.0044772420004,0.0798363641982,0.99999995325,0.000111489365472,-0.000279884099025,5.22896307553e-05,1793248936736880896
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.216370099,680,658.783629901,634,878.783629901,784,810,651,628,652,0.400982996796,0.00447752353088,0.0798416627307,0.999999955557,0.000112708127636,-0.000270975191761,5.24923316724e-05,1793248936753547776
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.790033464,680,658.209966536,634,878.209966536,784,810,651,628,652,0.401007339795,0.00447905316,0.0798526238329,0.999999960273,0.000113171130641,-0.000252846368702,5.21143513437e-05,1793248936770214400
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,716,679.628084909,658.371915091,634,878.743830183,784,810,651,628.371915091,652,0.401048354134,0.00447997644367,0.0798676835949,0.999999966948,0.000113422801132,-0.000224931933524,5.14317431101e-05,1793248936786880768
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,716,679.041458725,658.958541275,634,879.917082549,784,810,651,628.958541275,652,0.40109899304,0.00448054967691,0.0798851095639,0.999999973963,0.000113552466754,-0.000191368143921,5.05732694167e-05,1793248936803547392
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,716,679.542499456,659,634,878.915001087,784,810,651,629,652,0.401173152587,0.00448013244554,0.0799037822706,0.999999980246,0.000112597426671,-0.000156261653255,4.91034508883e-05,1793248936820214016
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.875596089,744.875596089,716,680,658.875596089,634,878.124403911,784,809.875596089,651,628.875596089,652,0.401250129488,0.00448006989788,0.0799195672751,0.999999984491,0.000111588175122,-0.000127709274242,4.74919387853e-05,1793248936836880896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.300398205,744.300398205,716,680,658.300398205,634,878.699601795,784,809.300398205,651,628.300398205,652,0.401330833908,0.00448156553443,0.0799245447534,0.999999985233,0.000110681392388,-0.000123331694046,4.55354486721e-05,1793248936853547520
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.273491729,744.273491729,715.726508271,680,658.273491729,634,878.726508271,784,809.273491729,651,628.273491729,652,0.401420931111,0.00448259966609,0.0799280559655,0.999999986164,0.000108891104979,-0.000118219276685,4.28806220475e-05,1793248936870213888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.845951837,744.845951837,715.154048163,680,658.845951837,634,878.154048163,784,809.845951837,651,628.845951837,652,0.401521296061,0.00448312930209,0.0799299643236,0.999999987283,0.000106135011587,-0.000112303569929,3.94624066925e-05,1793248936886880768
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.433639315,680,659,634,878,784.433639315,810,651,629,652,0.40163956988,0.00448466182693,0.0799338520545,0.999999988257,0.000104757812113,-0.000106019762253,3.56705657489e-05,1793248936903547392
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.973847178,745,716,680,659,634.026152822,878.026152822,784.973847178,810,651.026152822,629,652,0.401766104746,0.00448667174165,0.0799385912222,0.999999989173,0.000103864063154,-9.93098299811e-05,3.1684595705e-05,1793248936920214016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.397741574,745,716,680,659,634.602258426,878.602258426,784.397741574,810,651.602258426,629,652,0.401927704102,0.00449095594138,0.0799459102485,0.999999990659,0.000102460971819,-8.64890414933e-05,2.6509044033e-05,1793248936936880896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658.821653424,635,879,784.178346576,810,651.821653424,629,652,0.402099295936,0.00449474989925,0.0799528383835,0.999999992103,9.93010894229e-05,-7.41174763194e-05,2.09619306361e-05,1793248936953547264
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658.245604276,635,879,784.754395724,810,651.245604276,629,652,0.402293170402,0.0044974506455,0.0799588948524,0.999999993672,9.22236645375e-05,-6.27476549515e-05,1.45862567304e-05,1793248936970214144
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.337321006,745,716,679.662678994,658.337321006,634.662678994,878.662678994,784.662678994,810,651,628.662678994,652,0.402492215962,0.00449959838109,0.0799595805633,0.999999994432,8.47046710508e-05,-6.2421014441e-05,8.08088234196e-06,1793248936986880768
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.925357057,745,716,679.074642943,658.925357057,634.074642943,878.074642943,784.074642943,810,651,628.074642943,652,0.402695104977,0.00450133508979,0.0799562744398,0.999999994574,7.68574793782e-05,-7.03022564756e-05,1.47910693854e-06,1793248937003547648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492890568,745,716,679.507109432,658.492890568,634,878,784,809.492890568,651,628.507109432,652,0.402928684764,0.00450552309584,0.0799502770524,0.999999994165,6.88500486902e-05,-8.29698127937e-05,-6.73190905402e-06,1793248937020214016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.087393667,745,716,680,658,634,878,784,809.087393667,651.087393667,629,652,0.403175725987,0.00450984190215,0.0799450076947,0.999999993629,6.14119844952e-05,-9.3499281757e-05,-1.51293654505e-05,1793248937036880896
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.664570269,745,716,680,658,634,878,784,809.664570269,651.664570269,629,652,0.403473202132,0.00451289638864,0.0799460113523,0.999999994203,5.72954010189e-05,-8.81462182184e-05,-2.32604551152e-05,1793248937053547520
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.759723791,745,716,680,658.240276209,634,878.240276209,784,810,651.759723791,628.759723791,652,0.403792069822,0.00451804143152,0.0799480504969,0.999999994025,6.38379569095e-05,-8.39756033962e-05,-2.86788377589e-05,1793248937070214400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.186058466,745,716,680,658.813941534,634,878.813941534,784,810,651.186058466,628.186058466,652,0.404140618784,0.00452608717234,0.0799515264052,0.999999992596,8.51703296124e-05,-8.14456653928e-05,-3.03332725684e-05,1793248937086881024
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.399237277,745,716,680,659,634,879,784,810,651.399237277,628,652,0.404506802532,0.00453556132426,0.0799526206397,0.999999989216,0.00012163481308,-7.82727644746e-05,-2.54196394292e-05,1793248937103547904
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990115819,745,716,680,659,634,879,784,810,651.990115819,628,652,0.404881451293,0.00454572113966,0.0799525716267,0.99999998338,0.000165362988303,-7.47912294401e-05,-1.73532123192e-05,1793248937120214272
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.430753371,745,716,680,659,634,879,784.569246629,810,652,628,652,0.40530709808,0.0045507870668,0.0799523035144,0.999999993945,8.19225073095e-05,-6.9523163573e-05,-2.37696874397e-05,1793248937136880896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879,784.853251245,810,651.853251245,628,652,0.4057413912,0.00455654350976,0.0799499831973,0.999999996724,2.97870354008e-05,-6.96956873033e-05,-2.84286494216e-05,1793248937153547520
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879,784.279902823,810,651.279902823,628,652,0.406198297063,0.00456455920712,0.0799417079421,0.999999993142,7.49446556366e-05,-8.57723993721e-05,-2.72622479437e-05,1793248937170214400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879,784,810,651,628,652.30103903,0.406673465866,0.00457511361783,0.0799329939637,0.999999988214,0.00011165064223,-0.000101521296764,-2.826983841e-05,1793248937186881024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,879,784,810,651,628,652.889223939,0.407166054817,0.00458808957954,0.0799238615085,0.999999982828,0.000140295049027,-0.000116957510295,-3.13510895364e-05,1793248937203547904
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.469936029,745,716,680,659,634,879,784,810,651,628,652.530063971,0.407693737306,0.00459430911237,0.0799203193018,0.99999998143,0.000141969423718,-0.000126201560372,-3.25215029953e-05,1793248937220214528
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.951221559,745,716,680,659,634,879,783.951221559,810,651,628,652,0.40823362685,0.00459975841629,0.0799179691361,0.999999980869,0.000138765266058,-0.000133782644804,-3.33057963193e-05,1793248937236880896
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.373849429,745,716,680,659,634,879,783.373849429,810,651,628,652,0.408817557776,0.00461384999855,0.0799144800583,0.999999978423,0.000150510091823,-0.00013891291782,-3.47106287036e-05,1793248937253547776
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659.202256317,634,879.202256317,783.202256317,810,651.202256317,628,652,0.409435619437,0.00462610356379,0.0799242877671,0.999999978599,0.000162675118207,-0.000122540232914,-3.63561067939e-05,1793248937270214656
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659.776035814,634,879.776035814,783.776035814,810,651.776035814,628,652,0.410116375568,0.00463498088789,0.0799585202485,0.999999981619,0.000175612007086,-6.66689179728e-05,-3.84436251031e-05,1793248937286882304
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659.640464858,634,880,784,810,651.640464858,628,652,0.41080565439,0.00464034829068,0.0799836891439,0.999999982114,0.000183116401406,-2.64826318248e-05,-3.92224797068e-05,1793248937303549184
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,716,680,659.050742571,634,880,784,810,651.050742571,628,652,0.411500389715,0.00464346851709,0.080003055209,0.999999981715,0.00018714271974,3.66154060211e-06,-3.91634813571e-05,1793248937320215552
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.470982148,680.529017852,659.529017852,634,879.470982148,784,810,651,628.529017852,652.529017852,0.412176817486,0.00462285155223,0.0799777606699,0.999999985836,0.000158568350653,-3.92335883649e-05,-4.05622661328e-05,1793248937336881920
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.107556436,681,660,634,879.107556436,784,810.107556436,651.107556436,628.892443564,652.892443564,0.412861524924,0.00460107934542,0.0799491131703,0.999999987107,0.000130254958022,-8.40586390411e-05,-4.18858317503e-05,1793248937353548544
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.684854631,681,660,634,879.684854631,784,810.684854631,651.684854631,628.315145369,652.315145369,0.413589920312,0.00458402179597,0.0799241851252,0.999999986567,0.000116485832022,-0.00010728074642,-4.22814868306e-05,1793248937370215168
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,716,681,659.73928237,634,880,784,811,651.73928237,628.26071763,652,0.414350092687,0.00457448126421,0.0799202900884,0.999999988808,9.98944403588e-05,-0.000103110285275,-4.21052060204e-05,1793248937386882048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,716,681,659.165144605,634,880,784,811,651.165144605,628.834855395,652,0.415148465671,0.00457397726791,0.0799416797529,0.999999993778,7.99102770865e-05,-6.60100152667e-05,-4.12413759384e-05,1793248937403548928
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.419804014,715.580195986,681,659.419804014,634,880,784,811,651,629,652.419804014,0.415937941073,0.00458143347701,0.0799489026554,0.99999999192,0.000100487403333,-6.67259078214e-05,-4.0120471467e-05,1793248937420215296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.991038515,715.008961485,681,659.991038515,634,880,784,811,651,629,652.991038515,0.41672470856,0.00459202732453,0.0799503082162,0.999999986507,0.000136717861103,-8.23038176967e-05,-3.8978371572e-05,1793248937436881408
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.411830386,715.588169614,681,659.411830386,634,880,784,811,651,629,652.411830386,0.41756778037,0.00459774949649,0.0799455388356,0.999999988439,0.000126837447286,-7.19502259574e-05,-4.3092799767e-05,1793248937453548032
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,716,681,659.166210426,634,880,784,811,651,629,652.166210426,0.418426177522,0.00460083969339,0.0799508544837,0.999999990422,0.000121028633479,-4.84838122801e-05,-4.64538377334e-05,1793248937470214656
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,716,681,659.741379036,634,880,784,811,651,629,652.741379036,0.419322282388,0.00459745395599,0.0799809841893,0.999999990981,0.000125237929012,7.24649670636e-06,-4.79611703611e-05,1793248937486881280
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,716,681,660,634,880.316058329,784,811.316058329,651,629,653,0.420195035994,0.0045929615256,0.0799849484959,0.999999991581,0.000119416777982,1.49513174494e-05,-4.8516110109e-05,1793248937503547904
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,716,681,660,634,880.890337819,784,811.890337819,651,629,653,0.421048711464,0.00458756492194,0.0799675355453,0.999999993142,0.000105400704222,-1.65809172915e-05,-4.82929403059e-05,1793248937520214784
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.519298142,680.519298142,660,634,880.519298142,784,812,651,629,652.519298142,0.421953990431,0.00458876800352,0.0799720274065,0.999999992447,0.000112607701097,-1.10312418803e-05,-4.79937262299e-05,1793248937536881920
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.072615944,715.072615944,680,660,634,880.072615944,784,811.927384056,651,629,652,0.422871342123,0.00459241436991,0.0799832105439,0.999999991161,0.000124009091269,5.04731181244e-06,-4.76937419812e-05,1793248937553548800
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.648947514,715.648947514,680,660,634,880.648947514,784,811.351052486,651,629,652,0.423787950511,0.00460220375621,0.080004945462,0.999999989893,0.000129758291377,3.34492685299e-05,-4.75129189193e-05,1793248937570214912
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.775917989,716,680.224082011,660,634,881,784,811.224082011,651,629,652,0.424669370183,0.00460967958967,0.0799981331496,0.999999989641,0.000135730719071,9.71116081918e-06,-4.6915001193e-05,1793248937586881792
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.202648806,716,680.797351194,660,634,881,784,811.797351194,651,629,652,0.425495955395,0.00461355021346,0.079946835669,0.999999984329,0.000142051002484,-9.52768460666e-05,-4.56671241829e-05,1793248937603548672
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,716,681,660,633.617320101,881,784,812,651,629,652,0.426409145351,0.00461366726387,0.079921830691,0.99999998114,0.000143323430787,-0.000122030773705,-4.78280551326e-05,1793248937620215040
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,716,681,660,633.025397494,881,784,812,651,629,652,0.427369689226,0.00461173192545,0.0799112019989,0.999999982978,0.000141835779948,-0.000106007662617,-5.18528631975e-05,1793248937636881408
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,716,681,660.553968885,633.553968885,881,784.553968885,812,651,629,652.553968885,0.428276006661,0.00460862148411,0.079915771651,0.999999983765,0.000133046760577,-0.000110162475169,-5.13109660984e-05,1793248937653548288
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.867697226,681,660.867697226,634,880.867697226,784.867697226,812,651,629.132302774,653,0.429191014385,0.00460577280971,0.079927843698,0.999999985528,0.000125997775763,-0.000102457292004,-5.07145073616e-05,1793248937670215168
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.2909409,681,660.2909409,634,880.2909409,784.2909409,812,651,629.7090591,653,0.430143382511,0.00460398047883,0.0799628301496,0.999999989449,0.000125893802333,-5.18712073686e-05,-5.06225084325e-05,1793248937686882048
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.714042852,660.285957148,634,880,784.285957148,812.285957148,651,630,652.714042852,0.431073113109,0.00460410103949,0.0799987981832,0.999999990728,0.000126672523234,1.47984651317e-06,-4.99604633173e-05,1793248937703548928
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.137000578,660.862999422,634,880,784.862999422,812.862999422,651,630,652.137000578,0.431979800169,0.00460616879509,0.0800357653989,0.999999988915,0.000128349767496,5.76454498136e-05,-4.87181495454e-05,1793248937720215040
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.447543187,660.552456813,634,880.447543187,784.552456813,813,651,630,652,0.432845715969,0.00461163775288,0.0800012952411,0.999999989971,0.000132852157638,4.16081634399e-07,-4.90736007914e-05,1793248937736881920
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.034028199,633.965971801,881,784,813.034028199,651,629.965971801,652.034028199,0.433699809799,0.00461771584968,0.0799460009541,0.999999985319,0.000137784843413,-8.87493427933e-05,-5.00172498984e-05,1793248937753548800
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.614185329,633.385814671,881,784,813.614185329,651,629.385814671,652.614185329,0.434567890636,0.00461657534948,0.0799134463143,0.999999981774,0.000135507026763,-0.00012386351873,-5.24174895563e-05,1793248937770215168
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.807934799,745,715.192065201,681.192065201,661,633,881.192065201,784,814,651,629,652.807934799,0.435440303584,0.00461495595896,0.0799051406232,0.999999981798,0.000129483869664,-0.000129142308997,-5.43994042773e-05,1793248937786881536
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.234575706,745,715.765424294,681.765424294,661,633,881.765424294,784,814,651,629,652.234575706,0.436321316932,0.00461238586011,0.0799449747037,0.999999988899,0.000116025344232,-7.51909573776e-05,-5.55508475731e-05,1793248937803548416
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.339017784,745,716,681.660982216,661,633.339017784,881.660982216,784,814,651,629.339017784,652,0.437189976741,0.00460979246242,0.0799812742199,0.999999991759,0.000113734576391,-2.44543436641e-05,-5.4293895275e-05,1793248937820216064
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.912773539,745,716,681.087226461,661,633.912773539,881.087226461,784,814,651,629.912773539,652,0.438050082834,0.00460718293262,0.08001512638,0.99999999129,0.000119176432404,2.40563627617e-05,-5.13693551707e-05,1793248937836884480
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.494675961,681,660.494675961,633.494675961,881,784,814,651,629.494675961,652.505324039,0.438898214315,0.00460404222587,0.0800292041554,0.999999991625,0.000107320079878,4.88442245758e-05,-5.33573445213e-05,1793248937853550080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.097953104,745,715,681,660.097953104,633,881.097953104,784,814,651,629,653,0.439721073422,0.00460164531584,0.0800291359399,0.999999992479,9.61450324028e-05,5.2190243633e-05,-5.54485990016e-05,1793248937870215168
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.674502352,745,715,681,660.674502352,633,881.674502352,784,814,651,629,653,0.440430941821,0.00460334787211,0.0799772726138,0.9999999928,0.000103451569795,-2.84474369789e-05,-5.37411653264e-05,1793248937886881536
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.749700313,745,715.250299687,681.250299687,660.749700313,633.250299687,881.749700313,784,814,651,629,652.749700313,0.4411178724,0.00460445167342,0.0799148495062,0.999999985073,0.000106329238674,-0.000124977852404,-5.41097256024e-05,1793248937903548160
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.174877907,745,715.825122093,681.825122093,660.174877907,633.825122093,881.174877907,784,814,651,629,652.174877907,0.441775063198,0.00460477916683,0.0798387352587,0.999999963704,0.000103464716223,-0.000242113774301,-5.71698881103e-05,1793248937920214784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715.590031053,682,660,634,881,784,814,651,629.409968947,652,0.442496717314,0.00460500143635,0.079842366075,0.999999968208,9.35391275964e-05,-0.000226727488514,-5.85512022506e-05,1793248937936881664
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715.000800905,682,660,634,881,784,814,651,629.999199095,652,0.44324655843,0.00460517769616,0.0798808658574,0.999999983241,8.05260482329e-05,-0.000153395140701,-5.91984308245e-05,1793248937953548800
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.153352446,634,881,784,814,651,629.423323777,652,0.443996477587,0.00460554738596,0.0799506888698,0.999999991931,9.91886314649e-05,-5.5088149246e-05,-5.71439771261e-05,1793248937970215168
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.845822867,661.691645735,634,881.154177133,784,814.154177133,651,629.154177133,652,0.444715504618,0.00460560655124,0.0800036927192,0.999999991941,0.000112591549485,1.89051053196e-05,-5.55224475371e-05,1793248937986882048
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.26821258,660.536425161,634,881.73178742,784,814.73178742,651,629.73178742,652,0.445349689175,0.00460481216687,0.0800103872278,0.999999991935,0.000111430885746,2.60296058444e-05,-5.51000038232e-05,1793248938003548416
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.694072421,881.694072421,784,814.694072421,651,630,652,0.445955516896,0.00460107388556,0.0800083435254,0.999999993702,9.56560860389e-05,2.21641599344e-05,-5.43558943548e-05,1793248938020215040
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.122940503,881.122940503,784,814.122940503,651,630,652,0.446536762437,0.00459478358122,0.0799987247897,0.999999996281,6.72124961856e-05,8.77168267262e-06,-5.33329373269e-05,1793248938036882176
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.466292559,715,681.466292559,660.466292559,633.466292559,881.466292559,784,814.466292559,651,630,652.466292559,0.447084545197,0.00459652149658,0.0799857537931,0.999999995832,7.30953943954e-05,-7.51207386367e-07,-5.47124209935e-05,1793248938053548800
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.941095897,715,682,661,634,882,784,815,651.058904103,630,653,0.44761742517,0.00460086141884,0.0799704697004,0.999999994389,8.86538518864e-05,-1.25486695579e-05,-5.66185349041e-05,1793248938070215424
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.362483911,715,682,661,634,882,784,815,651.637516089,630,653,0.448099804143,0.00460872908827,0.0799428903073,0.999999991237,0.000106503465466,-5.37796102967e-05,-5.73567746636e-05,1793248938086882304
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.785767111,633.785767111,881.785767111,784,815,651.785767111,629.785767111,653,0.448547910209,0.00461558759438,0.0799095412831,0.999999985207,0.000121670800309,-0.000107136934386,-5.74866990355e-05,1793248938103549184
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.212228924,633.212228924,881.212228924,784,815,651.212228924,629.212228924,653,0.448938534683,0.00462075355973,0.0798665156005,0.999999973291,0.000132339491721,-0.000180832278888,-5.65963740325e-05,1793248938120215808
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659.62936005,633,881.37063995,784,815,651,629.37063995,653,0.449330586703,0.00462612312597,0.0798418237342,0.999999964633,0.000142069421251,-0.000217637817098,-5.64198157872e-05,1793248938136882432
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659.041010383,633,881.958989617,784,815,651,629.958989617,653,0.449723477282,0.00463161228555,0.0798279009402,0.999999959865,0.000151247933945,-0.000232774707424,-5.66625160952e-05,1793248938153549056
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,682,659,633,882,784,815,651,630,653,0.450112156403,0.00463753703654,0.0798348203848,0.999999961205,0.0001589872241,-0.000221541098022,-5.68586822522e-05,1793248938170215424
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,682,659,633,882,784,815,651,630,653,0.450493919087,0.00464294540006,0.0798443288495,0.999999963249,0.000164970129174,-0.000207462530823,-5.6982239713e-05,1793248938186881792
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659,633,882,784,815,651,630,653,0.450849704849,0.00464619314005,0.0798578804453,0.999999966817,0.000164465360131,-0.000189963713321,-5.68337753146e-05,1793248938203548416
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.093691591,745,715,683,656,632,882,783.906308409,814.093691591,652,630,653,0.453505086609,0.00467414251509,0.0796964623092,0.999999883513,0.000150379286847,-0.00045381247359,-6.64450551605e-05,1793248939272568320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,656,632,882.493981943,783.506018057,814.493981943,651.506018057,630,653,0.453504316376,0.00467223146564,0.0796953117244,0.999999883327,0.000147622607725,-0.00045521487456,-6.5832684048e-05,1793248939289234688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.917773296,656,632,882.917773296,783,815,651,630,652.917773296,0.453503444071,0.00467047624829,0.0796940587909,0.999999883115,0.000144863803857,-0.000456658727637,-6.51732039472e-05,1793248939305901312
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.339799588,656,632,882.339799588,783,815,651,630,652.339799588,0.453503950924,0.0046723240382,0.0796947683769,0.99999988356,0.000147177317301,-0.000454906646015,-6.54068279036e-05,1793248939322567936
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.23715491,745.23715491,715,682,655.76284509,632,882,783.23715491,815,651.23715491,630,652.23715491,0.453498708936,0.0046727903085,0.0796924048843,0.999999881869,0.000148049436375,-0.000458306819276,-6.55616994894e-05,1793248939339234816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.812655266,745.812655266,715,682,655.187344734,632,882,783.812655266,815,651.812655266,630,652.812655266,0.453485265164,0.0046712855848,0.0796856570755,0.999999877056,0.000146865138944,-0.000469057639446,-6.56042161933e-05,1793248939355901440
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.611406981,715,682.388593019,655.388593019,632,882.388593019,783.611406981,814.611406981,651.611406981,630,653,0.453454330981,0.00467203620097,0.0796698462887,0.9999998651,0.000148015321592,-0.000493556132971,-6.55288168464e-05,1793248939372568064
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.035258066,715,682.964741934,655.964741934,632,882.964741934,783.035258066,814.035258066,651.035258066,630,653,0.453414954983,0.00467387536536,0.0796496612205,0.999999848918,0.00015029224969,-0.0005246899938,-6.53965048228e-05,1793248939389234688
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.445110223,745,714.445110223,682.445110223,656,632,883,783,814,651,629.445110223,653,0.453354985787,0.00467273081378,0.0796313569362,0.999999831962,0.000149404094646,-0.000556373669886,-6.48297190607e-05,1793248939405901312
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.142295339,714.142295339,682,656.142295339,632,882.857704661,783.142295339,814.142295339,651,629.142295339,652.857704661,0.453289908173,0.00467213854478,0.0796143582933,0.999999816077,0.000149325828953,-0.000584327036442,-6.40990381505e-05,1793248939422567936
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.718554834,714.718554834,682,656.718554834,632,882.281445166,783.718554834,814.718554834,651,629.718554834,652.281445166,0.453213345072,0.004673823752,0.07960096762,0.999999805936,0.000152346729608,-0.000600794626,-6.29548917494e-05,1793248939439234816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.294878071,745.705121929,715,682,656.705121929,632,882,784,814.705121929,651,630,652.294878071,0.453129876355,0.00467386556928,0.0795919722207,0.999999798455,0.000154205879741,-0.000612816740673,-6.13634361087e-05,1793248939455901696
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.871262126,745.128737874,715,682,656.128737874,632,882,784,814.128737874,651,630,652.871262126,0.453039815181,0.00467233852076,0.0795871727802,0.999999793664,0.000154955962086,-0.000620594972307,-5.93449558205e-05,1793248939472568320
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.543274624,745,715,682,656,632,882,784,814,651,630,653,0.452931150772,0.00467104546491,0.0795818596207,0.999999787235,0.000157172643118,-0.000630595585248,-5.63635489581e-05,1793248939489234944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,656.044121081,632,882,783.955878919,814.044121081,651,630,652.955878919,0.452814751548,0.00466986528289,0.0795762755266,0.999999780107,0.000159848851926,-0.000641416805077,-5.30940526168e-05,1793248939505901568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,656.623287451,632,882,783.376712549,814.623287451,651,630,652.376712549,0.45266943316,0.00466923784067,0.0795691974773,0.999999771339,0.00016298285727,-0.000654438737276,-4.96891860047e-05,1793248939522568192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.201782673,656.798217327,632,882,783.201782673,815,651.201782673,630,652.201782673,0.452514074095,0.0046684749679,0.0795637573403,0.999999765016,0.000165559833127,-0.000663653717437,-4.60693924144e-05,1793248939539234816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.779029002,656.220970998,632,882,783.779029002,815,651.779029002,630,652.779029002,0.452340032029,0.00466746009511,0.0795613649215,0.99999976352,0.000167100325589,-0.000665784975458,-4.20496775209e-05,1793248939555901440
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.353159527,745,715,683,656.353159527,632,882,784,815,651.646840473,630,653,0.452156090879,0.00466548930543,0.0795658396912,0.999999767896,0.000169787165779,-0.000658783920111,-3.71965069327e-05,1793248939572568064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.925357609,745,715,683,656.925357609,632,882,784,815,651.074642391,630,653,0.451966010047,0.0046629256316,0.0795745736664,0.999999775762,0.000173185000218,-0.000646118770994,-3.18264054501e-05,1793248939589234688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.485313846,657.514686154,632,882,784,814.485313846,651.514686154,630,652.485313846,0.451752527836,0.00466217057261,0.0795870635519,0.999999784468,0.000181270183736,-0.000630525729796,-2.53442021387e-05,1793248939605901568
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.895833732,745,715,682.104166268,658,632,882,784,814,652,630,652,0.451529408955,0.00466043680671,0.0796010884014,0.999999794722,0.000188607036926,-0.000612081602795,-1.84254985943e-05,1793248939622568192
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.317364779,745,715,682.682635221,658,632,882,784,814,652,630,652,0.451278396178,0.00465301124086,0.0796195368504,0.99999981228,0.000189334663316,-0.000582655543771,-1.02789220502e-05,1793248939639234816
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.739764101,658,632,882,783.739764101,814,652,630,652,0.451008112107,0.00464855049559,0.0796384044907,0.999999830781,0.000192842291186,-0.000548853954329,-2.99272834879e-06,1793248939655901440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.163218822,658,632,882,783.163218822,814,652,630,652,0.45071440434,0.00464769340638,0.079657781645,0.999999850134,0.000199728932189,-0.000509734032937,3.24769383173e-06,1793248939672568064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.406966537,745,715,682.406966537,658.406966537,632.406966537,882,783.406966537,814,651.593033463,630,652,0.45039553773,0.00464383008278,0.0796777966431,0.999999866729,0.000200773002617,-0.000475541064638,9.66735797029e-06,1793248939689234688
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.974640408,745,715,682.974640408,658.974640408,632.974640408,882,783.974640408,814,651.025359592,630,652,0.450066736131,0.00463877962495,0.0796980635194,0.999999881713,0.000199509895508,-0.000443293705386,1.61578029519e-05,1793248939705901568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,659,633,882,784,814.570749033,651,630,652,0.449686989462,0.00463322326878,0.0797106513443,0.999999891569,0.000191843186574,-0.000423886402161,1.94804374514e-05,1793248939722568192
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.836741023,745,715,683,659,633,882,784,814.836741023,651,630,652,0.449285958684,0.00462726428909,0.0797192929413,0.999999899498,0.0001751628197,-0.000412201658997,2.02812018566e-05,1793248939739234816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.256809383,745,715,683,659,633,882,784,814.256809383,651,630,652,0.44883668637,0.00462033810396,0.0797187793653,0.999999902954,0.000136241871526,-0.000418694169437,1.50236676045e-05,1793248939755901440
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.32043738,715,682.67956262,659,633,882,784,814,651,630,652,0.44836281833,0.00461264045272,0.0797173056556,0.999999904892,0.000111412120591,-0.000421383773684,1.54331114211e-05,1793248939772568320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.895550334,715,682.104449666,659,633,882,784,814,651,630,652,0.447869402176,0.00460432965886,0.0797150688558,0.99999990637,9.77816948403e-05,-0.000421050924715,2.03465263697e-05,1793248939789234944
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.482172356,745.517827644,715,682,659.482172356,633,881.517827644,784,813.517827644,651,630,652.482172356,0.447387247426,0.00459907831115,0.0797341660528,0.999999921469,7.99504033965e-05,-0.000387572319468,2.13814340573e-05,1793248939805901312
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.929883109,745,715,682.070116891,660,633,881,784,813,651,630,652.929883109,0.446900163601,0.00459444588489,0.0797589150675,0.999999937767,6.2362998021e-05,-0.000346546893873,2.19687127882e-05,1793248939822568192
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.350876762,745,715,682.649123238,660,633,881,784,813,651,630,652.350876762,0.446359167617,0.00458937776552,0.0797903221476,0.999999952004,5.33117109786e-05,-0.0003041344332,2.55540870767e-05,1793248939839234816
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.773307938,659.773307938,633,881,784,812.773307938,651,630,652,0.445790431066,0.00458401043483,0.0798156311472,0.999999958872,9.04849954803e-05,-0.000270648765718,2.86093966313e-05,1793248939855901440
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.197950143,659.197950143,633,881,784,812.197950143,651,630,652,0.445179027924,0.00457818289982,0.0798315609383,0.999999948299,0.00019875439173,-0.000250893032443,3.08494350394e-05,1793248939872568320
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.376223551,659.376223551,633,881.376223551,784,812,651,630,652,0.444515453751,0.00457246941553,0.0798276987858,0.999999940601,0.000217801833451,-0.000265010968567,3.36196341916e-05,1793248939889234944
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.949776167,659.949776167,633,881.949776167,784,812,651,630,652,0.443824515919,0.00456681575098,0.0798134557682,0.999999937194,0.000190052401998,-0.000296895628599,3.6667902404e-05,1793248939905901568
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.540255517,745,715,682.459744483,660,633,881.459744483,784,812,651,630,652,0.443130893803,0.00456116702288,0.0797964848757,0.999999935757,0.000157293993408,-0.000319914201368,3.74104832257e-05,1793248939922568192
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.870561072,745,715,682.129438928,660,633,881,784,812,651,630,652,0.442432474051,0.00455499487452,0.0797841207609,0.999999935577,0.000125053512787,-0.000334322308875,3.78883896915e-05,1793248939939234816
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.291521675,745,715,682.708478325,660,633,881,784,812,651,630,652,0.441718284877,0.00454700300445,0.0797886674219,0.999999942864,9.62817701424e-05,-0.000321777824181,3.82155562709e-05,1793248939955901696
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.714869231,659.714869231,633.285130769,881.285130769,784,812,651,630,652,0.440951904837,0.0045404803893,0.0797699909594,0.999999933859,9.52331091025e-05,-0.000348765166798,3.96847642492e-05,1793248939972568064
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.140636911,659.140636911,633.859363089,881.859363089,784,812,651,630,652,0.440132607026,0.00453544748922,0.0797277679644,0.999999905168,0.000122293602492,-0.000415834861425,4.23119178141e-05,1793248939989234688
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.443636883,633.556363117,881.556363117,784,812,651,630,652,0.439315213486,0.00452851870375,0.0796975124497,0.999999886244,0.000115826664694,-0.000460696004436,4.30625279341e-05,1793248940005901568
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.030722495,881.030722495,784,812,651,630,652,0.438501464754,0.0045207888372,0.0796759130418,0.999999873538,9.7880289789e-05,-0.000491394098394,4.3296400123e-05,1793248940022568448
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.609862697,881.609862697,784,812,651,630,652,0.437741751927,0.00450973606343,0.0797395407898,0.999999917445,6.91378664426e-05,-0.000397856920443,4.5171107476e-05,1793248940039235072
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,881.811196399,784,811.811196399,651,630,652,0.436972069414,0.00450027450617,0.0797986712562,0.999999949619,5.69935529696e-05,-0.000308657050455,4.73827176114e-05,1793248940055901696
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,881.232666921,784,811.232666921,651,630,652,0.436181807653,0.00449409751754,0.0798485184901,0.999999969521,7.91108395231e-05,-0.000228410204365,5.02897584083e-05,1793248940072568064
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.343098421,660,633.656901579,880.656901579,784,811,651,630,652,0.435335073502,0.00448556682016,0.0798577662826,0.999999972634,7.2002727725e-05,-0.00021655873554,5.14857106173e-05,1793248940089234688
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.917004264,660,633.082995736,880.082995736,784,811,651,630,652,0.434450349563,0.00447545274809,0.0798397022238,0.99999996622,4.52342541986e-05,-0.00025071785985,5.15305880068e-05,1793248940105901568
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.993749155,659.496874578,633.503125422,880,784,811,651,630,652.503125422,0.433531414809,0.00446576665467,0.0798063726117,0.999999951972,4.71502628393e-05,-0.000301699581485,5.30145933995e-05,1793248940122568192
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.089897028,659.089897028,634,880,784.089897028,811,651,630,652.910102972,0.432596422576,0.00445637013265,0.0797679880886,0.999999931261,5.01800161756e-05,-0.000363279203706,5.46708410307e-05,1793248940139234816
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.668970104,659.668970104,634,880,784.668970104,811,651,630,652.331029896,0.431605526594,0.00444815559406,0.0797161410549,0.999999888826,3.28813633265e-05,-0.000467051160161,5.59403925293e-05,1793248940155901440
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,880,784.752717117,811,651,629.752717117,652,0.430685790522,0.00443816560016,0.0797079503145,0.999999880639,2.06689362479e-05,-0.000484856748632,5.66486781372e-05,1793248940172568320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,880,784.175418923,811,651,629.175418923,652,0.429861021904,0.00442580614293,0.0797580217687,0.999999923035,1.52444106102e-05,-0.00038793456731,5.6607917854e-05,1793248940189235200
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,880,784,811,651,629,652,0.42901078328,0.00441648455745,0.0798109844638,0.999999952526,4.00823731598e-06,-0.000302668015806,5.76533956696e-05,1793248940205901568
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,880,784,811,651,629,652,0.428149427139,0.00440848899303,0.0798652091723,0.999999973451,-9.76469939801e-06,-0.000222489110729,5.91730124242e-05,1793248940222568192
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.437511887,659.437511887,634,880,784,811,651,629,652,0.427199228982,0.0044017781264,0.0798350275725,0.999999962179,-9.79671105562e-06,-0.00026825509241,5.98720714571e-05,1793248940239234816
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,880.150509221,784,811,651,629,652,0.426244531318,0.00440275305739,0.0798006293221,0.999999946893,-2.7351824741e-06,-0.000320262850297,6.03123368695e-05,1793248940255901696
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,880.731081801,784,811,651,629,652,0.425289676595,0.00442550565644,0.0797662481225,0.999999928706,2.26311193825e-05,-0.000372102298699,6.01304250571e-05,1793248940272568320
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.690897199,880.381794398,784,811,651,629.309102801,652,0.424335629346,0.0044523571568,0.0797394642492,0.999999910274,5.55609307897e-05,-0.000415840179654,5.86762813936e-05,1793248940289234944
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.115077919,879.230155837,784,811,651,629.884922081,652,0.423382278894,0.00448274548748,0.0797192359059,0.999999891493,9.50170894678e-05,-0.000452587433529,5.61243631432e-05,1793248940305901568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715.458017302,681,659,633,879.458017302,784,811,651,629.541982698,652,0.422528144883,0.00449120841726,0.0797435389797,0.999999911894,0.000101974903305,-0.00040366937041,5.35135687841e-05,1793248940322568448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,716,681,659.031636677,633.031636677,880,784,811,651,629,652,0.421699093611,0.00449360437943,0.0797802537954,0.999999938624,0.00010023159771,-0.000331811368837,5.10651409201e-05,1793248940339234816
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,716,681,659.626707484,633.626707484,880,784,811,651,629,652,0.420875417682,0.00448547973048,0.079839929852,0.999999967761,8.80855756377e-05,-0.000232463025531,5.17702842184e-05,1793248940355901440
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.214686361,745,716,681,659.785313639,634,880,784,811,651,629,652,0.42002362211,0.00447791339498,0.0798665645208,0.999999977506,7.93733920853e-05,-0.000189618317476,5.22852798049e-05,1793248940372568320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.790728342,745,716,681,659.209271658,634,880,784,811,651,629,652,0.419124496009,0.00447128679977,0.079837584622,0.999999966448,7.64409732672e-05,-0.000241879340908,5.24802234403e-05,1793248940389234944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.634252611,681,658.634252611,634,880,784.365747389,811,651,629,652,0.418247325352,0.00446892589309,0.0798109409266,0.999999954412,7.22483951753e-05,-0.000288654673963,5.13319243638e-05,1793248940405901568
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.059817265,681,658.059817265,634,880,784.940182735,811,651,629,652,0.417382682074,0.0044689989012,0.0797856302227,0.9999999413,6.733679619e-05,-0.000332299981299,4.94171985096e-05,1793248940422568192
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.473979916,658.526020084,634,879.473979916,784.473979916,810.473979916,651,629,652,0.416546533284,0.00447951827499,0.0797943083775,0.999999939432,8.52264531434e-05,-0.000333509652662,5.14114451251e-05,1793248940439235072
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.887685819,745,715,680.112314181,658.887685819,634,879,784,810,651,629,652,0.415717637083,0.00448915852489,0.0797999550594,0.999999936714,0.000102910812014,-0.000336338390636,5.34614102822e-05,1793248940455901696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.305029116,745,715,680.694970884,658.305029116,634,879,784,810,651,629,652,0.414905242688,0.00449003228623,0.0797763620657,0.99999992545,0.000108636535681,-0.000366603626631,5.3841951186e-05,1793248940472568320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,879,784,810.27365403,651,629,652,0.414141347078,0.00448685451047,0.0797729556801,0.99999992759,0.000102207261014,-0.000362772770339,5.26266971999e-05,1793248940489234944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,879,784,810.847971396,651,629,652,0.413430737077,0.00447922531598,0.079791728297,0.999999943695,8.242330459e-05,-0.000321480578286,4.96581453206e-05,1793248940505901568
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.431635159,745,715,680.568364841,658.431635159,634,879.431635159,784,810.568364841,651,628.568364841,652,0.412721316535,0.00447491162511,0.0798011149501,0.999999948244,7.24695963566e-05,-0.000309478657891,4.98296156759e-05,1793248940522568192
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.981579234,745,715,680.018420766,659,634,879.981579234,784,810,651,628.018420766,652,0.412011627932,0.00447204611469,0.0798065589568,0.999999948822,6.64291267827e-05,-0.000308755910427,5.1111830893e-05,1793248940539235072
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.402193977,745,715,680.597806023,659,634,879.402193977,784,810,651,628.597806023,652,0.411280737388,0.0044769327653,0.0797948398488,0.999999941501,7.17853730498e-05,-0.000330396280731,5.17941910728e-05,1793248940555901696
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.176956558,745,715,681,658.823043442,634,879,784,810,651,629,652,0.410579404092,0.00448211315548,0.079789039097,0.999999936977,8.28044164863e-05,-0.000341255493563,5.22823488107e-05,1793248940572568320
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.755574425,745,715,681,658.244425575,634,879,784,810,651,629,652,0.409945160579,0.00448796028555,0.0797966720057,0.999999939266,0.000106677048081,-0.000327643315785,5.23297001709e-05,1793248940589234944
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.668137567,658,634,879,784,810,651,629,652,0.409343546446,0.00448788120499,0.0798146259883,0.999999948762,0.000106758118995,-0.000297126226616,5.28660837947e-05,1793248940605901568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.093553633,658,634,879,784,810,651,629,652,0.408765797217,0.00448346774154,0.0798401287205,0.999999962235,8.94382331736e-05,-0.000254245022336,5.37601415915e-05,1793248940622568192
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.507716879,745,715.492283121,680,658,634,879,784,810,651,628.507716879,652,0.408184690649,0.00448214566268,0.0798299797856,0.999999955698,9.66611233589e-05,-0.000276168670469,5.46970408147e-05,1793248940639235072
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.079117207,745,715.920882793,680.079117207,658,634.079117207,879.079117207,784,810.079117207,651,628,652,0.407603603148,0.00448155230064,0.0798106688195,0.999999943664,0.000106171014375,-0.000313609276361,5.52124514742e-05,1793248940655901440
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.658420527,745,715.341579473,680.658420527,658,634.658420527,879.658420527,784,810.658420527,651,628,652,0.407026764219,0.00448176491624,0.0797772704474,0.999999925345,9.99627724899e-05,-0.000369468184995,5.30104976689e-05,1793248940672568320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.763552393,658,634.527104786,879.763552393,784,810.763552393,651.236447607,628.236447607,652,0.406502359311,0.00448309723623,0.0797620498877,0.999999917768,9.5301285589e-05,-0.000390817177127,5.14205739147e-05,1793248940689234944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.18735916,658,633.374718319,879.18735916,784,810.18735916,651.81264084,628.81264084,652,0.406053295579,0.0044860384313,0.0797729485728,0.999999928671,9.28622929053e-05,-0.00036257973353,5.07100611164e-05,1793248940705901568
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.386959621,680,658,633.386959621,879,784,810,652,629,652,0.40563022035,0.00448907835798,0.0797921633533,0.999999940088,0.000101083633985,-0.000327235025574,5.02374245001e-05,1793248940722568192
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.960375249,680,658,633.960375249,879,784,810,652,629,652,0.405219667609,0.00449216585862,0.0798153852348,0.999999950601,0.000114441643187,-0.000288465688313,4.98794081029e-05,1793248940739235072
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.449433136,745,715.449433136,680,658,634,879,784.550566864,810,651.449433136,629,652,0.404835937007,0.00449363740738,0.0798268151707,0.999999953243,0.000123271730982,-0.000275202239461,5.08205363604e-05,1793248940755901696
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.139129648,745,715.139129648,680,658,634,879,784.860870352,810,651,629,652,0.404454407473,0.00449531868584,0.0798341257913,0.999999953813,0.000129134259115,-0.000270176459205,5.19859538047e-05,1793248940772568320
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.718596045,745,715.718596045,680,658,634,879,784.281403955,810,651,629,652,0.404073542438,0.00449804340115,0.0798311694592,0.999999949865,0.000126668445028,-0.000285229984806,5.35560093234e-05,1793248940789235200
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.703987214,745,716,680,658,634,879,784,810,651.296012786,629,652,0.403726660846,0.00449906318738,0.0798302492261,0.999999947972,0.000122630249766,-0.00029341720765,5.40745136308e-05,1793248940805901824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.128505611,745,716,680,658,634,879,784,810,651.871494389,629,652,0.403411863408,0.00449847333176,0.0798312512959,0.999999948158,0.000117107552891,-0.000295121880229,5.36002371773e-05,1793248940822568448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.455562105,745,716,680,658.455562105,634,879,784.455562105,810,651.544437895,628.544437895,652,0.403139506583,0.00449465709734,0.0798350430505,0.99999995064,0.000107202496372,-0.000290671184337,5.23204200037e-05,1793248940839235072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.95844034,745,716,680,658.95844034,634,879,785,810,651,628,652,0.402880978912,0.00448996885154,0.0798392076368,0.999999953443,9.62613200495e-05,-0.000285027855888,5.10552128838e-05,1793248940855901696
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.379409044,745,716,680,658.379409044,634,879,785,810,651,628,652,0.402643498591,0.0044859992996,0.0798378215443,0.999999953565,8.82145556007e-05,-0.000286847064254,5.29740342335e-05,1793248940872568320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.199349521,745,716,680,658.199349521,634,879,784.800650479,809.800650479,651.199349521,628,652,0.402418780997,0.00448328896704,0.0798363017195,0.999999953711,8.14771984712e-05,-0.000288106506866,5.41658552104e-05,1793248940889235200
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.777589661,745,716,680,658.777589661,634,879,784.222410339,809.222410339,651.777589661,628,652,0.402218320712,0.00448297195098,0.0798345277182,0.999999954002,7.72285472547e-05,-0.000288302039078,5.39759138389e-05,1793248940905901824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.647406093,784,809.352593907,651.647406093,628,652,0.402044103654,0.00448332703214,0.0798354947724,0.999999954554,7.85143798962e-05,-0.000285838697535,5.49812307842e-05,1793248940922568448
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,659,634,878.074424376,784,809.925575624,651.074424376,628,652,0.401886289831,0.00448410220571,0.0798381751154,0.999999955243,8.3259525375e-05,-0.000281713434594,5.67336404904e-05,1793248940939235072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.499797478,745,716,680,658.499797478,634,878.500202522,784.500202522,810,651,628,652,0.401749799102,0.0044840701891,0.0798390894411,0.999999955452,8.84011606697e-05,-0.000279190367745,5.77380659158e-05,1793248940955901696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.077623431,745,716,680,658,634,879,784.922376569,810,651,628,652,0.401618927194,0.00448465619553,0.0798390419601,0.999999954751,9.82851103911e-05,-0.000278424785477,5.75967314745e-05,1793248940972568320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.672010228,745,716,680,658,634,879,784.327989772,810,651,628,652,0.401504270567,0.00449015875943,0.0798343465002,0.999999947608,0.00013934609561,-0.000287767061971,5.05710637054e-05,1793248940989234944
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,658,634,879,784.259364759,810,651,628.259364759,652,0.401400042106,0.00449935252402,0.0798307481497,0.999999942461,0.000162909785293,-0.000294076512722,4.53476224522e-05,1793248941005901824
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,658,634,879,784.838061086,810,651,628.838061086,652,0.401308652877,0.00451309091843,0.0798285005677,0.999999941501,0.000164930689497,-0.000296651928769,4.23430946311e-05,1793248941022568448
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.58847909,745,716,680,658,634,878.58847909,785,810,651,629,652,0.401234032989,0.00451986507542,0.079824935483,0.99999993907,0.000169197603453,-0.000302346103976,4.26591566866e-05,1793248941039235072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.017054021,745,716,680,658,634,878.017054021,785,810,651,629,652,0.401165929146,0.00452393314716,0.0798208584579,0.999999936005,0.00017433724652,-0.000309252131409,4.42654962202e-05,1793248941055901696
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.573079434,745,716,680,658.573079434,634,878.573079434,784.426920566,810,651.573079434,629,652,0.401122656946,0.00451788641236,0.0798205838958,0.999999937901,0.000165695796468,-0.000307727457272,4.52341878191e-05,1793248941072568320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.83897805,680,658.83897805,634,879,784,809.83897805,652,629,652,0.401082570434,0.00450956841888,0.0798204333439,0.999999939773,0.000155279611641,-0.000306819838828,4.69360760334e-05,1793248941089235200
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715.258246513,680,658.258246513,634,879,784,809.258246513,652,629,652,0.401048796433,0.00449614135786,0.0798203011308,0.999999941238,0.000141342546485,-0.000308196609866,5.06001972538e-05,1793248941105901824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.319437397,679.680562603,658,634,879.319437397,784,809.319437397,651.680562603,628.680562603,652,0.401021454523,0.00448489167505,0.0798199546404,0.999999942412,0.000127787339581,-0.00030988906906,5.30499067755e-05,1793248941122568448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715.894680823,679.105319177,658,634,879.894680823,784,809.894680823,651.105319177,628.105319177,652,0.400999263438,0.00447538563909,0.0798194365564,0.999999943334,0.00011453792393,-0.000311834332026,5.45271136658e-05,1793248941139235072
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.530179077,744.530179077,716,679.469820923,658.469820923,634,879.530179077,784,810,651,628.469820923,652,0.400987996204,0.00448129047207,0.0798203012791,0.999999943367,0.000120833319823,-0.00030944323861,5.39423641648e-05,1793248941155901696
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.046282185,716,680,658.953717815,634,878.953717815,784,809.953717815,651,629,652,0.400979550164,0.00448936452859,0.0798215743225,0.999999943328,0.0001299932806,-0.000305994295733,5.30476850816e-05,1793248941172568320
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diff --git a/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86297a52ad1e78fd41fc400321f9f8b51872e917
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdd8624f81c4f5fbad1d52b24ea7aad3a3b58b76
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:315c9cb4115a4a69c9a1eea0bd3cf200c1c691e4a3f59383edf1501c3a7a22bb
+size 25842943
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3db38787abb1d455894cc3c3b9201208350fae4a
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+7,0.116666667,BASELINE,765.854895147,745,714.145104853,680,659.145104853,635,878,787,805,652.854895147,631,652,0.40076688583,-0.0054465786949,0.0598638703802,0.99999992842,-9.26710432757e-05,-0.000365114379249,-3.55364456844e-05,1793243285542461184
+8,0.133333333,BASELINE,765.261800182,745,714.738199818,680,659.738199818,635,878,787,805,652.261800182,631,652,0.400767433086,-0.00544694299365,0.0598645272975,0.999999928721,-9.38100700866e-05,-0.000364024432153,-3.5260323366e-05,1793243285559128064
+9,0.150000000,BASELINE,765,745,714.676724955,679.676724955,659.676724955,635,878,787,804.676724955,652.323275045,631,652,0.400767571316,-0.00544646820333,0.0598643740227,0.999999928766,-9.31129689751e-05,-0.000364079630618,-3.52716414207e-05,1793243285575794688
+10,0.166666667,BASELINE,765,745,714.097987218,679.097987218,659.097987218,635,878,787,804.097987218,652.902012782,631,652,0.40076738632,-0.00544533033691,0.0598635805069,0.999999928605,-9.09648984671e-05,-0.00036503976124,-3.55101044298e-05,1793243285592461056
+11,0.183333333,BASELINE,765,745.477515227,714,679,659.477515227,635,878,787,804,652.522484773,631,652,0.400765587642,-0.00544638900723,0.0598630089815,0.999999928059,-9.10175077659e-05,-0.000366553020924,-3.51541821107e-05,1793243285609127680
+12,0.200000000,BASELINE,765,745.946384453,714,679.053615547,659.946384453,635,878,787,804.053615547,652,631,652,0.400763883255,-0.005447788558,0.0598626433105,0.999999927561,-9.15121287988e-05,-0.000367826499118,-3.47348264601e-05,1793243285625794304
+13,0.216666667,BASELINE,765,745.357737946,714,679.642262054,659.357737946,635,878,787,804.642262054,652,631,652,0.40076640193,-0.00544812214185,0.0598638803528,0.99999992834,-9.19415486065e-05,-0.000365582159794,-3.48914115261e-05,1793243285642460928
+14,0.233333333,BASELINE,765,745,714,679.772630226,659,635,878,786.772630226,805,652,631,652,0.400767058134,-0.00544834172109,0.0598638330109,0.999999928321,-9.29833363918e-05,-0.000365340939034,-3.51780015108e-05,1793243285659127808
+15,0.250000000,BASELINE,765,745,714,679.193004927,659,635,878,786.193004927,805,652,631,652,0.400764828879,-0.00544838467731,0.0598617958205,0.999999927067,-9.49738431511e-05,-0.000368203074942,-3.56660032997e-05,1793243285675794432
+16,0.266666667,BASELINE,765,745,714,679.384953467,659,634.615046533,878.384953467,786.384953467,805,652,631.384953467,652,0.40076463454,-0.00544831006119,0.0598619665652,0.999999927091,-9.50253298096e-05,-0.000368126925596,-3.56343988117e-05,1793243285692461312
+17,0.283333333,BASELINE,765,745,714,679.962079689,659,634.037920311,878.962079689,786.962079689,805,652,631.962079689,652,0.400765456052,-0.00544817675173,0.0598632395342,0.999999927755,-9.41088374439e-05,-0.000366583953667,-3.53434014625e-05,1793243285709128448
+18,0.300000000,BASELINE,765,745.535946143,713.464053857,680,659,634.535946143,878.464053857,786.464053857,805,652,631.464053857,652,0.400765753344,-0.00544801082094,0.0598633087107,0.999999927581,-9.49588777796e-05,-0.000366845751563,-3.52792177992e-05,1793243285725794560
+19,0.316666667,BASELINE,765,745.886852252,713.113147748,680,659,635,878,786.113147748,804.886852252,652,631,651.886852252,0.400765730185,-0.00544798628298,0.0598630969223,0.999999927319,-9.56809872532e-05,-0.000367378680793,-3.52235171841e-05,1793243285742460928
+20,0.333333333,BASELINE,765,745.294556473,713.705443527,680,659,635,878,786.705443527,804.294556473,652,631,651.294556473,0.400764506132,-0.00544857021783,0.059862053832,0.999999926934,-9.53352531998e-05,-0.000368522292223,-3.51361921731e-05,1793243285759127552
+21,0.350000000,BASELINE,765,745,714,680,659,635,878,787,804.290462625,652.290462625,631,651.290462625,0.400763754175,-0.00544858035751,0.0598617097395,0.999999926691,-9.50276235891e-05,-0.000369259215399,-3.5141267513e-05,1793243285775794432
+22,0.366666667,BASELINE,765,745,714,680,659,635,878,787,804.868282797,652.868282797,631,651.868282797,0.400763469268,-0.0054480228359,0.0598620571726,0.99999992659,-9.47576911006e-05,-0.000369593797796,-3.52377554389e-05,1793243285792461056
+23,0.383333333,BASELINE,765,745,714,679.556716592,659,635,878,787,805,652.556716592,631,651.556716592,0.400764131635,-0.00544815862384,0.0598627217792,0.999999926977,-9.52342764839e-05,-0.000368412648533,-3.53217595336e-05,1793243285809127680
+24,0.400000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,651,0.400765047059,-0.0054484873732,0.0598634392233,0.999999927484,-9.59364709675e-05,-0.000366843883057,-3.54019312674e-05,1793243285825794816
+25,0.416666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,651,0.400765112735,-0.00544844140114,0.0598628547451,0.999999927272,-9.68042547196e-05,-0.000367186661143,-3.54774337716e-05,1793243285842461440
+26,0.433333333,BASELINE,765,745,714,679.173853134,659,635,878,787,804.826146866,652,631,651.173853134,0.400765266947,-0.00544780105719,0.0598626620008,0.999999927333,-9.62984209812e-05,-0.000367148330403,-3.55245664594e-05,1793243285859128064
+27,0.450000000,BASELINE,765,745,714,679.768921412,659,635,878,787,804.231078588,652,631,651.768921412,0.400765635668,-0.00544572065608,0.059863418358,0.999999928049,-9.24645571513e-05,-0.000366186640995,-3.55029641556e-05,1793243285875794688
+28,0.466666667,BASELINE,765,745,714,679.650280032,659,635,878.349719968,787,804.349719968,652,631,652,0.400765723647,-0.00544533572513,0.0598637643357,0.999999928245,-9.19958724505e-05,-0.000365753855687,-3.56505932408e-05,1793243285892461312
+29,0.483333333,BASELINE,765,745,714,679.078540633,659,635,878.921459367,787,804.921459367,652,631,652,0.400765633398,-0.00544602716213,0.0598638497842,0.999999928116,-9.36635691423e-05,-0.000365656844765,-3.59056587334e-05,1793243285909128192
+30,0.500000000,BASELINE,765,745,714,679.500126987,659,635,879,786.499873013,805,652,631,652,0.400764629359,-0.00544543292463,0.0598629219158,0.999999927851,-9.18338319869e-05,-0.000366866524583,-3.56987283901e-05,1793243285925794560
+31,0.516666667,BASELINE,765,745,714,679.919043885,659,635,878.919043885,786.080956115,805,652,631,652,0.400763783758,-0.00544502526316,0.0598620711533,0.999999927571,-9.03984635447e-05,-0.000368008609601,-3.54301983518e-05,1793243285942460928
+32,0.533333333,BASELINE,765,745,714,679.3315942,659,635,878.3315942,786.6684058,805,652,631,652,0.400764839825,-0.00544706583226,0.059862712379,0.999999927374,-9.49149682092e-05,-0.000367425919096,-3.52365695951e-05,1793243285959127808
+33,0.550000000,BASELINE,765,745.252385454,714,679.252385454,659,635,878,787,805,652,631,652,0.40076444497,-0.00544779967495,0.0598623544941,0.999999927073,-9.56236080522e-05,-0.000368058226669,-3.52677932633e-05,1793243285975794688
+34,0.566666667,BASELINE,765,745.831867828,714,679.831867828,659,635,878,787,805,652,631,652,0.400762169689,-0.00544683997224,0.0598607017405,0.999999926642,-9.13971736697e-05,-0.000370265197664,-3.55904304765e-05,1793243285992461312
+35,0.583333333,BASELINE,765,745.599632003,714,680,659,635,878.400367997,787,805,652,631,651.599632003,0.400762659377,-0.00544634530393,0.0598616221126,0.999999926933,-9.12992086278e-05,-0.000369501607177,-3.55890584271e-05,1793243286009127680
+36,0.600000000,BASELINE,765,745.03562057,714,680,659,635,878.96437943,787,805,652,631,651.03562057,0.400764279199,-0.00544604071023,0.0598635942047,0.99999992752,-9.2888683064e-05,-0.000367523851683,-3.54552532702e-05,1793243286025794304
+37,0.616666667,BASELINE,765.562412178,745,714,679.437587822,659,635,878.437587822,786.437587822,804.437587822,652,631,651,0.400763574007,-0.00544592782369,0.0598629813429,0.999999927145,-9.10331557498e-05,-0.000369019560354,-3.53162096771e-05,1793243286042460928
+38,0.633333333,BASELINE,766,745,714.157187402,679.157187402,659,635,878,786.157187402,804.157187402,652,631,651.157187402,0.400762945494,-0.00544584020948,0.0598624290521,0.99999992689,-9.01435595802e-05,-0.00036993582403,-3.5242168409e-05,1793243286059127808
+39,0.650000000,BASELINE,766,745,714.737036621,679.737036621,659,635,878,786.737036621,804.737036621,652,631,651.737036621,0.400762944616,-0.00544578579978,0.0598625081996,0.999999927143,-9.24757271168e-05,-0.000368664388714,-3.5343861676e-05,1793243286075794688
+40,0.666666667,BASELINE,765.686249643,745,714.686249643,679.686249643,659,635,878,787,805,652.313750357,631.313750357,651.686249643,0.400762516482,-0.0054460603565,0.0598622394764,0.999999926948,-9.31098453193e-05,-0.000369029880558,-3.53858805912e-05,1793243286092461312
+41,0.683333333,BASELINE,765.112137879,745,714.112137879,679.112137879,659,635,878,787,805,652.887862121,631.887862121,651.112137879,0.400761733796,-0.00544660790146,0.0598616820776,0.999999926382,-9.23348605664e-05,-0.000370753753905,-3.5378379563e-05,1793243286109127936
+42,0.700000000,BASELINE,765,745,714,679.463367243,659,635,878,787,804.536632757,652.536632757,632,651.463367243,0.400762607608,-0.00544828780375,0.0598619028845,0.999999926599,-9.49748881849e-05,-0.000369505648264,-3.53046159543e-05,1793243286125794816
+43,0.716666667,BASELINE,765,745,714,679.960685257,659,635,878,787,804.039314743,652,631.960685257,652,0.400763813695,-0.00545008036148,0.059862293367,0.999999926975,-9.80221424737e-05,-0.000367697228277,-3.5214802129e-05,1793243286142461440
+44,0.733333333,BASELINE,765,745,714,679.383312181,659,635,878,787,804.616687819,652,631.383312181,652,0.400764064287,-0.00544965294176,0.0598624207606,0.999999927096,-9.52977563243e-05,-0.000368093515599,-3.51254553128e-05,1793243286159127808
+45,0.750000000,BASELINE,765,745,714,679.198967908,659,635,878,786.801032092,804.801032092,652,631,652,0.400764126168,-0.00544927348634,0.0598625484922,0.999999927151,-9.39761998561e-05,-0.000368285004041,-3.51022118016e-05,1793243286175794432
+46,0.766666667,BASELINE,765,745,714,679.790940336,659,635,878,786.209059664,804.209059664,652,631,652,0.400763815307,-0.00544898877081,0.0598626768915,0.999999927089,-9.54255348122e-05,-0.000368071970492,-3.52095365819e-05,1793243286192461056
+47,0.783333333,BASELINE,765.373961652,745,714,679.626038348,659,635,878.373961652,786,804,652,631,651.626038348,0.400763482311,-0.00544804017907,0.0598630129293,0.999999927007,-9.57865273801e-05,-0.000368180671102,-3.53977624663e-05,1793243286209127936
+48,0.800000000,BASELINE,765.952095965,745,714,679.047904035,659,635,878.952095965,786,804,652,631,651.047904035,0.40076313723,-0.00544672912936,0.059863462332,0.999999926917,-9.5553315408e-05,-0.000368465029597,-3.56301581134e-05,1793243286225794560
+49,0.816666667,BASELINE,766,745,714,679,659.52482275,635,879,786,804.52482275,652,631,651.52482275,0.400763639195,-0.00544661507365,0.0598630551192,0.999999926938,-9.4517547224e-05,-0.000368693806841,-3.54365316554e-05,1793243286242461440
+50,0.833333333,BASELINE,766,745,714.10041602,679.10041602,659.89958398,635,879,786.10041602,805,652.10041602,631,651.89958398,0.400763807067,-0.00544648646179,0.0598626204429,0.999999926919,-9.31869920004e-05,-0.000369098860841,-3.52766661173e-05,1793243286259128576
+51,0.850000000,BASELINE,766,745,714.692434582,679.692434582,659.307565418,635,879,786.692434582,805,652.692434582,631,651.307565418,0.400761964686,-0.00544575715544,0.0598624301971,0.999999926657,-9.07682317431e-05,-0.000370391489397,-3.54705127672e-05,1793243286275794944
+52,0.866666667,BASELINE,766,745,714.721403879,680,659,635,879,787,804.721403879,652.721403879,631,651.278596121,0.400761314429,-0.00544608764794,0.0598621474609,0.999999926533,-9.07935490241e-05,-0.000370713678276,-3.55154407966e-05,1793243286292461824
+53,0.883333333,BASELINE,766,745,714.141575291,680,659,635,879,787,804.141575291,652.141575291,631,651.858424709,0.40076195316,-0.00544756404954,0.0598617647193,0.999999926561,-9.34615289012e-05,-0.000369986577739,-3.53993503353e-05,1793243286309128448
+54,0.900000000,BASELINE,765.565526858,745,714,679.565526858,659,635,878.565526858,786.565526858,804,652,631,652,0.400763430517,-0.00544784690473,0.0598624550947,0.999999926822,-9.43974802451e-05,-0.000369053633177,-3.52703977637e-05,1793243286325795072
+55,0.916666667,BASELINE,765,745,714,679,659,635,878,786.009516942,804,652,631,651.990483058,0.400765155394,-0.00544775290019,0.0598634826819,0.999999927157,-9.47686942067e-05,-0.00036806125082,-3.51398628106e-05,1793243286342461184
+56,0.933333333,BASELINE,765,745,714,679,659,635,878,786.597727514,804,652,631,651.402272486,0.400765457748,-0.00544818844846,0.0598639354802,0.999999927359,-9.48227898778e-05,-0.000367498100056,-3.5165762123e-05,1793243286359128064
+57,0.950000000,BASELINE,765,745,714,679.183235312,659,635,878,786.816764688,804.183235312,652,631,651.183235312,0.400765206639,-0.00544845946594,0.059863752493,0.999999927287,-9.46743801098e-05,-0.000367732603045,-3.51572301293e-05,1793243286375794688
+58,0.966666667,BASELINE,765,745,714,679.762895648,659,635,878,786.237104352,804.762895648,652,631,651.762895648,0.40076375813,-0.00544837452513,0.0598621939995,0.999999926622,-9.40878548719e-05,-0.000369692810081,-3.50742068611e-05,1793243286392461312
+59,0.983333333,BASELINE,765.341377378,745,714,679.658622622,659,635,878,786.341377378,805,652,631,652,0.400763547448,-0.00544782078982,0.0598618964899,0.9999999264,-9.43515477587e-05,-0.000370215181551,-3.51854926326e-05,1793243286409127936
+60,1.000000000,BASELINE,765.919043381,745,714,679.080956619,659,635,878,786.919043381,805,652,631,652,0.400764193543,-0.00544694257253,0.0598624717859,0.999999926486,-9.52037296993e-05,-0.000369742337342,-3.54312718288e-05,1793243286425795072
+61,1.016666667,BASELINE,765.505970493,745,714,679.494029507,659,635,878,787,805,652,631,652,0.400764460325,-0.00544758973138,0.059862738282,0.999999926622,-9.56715097853e-05,-0.00036925391123,-3.54230998739e-05,1793243286442461952
+62,1.033333333,BASELINE,765,745,714,679.929579381,659,635,878,786.929579381,805.070420619,652,631,652,0.400764507116,-0.00544828914402,0.0598628521256,0.999999926723,-9.59285009131e-05,-0.000368917667595,-3.53865718305e-05,1793243286459128832
+63,1.050000000,BASELINE,765,745,714,679.339599533,659,635,878,786.339599533,805.660400467,652,631,652,0.400763386957,-0.00544753981706,0.0598622110404,0.999999926503,-9.50925469485e-05,-0.00036972295442,-3.544621055e-05,1793243286475795200
+64,1.066666667,BASELINE,765,745,714,679,659,635,878,786.246003928,805.507992144,652,631,652,0.400762271862,-0.0054476045458,0.0598615210097,0.999999926108,-9.48406463033e-05,-0.000370857553738,-3.5409808516e-05,1793243286492461568
+65,1.083333333,BASELINE,765,745,714,679,659,635,878,786.825671507,804.348656986,652,631,652,0.400761163634,-0.00544877340653,0.0598607645925,0.999999925475,-9.53809174616e-05,-0.000372438810951,-3.5243143077e-05,1793243286509128192
+66,1.100000000,BASELINE,765.40194515,745.40194515,714.40194515,679.40194515,659,635,878,787,804.40194515,652.40194515,631,652,0.40076114726,-0.00544774835449,0.0598608924636,0.999999925457,-9.47437502603e-05,-0.000372631773379,-3.54396694581e-05,1793243286525794816
+67,1.116666667,BASELINE,765.976759111,745.976759111,714.976759111,679.976759111,659,635,878,787,804.976759111,652.976759111,631,652,0.400761600471,-0.00544577974309,0.0598614006499,0.999999925702,-9.36001896476e-05,-0.000372227657111,-3.57923975994e-05,1793243286542461184
+68,1.133333333,BASELINE,766,745.451085653,714.451085653,680,659.548914347,635,878.548914347,787,805,652.451085653,631,652,0.400760848561,-0.00544653896991,0.0598608923918,0.999999925544,-9.39886069948e-05,-0.000372582345842,-3.55131735355e-05,1793243286559128320
+69,1.150000000,BASELINE,766,745,714,680,659.873961272,635,879,786.873961272,805,652.126038728,631,652,0.400760900222,-0.00544746819496,0.0598608124438,0.999999925633,-9.45965545022e-05,-0.000372209548598,-3.5286803756e-05,1793243286575795456
+70,1.166666667,BASELINE,766,745,714,680,659.277887875,635,879,786.277887875,805,652.722112125,631,652,0.400764137996,-0.00544860275067,0.0598624895076,0.999999926706,-9.5782464199e-05,-0.000369004511263,-3.53568452883e-05,1793243286592461824
+71,1.183333333,BASELINE,766,745,714,680,659.307570588,635,878.692429412,786,805,652.692429412,631.307570588,651.692429412,0.400765218476,-0.00544896619414,0.0598631824909,0.999999927217,-9.61681831862e-05,-0.000367514261215,-3.53808152277e-05,1793243286609128192
+72,1.200000000,BASELINE,766,745,714,680,659.883758542,635,878.116241458,786,805,652.116241458,631.883758542,651.116241458,0.40076441488,-0.00544865618537,0.0598630160257,0.999999927245,-9.58550542043e-05,-0.000367521623602,-3.53645484606e-05,1793243286625794816
+73,1.216666667,BASELINE,766,745,714,680,659.540751717,635,878.459248283,786.459248283,805,652,631.540751717,651.459248283,0.400764073466,-0.005446938316,0.0598629695643,0.999999927226,-9.35359205873e-05,-0.000368151300926,-3.55579167743e-05,1793243286642461440
+74,1.233333333,BASELINE,766,745.035308228,714,679.964691772,659,635,878.964691772,787,804.964691772,652,631,652,0.400763848625,-0.00544514237963,0.059862943641,0.999999927166,-9.10546760048e-05,-0.000368916476833,-3.57569253935e-05,1793243286659127808
+75,1.250000000,BASELINE,766,745.623051081,714,679.376948919,659,635,878.376948919,787,804.376948919,652,631,652,0.400763620153,-0.00544769196349,0.0598627645363,0.999999926758,-9.39691756487e-05,-0.000369340914285,-3.5215243646e-05,1793243286675794432
+76,1.266666667,BASELINE,766,745.792097759,714.207902241,679.207902241,659,635,878,787,804.207902241,652.207902241,631,652,0.400763410269,-0.00544937578251,0.0598626776829,0.999999926407,-9.67478385506e-05,-0.000369595125981,-3.50017852739e-05,1793243286692461312
+77,1.283333333,BASELINE,766,745.212417659,714.787582341,679.787582341,659,635,878,787,804.787582341,652.787582341,631,652,0.400763233626,-0.00544951141123,0.0598627557965,0.999999926164,-9.92835933967e-05,-0.000369544934166,-3.53752671373e-05,1793243286709128192
+78,1.300000000,BASELINE,765.634593542,745,715,680,659,635,878,786.634593542,805,653,631,652,0.400762441553,-0.00544902339479,0.0598619219397,0.999999925902,-9.76388862959e-05,-0.000370699244914,-3.52928164153e-05,1793243286725794816
+79,1.316666667,BASELINE,765.057842908,745,715,680,659,635,878,786.057842908,805,653,631,652,0.400761293528,-0.00544817467381,0.0598605606166,0.999999925614,-9.35762790925e-05,-0.000372550217126,-3.49466629078e-05,1793243286742461440
+80,1.333333333,BASELINE,765.518941146,745,714.481058854,679.481058854,659,635,878,786.518941146,804.481058854,652.481058854,631,652,0.400762608464,-0.0054477971758,0.0598619923932,0.999999926276,-9.41186367322e-05,-0.000370623317136,-3.50401668613e-05,1793243286759128064
+81,1.350000000,BASELINE,765.902108297,745,714,679,659,635,878.097891703,787,804.097891703,652,631,651.902108297,0.400763701774,-0.00544757375006,0.0598632828989,0.999999926832,-9.50812908857e-05,-0.000368861786436,-3.51661098797e-05,1793243286775794688
+82,1.366666667,BASELINE,765.312289508,745,714,679,659,635,878.687710492,787,804.687710492,652,631,651.312289508,0.400762301703,-0.00544786060918,0.0598622988946,0.999999926345,-9.55764926372e-05,-0.000370047499399,-3.52087861242e-05,1793243286792461312
+83,1.383333333,BASELINE,765,745,714,679.272659023,659,635,879,787,805,652,631,651.272659023,0.400760830959,-0.00544788196435,0.0598611943712,0.999999925768,-9.45426688341e-05,-0.00037186418251,-3.52413172028e-05,1793243286809127936
+84,1.400000000,BASELINE,765,745,714,679.852127375,659,635,879,787,805,652,631,651.852127375,0.40075928069,-0.00544760456145,0.0598599542335,0.999999925081,-9.17883104147e-05,-0.000374390864382,-3.52624324478e-05,1793243286825795072
+85,1.416666667,BASELINE,765.427060087,745,714,680,659,635,879,786.572939913,805,652,631,652,0.400759781162,-0.00544781759092,0.05986023735,0.999999925181,-9.33175337321e-05,-0.000373737939669,-3.53581133573e-05,1793243286842461440
+86,1.433333333,BASELINE,765.999562426,745,714,679.999562426,659,635,879,786,804.999562426,652,631,652,0.400760983579,-0.005448198007,0.0598610421504,0.999999925542,-9.63114370575e-05,-0.000371996457087,-3.54792002927e-05,1793243286859128320
+87,1.450000000,BASELINE,765.427749218,745,714,679.427749218,659,635,879,786,804.427749218,652,631,652,0.400761302127,-0.0054477368234,0.059861571654,0.99999992587,-9.54485756842e-05,-0.000371343551404,-3.5415476123e-05,1793243286875794944
+88,1.466666667,BASELINE,765,745,714,679.149792282,659,635,879,786,804.149792282,652.149792282,631,652,0.400761441649,-0.00544758033118,0.0598619823219,0.999999926106,-9.47832785385e-05,-0.000370888380854,-3.52976959609e-05,1793243286892461568
+89,1.483333333,BASELINE,765,745,714,679.744341971,659,635,879,786,804.744341971,652.744341971,631,652,0.400761049614,-0.00544832851675,0.0598620401473,0.999999926074,-9.47045814529e-05,-0.0003710203178,-3.50194148556e-05,1793243286909128192
+90,1.500000000,BASELINE,765,745,714,679.670052752,659,635,879,786,804.670052752,652.670052752,631,652,0.400761031907,-0.005448606725,0.0598616263753,0.999999925837,-9.52337598006e-05,-0.000371526558861,-3.50047480945e-05,1793243286925794816
+91,1.516666667,BASELINE,765,745,714,679.091195117,659,635,879,786,804.091195117,652.091195117,631,652,0.400761296592,-0.0054485303849,0.0598608568328,0.999999925442,-9.6221516032e-05,-0.000372315172877,-3.51889505559e-05,1793243286942461440
+92,1.533333333,BASELINE,765,745,714,679,659,635,878.51569376,786,804,652.48430624,631,652,0.400762161088,-0.00544744979836,0.0598618624599,0.999999926225,-9.64814095288e-05,-0.0003701024321,-3.55788543098e-05,1793243286959128064
+93,1.550000000,BASELINE,765,745,714,679.060632652,659,635.060632652,878.060632652,786.060632652,804.060632652,652.939367348,631,652,0.400763063977,-0.00544638139068,0.0598630086828,0.999999927075,-9.6598679909e-05,-0.000367733474847,-3.59400974318e-05,1793243286975794432
+94,1.566666667,BASELINE,765,745,714,679.649617465,659,635.649617465,878.649617465,786.649617465,804.649617465,652.350382535,631,652,0.400763323992,-0.00544705558553,0.0598624873166,0.999999926649,-9.66592268433e-05,-0.000368894124924,-3.57163902482e-05,1793243286992461312
+95,1.583333333,BASELINE,765.234627862,745,714,680,659,635.765372138,878.765372138,787,805,652,631.234627862,651.765372138,0.40076293937,-0.00544701513991,0.0598619987139,0.9999999263,-9.59200214054e-05,-0.000370047880039,-3.5562446643e-05,1793243287009127936
+96,1.600000000,BASELINE,765.813801995,745,714,680,659,635.186198005,878.186198005,787,805,652,631.813801995,651.186198005,0.40076160811,-0.0054459252593,0.0598615582236,0.999999926059,-9.40063957849e-05,-0.000371191510213,-3.55109494092e-05,1793243287025794816
+97,1.616666667,BASELINE,765.609725505,745,714,679.609725505,659.390274495,635,878,786.609725505,805,652,631.609725505,651.390274495,0.400761789254,-0.00544657834012,0.0598620028024,0.999999926143,-9.42046048321e-05,-0.000370931937587,-3.53460930515e-05,1793243287042461440
+98,1.633333333,BASELINE,765.034533115,745,714,679.034533115,659.965466885,635,878,786.034533115,805,652,631.034533115,651.965466885,0.400762686997,-0.00544805726221,0.0598628667402,0.999999926379,-9.54034328616e-05,-0.000370007506403,-3.51275254474e-05,1793243287059128064
+99,1.650000000,BASELINE,765.541498587,745,714,679.541498587,659.458501413,635,878,786.541498587,804.458501413,652,631.541498587,651.458501413,0.400763554607,-0.0054482789495,0.059863169375,0.999999926713,-9.50317508059e-05,-0.000369204036859,-3.50793906135e-05,1793243287075794432
+100,1.666666667,BASELINE,765.880029852,745,714,680,659,635,878.119970148,787,804,652.119970148,631.880029852,651,0.400764132594,-0.00544833726775,0.0598632999983,0.999999926933,-9.45956839252e-05,-0.000368722443424,-3.50532873143e-05,1793243287092461056
+101,1.683333333,BASELINE,765.292253476,745,714,680,659,635,878.707746524,787,804,652.707746524,631.292253476,651,0.400763588749,-0.00544807167962,0.0598628996861,0.999999926686,-9.42997098246e-05,-0.000369465832569,-3.50706447229e-05,1793243287109127936
+102,1.700000000,BASELINE,765,745,714,679.708292462,659,635,879,787,804.291707538,652.708292462,631,651.291707538,0.400762777232,-0.00544760772209,0.0598621609434,0.999999926363,-9.34327220954e-05,-0.000370532012142,-3.53489361244e-05,1793243287125794816
+103,1.716666667,BASELINE,765,745,714,679.128104634,659,635,879,787,804.871895366,652.128104634,631,651.871895366,0.400761701006,-0.00544694758981,0.0598610875146,0.999999925963,-9.20010380505e-05,-0.00037191741097,-3.58852747264e-05,1793243287142461696
+104,1.733333333,BASELINE,765,745,714,679,659,635,879,787,805.447772768,652.447772768,631,652,0.400760968571,-0.00544805495784,0.059860831576,0.999999925377,-9.52633390458e-05,-0.000372685522009,-3.57156061128e-05,1793243287159128320
+105,1.750000000,BASELINE,765.022972058,745,714,679.022972058,659.022972058,635,879,786.977027942,805.977027942,653,631,652,0.400760398961,-0.00544953553701,0.0598608628667,0.999999924788,-9.95454543831e-05,-0.000373180576762,-3.53570208259e-05,1793243287175794432
+106,1.766666667,BASELINE,765.611547345,745,714,679.611547345,659.611547345,635,879,786.388452655,805.388452655,653,631,652,0.400761439776,-0.00544787351924,0.0598622626411,0.999999925835,-9.61876140505e-05,-0.000371259329392,-3.52727473878e-05,1793243287192461056
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.40076064039,-0.00544773684367,0.0598598593796,0.999999925322,-9.50577036698e-05,-0.00037289818132,-3.55852158124e-05,1793243287232023296
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.572263525,745,714,680,659,635,878.427736475,787,804.427736475,652,631,652,0.40076259825,-0.00544784404198,0.0598616009514,0.999999926296,-9.44696245303e-05,-0.000370436266765,-3.55019953808e-05,1793243287248690176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.855234722,745,714.144765278,679.855234722,659.144765278,635,878,787,804.144765278,652.144765278,631,652,0.400764333147,-0.00544815808461,0.0598630426515,0.99999992708,-9.42895302045e-05,-0.00036837370582,-3.53622108111e-05,1793243287265357056
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.282027782,745,714.717972218,679.282027782,659.717972218,635,878,787,804.717972218,652.717972218,631,652,0.400765408175,-0.00544908429561,0.0598635968636,0.999999927317,-9.53168916536e-05,-0.000367493055642,-3.50550212096e-05,1793243287282024448
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.301267881,714.698732119,679.301267881,659.698732119,635,878.301267881,787,805,653,631,652,0.40076412796,-0.00544831639688,0.0598628763747,0.999999926864,-9.45866827972e-05,-0.000368909665952,-3.50893183604e-05,1793243287298691328
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.894335156,714.105664844,679.894335156,659.105664844,635,878.894335156,787,805,653,631,652,0.400760566525,-0.00544590763219,0.059860921247,0.999999925728,-9.21541418838e-05,-0.000372551336679,-3.54543697655e-05,1793243287315357952
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.524170129,714,679.524170129,659,635,879,786.524170129,805,652.524170129,631,651.524170129,0.400761484969,-0.0054465553891,0.0598612434776,0.999999925773,-9.4057861987e-05,-0.000371942955347,-3.55846750516e-05,1793243287332024576
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.054431438,635,878.945568562,786,805,652,631,651.054431438,0.400763577573,-0.00544768697197,0.0598621488558,0.999999926103,-9.6425167464e-05,-0.00037044108449,-3.56288727227e-05,1793243287348691200
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.62935811,635,878.37064189,786,805,652,631,651.62935811,0.40076761094,-0.00544710877065,0.0598639094478,0.999999926779,-9.42361765321e-05,-0.000369205878806,-3.53363152967e-05,1793243287365358336
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.209253729,679.209253729,659.790746271,635,878.209253729,786,804.790746271,652,631,652,0.400773601271,-0.00544682871784,0.0598659317877,0.999999927572,-9.21739244505e-05,-0.000367601477422,-3.50571053491e-05,1793243287382024960
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.79816464,679.79816464,659.20183536,635,878.79816464,786,804.20183536,652,631,652,0.400783142198,-0.00544708960754,0.0598684290269,0.999999928582,-9.03416198349e-05,-0.000365327230051,-3.48021122828e-05,1793243287398691584
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.381184025,745,714.618815975,679.618815975,659.381184025,635,878.618815975,786.381184025,804.76236805,652,631,651.618815975,0.400804814963,-0.00544867080522,0.0598719941023,0.999999929769,-9.25998584494e-05,-0.000361513782785,-3.45773814988e-05,1793243287415358208
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.961131405,745,714.038868595,679.038868595,659.961131405,635,878.038868595,786.961131405,805.922262811,652,631,651.038868595,0.400832813714,-0.00545094046,0.059876115987,0.999999931018,-9.69910564162e-05,-0.000356897739926,-3.43684305563e-05,1793243287432024320
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679.537483541,659.462516459,635,878.537483541,787,804.925032918,652,631,651,0.400871173433,-0.00545188354693,0.0598782481503,0.999999932506,-9.77964188723e-05,-0.000352470970219,-3.44828864611e-05,1793243287448691200
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.113514295,680,659,635,879,787,804.113514295,652.113514295,631,651.113514295,0.400911918211,-0.00545260568118,0.0598788922456,0.999999933249,-9.8156339665e-05,-0.000350226289542,-3.47819126387e-05,1793243287465358336
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714.689288201,680,659,635,879,787,804.689288201,652.689288201,631,651.689288201,0.400959344664,-0.00545281610302,0.0598740586007,0.999999930926,-9.77512792662e-05,-0.000356812270716,-3.57379498869e-05,1793243287482024704
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.459456811,745,714.729728405,680,659,635,878.729728405,786.729728405,804.729728405,652.729728405,631.270271595,651.729728405,0.40101750413,-0.00545324296403,0.0598708424654,0.99999992984,-9.79994176629e-05,-0.00035967187067,-3.67709825384e-05,1793243287498691072
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.285276736,745,714.142638368,680,659,635,878.142638368,786.142638368,804.142638368,652.142638368,631.857361632,651.142638368,0.401088245071,-0.00545392353988,0.0598695224115,0.99999993024,-9.90132504096e-05,-0.000358163322355,-3.78942708774e-05,1793243287515357440
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.440515284,745,714,680,659,635,878,786.440515284,804.440515284,652,631.559484716,651.440515284,0.401181810901,-0.00545788127678,0.0598713643777,0.999999931582,-0.000101863073028,-0.000353512502294,-3.85740438329e-05,1793243287532024320
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786.977824109,804.977824109,652.022175891,631,652,0.401283765979,-0.00546269248383,0.0598743215838,0.999999933316,-0.000105066497419,-0.000347559809578,-3.91246192181e-05,1793243287548690944
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786.401899962,804.401899962,652.598100038,631,652,0.401412290705,-0.00546255267655,0.0598797870882,0.999999938087,-0.000102386206941,-0.000334280204889,-4.00033181473e-05,1793243287565357312
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.8267151,659,635,878.1732849,786.1732849,804.1732849,652.8267151,631,651.8267151,0.401548281697,-0.00546380187419,0.0598847691889,0.999999942431,-0.000101772691967,-0.000321086966087,-4.10300040398e-05,1793243287582023936
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.253237656,659,635,878.746762344,786.746762344,804.746762344,652.253237656,631,651.253237656,0.401701515629,-0.00546825890709,0.0598886348928,0.99999994603,-0.000105932288873,-0.000308093186771,-4.23984580826e-05,1793243287598690560
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.500544725,714,682,658,631,879.500544725,785,806.500544725,652,630.500544725,651.500544725,0.45245760281,-0.0055790367781,0.0597028740043,0.999999883003,-0.000138924272332,-0.000458437580269,-6.72971202297e-05,1793243289515356928
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.075687885,714,682,658,631,879,785,806,652,630.075687885,651.075687885,0.452459105555,-0.00557685433316,0.0597037394401,0.999999883815,-0.000137156371467,-0.000457203626696,-6.72536545915e-05,1793243289532023552
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.651833633,714,682,658,631,879,785,806,652,630.651833633,651.651833633,0.452457975838,-0.00557602633237,0.0597025211561,0.99999988343,-0.000136487485005,-0.000458246459793,-6.72434513027e-05,1793243289548690176
+247,4.116666667,HOLD_POSE2,766,745,714,683,658,631,880,785,806,652,631,652,0.452457255768,-0.00557792334858,0.0597015084567,0.999999882454,-0.000136002649791,-0.000460497178419,-6.73623469077e-05,1793243289587001856
+248,4.133333333,HOLD_POSE2,766,745.57978086,714,681.840438281,658,631,880,785,806.57978086,652,630.42021914,652,0.452456616102,-0.00557717236438,0.0597011914445,0.999999882197,-0.000134806401187,-0.000461404375824,-6.73801041991e-05,1793243289603668480
+249,4.150000000,HOLD_POSE2,765.84248051,745.84248051,714,681,658,631,880,785,807,651.84248051,630.15751949,651.84248051,0.452456532751,-0.00557650436761,0.059701185411,0.999999882236,-0.000134283375628,-0.000461478161286,-6.73351514895e-05,1793243289620335360
+250,4.166666667,HOLD_POSE2,765.270120138,745.270120138,714,681,658,631,880,785,807,651.270120138,630.729879862,651.270120138,0.452457914507,-0.00557605492506,0.0597019983662,0.999999883058,-0.000135533339569,-0.000459357086188,-6.71250466987e-05,1793243289637002240
+251,4.183333333,HOLD_POSE2,765.304531585,745,714,681.304531585,658,631,880,785.304531585,807,651.304531585,631,651.304531585,0.452457792508,-0.0055760249905,0.0597018327555,0.999999883132,-0.000134854355565,-0.00045941929284,-6.69631312259e-05,1793243289653668864
+252,4.200000000,HOLD_POSE2,765.881231115,745,714,681.881231115,658,631,880,785.881231115,807,651.881231115,631,651.881231115,0.452456326564,-0.00557636998138,0.0597007925745,0.999999882534,-0.000132451419612,-0.00046143275635,-6.68442838353e-05,1793243289670335744
+253,4.216666667,HOLD_POSE2,765.531780827,745.468219173,714,682,658,631,880,785.531780827,807,652,631,652,0.452457502765,-0.00557745114814,0.0597013293067,0.999999882905,-0.000132968253707,-0.000460510813591,-6.6629153698e-05,1793243289687002880
+254,4.233333333,HOLD_POSE2,765.056917612,746,714,682,658,631,880,785,807,652,630.943082388,652,0.452459158596,-0.00557856771241,0.0597022093458,0.999999883383,-0.000134306824832,-0.000459113710881,-6.64115754638e-05,1793243289703669504
+255,4.250000000,HOLD_POSE2,765.6368132,746,714,682,658,631,880,785,807,652,630.3631868,652,0.452458924963,-0.00557825515059,0.0597024858833,0.999999882556,-0.000136237726657,-0.000460346005508,-6.64009533392e-05,1793243289720335616
+256,4.266666667,HOLD_POSE2,765.785467901,745.785467901,714.214532099,682,658,631,880,785,807,652,630.214532099,652,0.452458631155,-0.00557757531111,0.0597023214093,0.999999881937,-0.000137159661027,-0.000461414926975,-6.63985804852e-05,1793243289737001984
+257,4.283333333,HOLD_POSE2,765.211397018,745.211397018,714.788602982,682,658,631,880,785,807,652,630.788602982,652,0.452458236499,-0.00557627994343,0.0597014178349,0.999999881675,-0.000136390645764,-0.000462210047863,-6.64100327562e-05,1793243289753668608
+258,4.300000000,HOLD_POSE2,765.371920664,745.371920664,714.628079336,682,658,631,880,785.371920664,807,652,631,652,0.45245744373,-0.00557612346168,0.0597006546311,0.999999881344,-0.000136250457308,-0.000462951664872,-6.65118971951e-05,1793243289770335232
+259,4.316666667,HOLD_POSE2,765.960628217,745.960628217,714.039371783,682,658,631,880,785.960628217,807,652,631,652,0.452456418908,-0.00557663081907,0.0596999732471,0.999999880974,-0.000136476802346,-0.000463662095362,-6.66664615103e-05,1793243289787002112
+260,4.333333333,HOLD_POSE2,766,746,714.54105829,681.45894171,658,631,880,786,807,652,631,652,0.452456319906,-0.00557552375032,0.0596995544834,0.999999880993,-0.000132942732304,-0.000464660473746,-6.65613514876e-05,1793243289803668736
+261,4.350000000,HOLD_POSE2,765.879985645,746,714.879985645,681.120014355,658,631,880,786,806.879985645,652,631,652,0.452456957421,-0.00557475214901,0.059699719836,0.999999881294,-0.000130310176829,-0.000464777939435,-6.64297595271e-05,1793243289820335360
+262,4.366666667,HOLD_POSE2,765.30437291,746,714.30437291,681.69562709,658,631,880,786,806.30437291,652,631,652,0.452460139008,-0.00557569330112,0.0597020311567,0.999999882597,-0.000132123081717,-0.000461472940717,-6.62682889496e-05,1793243289837001984
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880,786,807,652,631,652,0.452458636685,-0.00557867225243,0.0597003406223,0.99999988137,-0.000136141883586,-0.000463066441435,-6.55366146123e-05,1793243289874196992
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.579789109,745,714,682,657.420210891,631,879.420210891,785.420210891,807,652,630.420210891,652,0.452459126318,-0.0055763801093,0.0597001680247,0.999999881845,-0.000133241460818,-0.000462819928663,-6.59921811142e-05,1793243289890864384
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.840956057,745.159043943,714,682,657.159043943,631,879.159043943,785,806.840956057,652,630.159043943,652,0.452459465385,-0.0055748397737,0.0597000831362,0.999999882119,-0.000131411119158,-0.000462708786371,-6.62886021764e-05,1793243289907531520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.263107978,745.736892022,714,682,657.736892022,631,879.736892022,785,806.263107978,652,630.736892022,652,0.452459407972,-0.00557527914268,0.0597002292085,0.999999881883,-0.000132398579194,-0.000462954109774,-6.61659519383e-05,1793243289924197888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.68700513,714,681.68700513,657.68700513,631,880,785,806.31299487,652,631,652,0.452458983963,-0.00557620245195,0.0597000827841,0.999999881579,-0.000133475549576,-0.000463326232189,-6.59964966278e-05,1793243289940864512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.112361249,714,681.112361249,657.112361249,631,880,785,806.887638751,652,631,652,0.452458253497,-0.00557753031255,0.0596996918462,0.999999881216,-0.000134627346348,-0.000463804352609,-6.57879144821e-05,1793243289957531136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.46264861,745.46264861,714.46264861,681,657.46264861,631,879.53735139,785,807,652,630.53735139,652,0.452458387365,-0.00557733776428,0.0596997670264,0.999999881411,-0.000134167795585,-0.000463523102353,-6.57551828059e-05,1793243289974197504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.961071911,745.961071911,714.961071911,681.038928089,658,631,879.038928089,785,807,652,630.038928089,651.961071911,0.452458696535,-0.00557686891327,0.0596999691894,0.999999881711,-0.000133432632189,-0.000463085682743,-6.57601696399e-05,1793243289990863616
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.367985029,745.367985029,714.367985029,681.632014971,658,631,879.632014971,785,807,652,630.632014971,651.367985029,0.452458510569,-0.00557772743245,0.0597003662267,0.999999881608,-0.000134349313463,-0.000463052569231,-6.56936481097e-05,1793243290007530496
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.2181311,745,714.2181311,681.7818689,657.7818689,631,880,785,806.7818689,652,631,651.2181311,0.45245557162,-0.00557749136515,0.0596992179557,0.999999880666,-0.000134668690408,-0.000464966072283,-6.58758528203e-05,1793243290024197120
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.792851742,745,714.792851742,681.207148258,657.207148258,631,880,785,806.207148258,652,631,651.792851742,0.452448132236,-0.00557546592389,0.0596955434939,0.999999878333,-0.000134011624762,-0.000470061804305,-6.64646624456e-05,1793243290040864256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.368620084,714.631379916,681,657,631,879.631379916,785,806.368620084,651.631379916,631,651.631379916,0.452426099299,-0.00557566431585,0.0596853319109,0.999999870752,-0.000135312463907,-0.000485501558585,-6.68906563596e-05,1793243290057530624
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.944978919,714.055021081,681,657,631,879.055021081,785,806.944978919,651.055021081,631,651.055021081,0.452395842049,-0.00557711596634,0.0596714362813,0.999999859849,-0.000137716695604,-0.000506770768379,-6.72248942281e-05,1793243290074196992
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.465900601,745.465900601,714,681,657,631.534099399,879.534099399,785,807,651.534099399,630.465900601,651.534099399,0.452348326024,-0.00557543519364,0.0596563365812,0.999999848522,-0.00013475075837,-0.000529381826604,-6.74712593805e-05,1793243290090863616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.122366324,631.877633676,880,785.122366324,807,652,630.122366324,652,0.452295163471,-0.00557285218245,0.0596413491107,0.999999837436,-0.0001313062651,-0.000550705928235,-6.7893297068e-05,1793243290107530240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.702403561,631.297596439,880,785.702403561,807,652,630.702403561,652,0.452227694498,-0.00556813110972,0.0596272566784,0.999999828835,-0.000128191662519,-0.000566686930698,-6.90070662452e-05,1793243290124196864
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.280736795,657.719263205,631,880,786,807,652,631,652,0.452151241713,-0.00556558025028,0.0596157798866,0.999999820517,-0.000126217788067,-0.000581570906877,-6.93571385567e-05,1793243290140863488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.857274555,657.142725445,631,880,786,807,652,631,652,0.452065323056,-0.00556531605676,0.0596070590899,0.999999812567,-0.00012544585274,-0.000595298990069,-6.89025344161e-05,1793243290157530112
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.559204191,657.440795809,631.440795809,879.559204191,785.559204191,806.559204191,652,631,652,0.451965244866,-0.00556280727917,0.0595994145308,0.99999980466,-0.000124385205203,-0.000608665270932,-6.88055794925e-05,1793243290174196736
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.0263502,745.0263502,714,681,658,631.9736498,879.0263502,785.0263502,806.0263502,652,631,652,0.451858915433,-0.00555946855299,0.0595919509458,0.999999796487,-0.000123015382684,-0.000622221200735,-6.88099145263e-05,1793243290190863616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.606348384,745.606348384,714,681,658,631.393651616,879.606348384,785.606348384,806.606348384,652,631,652,0.451719121154,-0.0055542078464,0.0595808500953,0.999999784544,-0.000117145226714,-0.000642262918962,-6.8470137125e-05,1793243290207530240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.814960253,745.814960253,714,681.185039747,658,631,879.814960253,786,807,652,631,652,0.451567935878,-0.00554942450588,0.0595694717771,0.9999997718,-0.000112797213591,-0.00066261655529,-6.79427307993e-05,1793243290224197120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.239029584,745.239029584,714,681.760970416,658,631,879.239029584,786,807,652,631,652,0.45139268748,-0.00554564958755,0.0595575073178,0.999999757845,-0.000111664682421,-0.000683629107027,-6.70189640688e-05,1793243290240864768
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.912358905,879,786,807,652,631,652,0.451000477149,-0.00553529758257,0.059535183465,0.999999733272,-0.000106990848291,-0.000719485280841,-6.59467377922e-05,1793243290274197504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.498018835,714,681.501981165,658.498018835,632,879.498018835,786,806.501981165,652,631,651.501981165,0.450787290329,-0.00552828551713,0.0595322090071,0.999999731808,-9.9687906087e-05,-0.000722683172789,-6.46225967441e-05,1793243290290864128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714.084524429,681.084524429,659,632,880,786,806.084524429,652,631,651.084524429,0.450565970897,-0.00552113611314,0.0595321953752,0.999999733397,-9.20350162967e-05,-0.000721638159805,-6.3035701958e-05,1793243290307530496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.665420563,681.665420563,659,632,880,786,806.665420563,652,631,651.665420563,0.450309148007,-0.00551472969831,0.0595411557444,0.999999742038,-8.72319936823e-05,-0.00071036037738,-6.0843955441e-05,1793243290324197120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.755772911,715,682,659.244227089,632,880,786,806.755772911,652,631,652,0.450033831066,-0.00550701305517,0.0595484121695,0.999999750545,-8.07882574332e-05,-0.000699247655963,-5.86233449065e-05,1793243290340863744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.179804799,715,682,659.820195201,632,880,786,806.179804799,652,631,652,0.449733393113,-0.00549751668977,0.0595533540754,0.999999758892,-7.21158906415e-05,-0.000688359142589,-5.63635276393e-05,1793243290357530368
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.02851894,681.02851894,658.057037881,632.97148106,879.02851894,786,806,652,631,652,0.449086725465,-0.00547485098701,0.0595716931321,0.999999786644,-5.03679870183e-05,-0.00064923763378,-5.1631672057e-05,1793243290390864128
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.629557757,880,786,806.629557757,651.370442243,631,651.629557757,0.445605448138,-0.00544512738723,0.0597545719791,0.999999928924,-1.16205837523e-05,-0.000376466813543,-1.70135140659e-05,1793243290524197376
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,879.791541833,786.208458167,806.791541833,651.208458167,631,651.791541833,0.445032112956,-0.00545608475285,0.0597530930203,0.9999999286,-2.36839127756e-05,-0.0003769586101,-1.19109768168e-05,1793243290540864256
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,879.213744252,786.786255748,806.213744252,651.786255748,631,651.213744252,0.444439448592,-0.00545437870547,0.0597541182523,0.999999931704,-2.16220053345e-05,-0.00036885457524,-8.38441568898e-06,1793243290557530880
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.362406344,745,714,681,660.362406344,634,879.362406344,787,806,652,631,651.362406344,0.443831094645,-0.00544604751402,0.0597726564833,0.999999943552,-5.44321022053e-06,-0.000335933283439,-3.84723302039e-06,1793243290574197504
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.937589936,745,714,681,660.937589936,634,879.937589936,787,806,652,631,651.937589936,0.443213528999,-0.00543382654547,0.0598014770059,0.999999958219,1.90239400365e-05,-0.000288441198671,1.28330909702e-06,1793243290590863872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.474546815,745,714,681,660.474546815,634,880,787,806,651.474546815,631,652,0.442550145175,-0.00543084427852,0.0598069429356,0.999999953808,0.000109057202828,-0.000283637423787,6.39555489651e-06,1793243290607530496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.112843917,745,714,681,660,634.112843917,879.887156083,786.887156083,806,651,631,652,0.441863754605,-0.00542935141986,0.0598043415066,0.999999939212,0.000186414783366,-0.000294442087251,1.13509316267e-05,1793243290624197120
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.730533339,745,714,681,660,634.730533339,879.538933321,786.269466661,806,651.269466661,631,652,0.440348179027,-0.00542929979983,0.0597676956613,0.999999914257,0.000171785058498,-0.000376254098727,2.02129990223e-05,1793243290657530624
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.507078794,660,634,879.492921206,787,806,651.507078794,631,651.507078794,0.433002709932,-0.00543046344827,0.0597732014936,0.999999936533,0.000125503672525,-0.000332738202557,2.1633068378e-05,1793243290807529984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634.08021181,880,787,806,651.08021181,631,651.08021181,0.432129521853,-0.00542721412866,0.0597893407748,0.999999939333,0.000144321469188,-0.000315936323565,2.62560904487e-05,1793243290824196864
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.388993244,745,714,680,659,634.388993244,878.388993244,786.611006756,805,652,631,651.388993244,0.42042108239,-0.0054110824922,0.0597843222221,0.999999919177,0.000175881368734,-0.000360006511511,3.32745008941e-05,1793243291040864000
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.778679725,878.778679725,787,805,652,631,651.778679725,0.418642978591,-0.00540854112072,0.0597285245804,0.999999895194,0.000170235965499,-0.000424055739563,2.84168263094e-05,1793243291074197248
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.483398196,745,714,680,659,634.483398196,878.483398196,786.483398196,805,652,631,652,0.416249539835,-0.00540982205715,0.0598214135092,0.999999938998,0.000180581120304,-0.000296853824407,3.56629831621e-05,1793243291124197888
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.738727663,680,659,634.261272337,879.477455326,787,805,652,631,652,0.413917518773,-0.00540763705012,0.0598406914469,0.999999944104,0.000181373221396,-0.00027842421536,3.70998654914e-05,1793243291174197248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.163604608,680,659,634.836395392,878.327209216,787,805,652,631,652,0.413151963793,-0.00540282074373,0.0598332528285,0.999999938292,0.000196303487743,-0.000289030288329,3.66351483978e-05,1793243291190864128
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.865877879,659,634.134122121,878,787,805,652,631,652,0.40422169306,-0.0053839198436,0.0597822160493,0.999999913235,0.000222230915148,-0.000351079636879,2.97863465385e-05,1793243291457530368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.288727181,659,634.711272819,878,787,805,652,631,652,0.403858793172,-0.00537957247971,0.0597708099207,0.999999905905,0.000227003730988,-0.000368562941209,2.86426492831e-05,1793243291474196992
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.71353291,745,714,679.28646709,659,635,878,787,805,652,631,652,0.403542982633,-0.00537777071279,0.0597746942581,0.999999908657,0.000229256092295,-0.00035959522609,2.86194981383e-05,1793243291490863872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.140297162,745,714,679.859702838,659,635,878,787,805,652,631,652,0.403274311038,-0.00537851722291,0.0597938851586,0.999999920805,0.000228985345303,-0.000324148644863,2.97180727676e-05,1793243291507530496
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.565491815,659,635,878,787,805,652,631.434508185,652,0.403029499188,-0.00538022675521,0.0598129803227,0.999999931794,0.000224324669737,-0.000291815169536,3.05819589556e-05,1793243291524197120
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805,651.989881322,631.989881322,652,0.402792762015,-0.00538231183311,0.059831861962,0.999999941681,0.000218205547559,-0.000260842605518,3.13786917025e-05,1793243291540864256
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805,651.397199593,631.397199593,652,0.402575756972,-0.00538805111211,0.0598402364978,0.999999946126,0.000210022108433,-0.00025014061124,3.26877803329e-05,1793243291557531136
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.190861548,745,714,679.190861548,659,635,878,786.809138452,805,651.190861548,631,652,0.402360713378,-0.00539290571068,0.0598442752266,0.999999948294,0.000202718144278,-0.000247383929664,3.34382151468e-05,1793243291574197760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.76953406,745,714,679.76953406,659,635,878,786.23046594,805,651.76953406,631,652,0.402149655272,-0.00539596272925,0.0598395040421,0.999999946009,0.000197201183509,-0.000260771304621,3.30535229235e-05,1793243291590863872
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.653763516,659.346236484,635,878,786,805,652,631,651.653763516,0.401967667192,-0.00539710808526,0.0598345723304,0.999999943155,0.000195666736033,-0.000272665912342,3.25197405945e-05,1793243291607530240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.078364965,659.921635035,635,878,786,805,652,631,651.078364965,0.401804919545,-0.00539698817762,0.0598295343706,0.999999939926,0.000196768177099,-0.000283572509911,3.18872805943e-05,1793243291624196864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.492113911,745,714,679.507886089,659.492113911,635,878,786.507886089,805.507886089,652,631,651.507886089,0.401677249883,-0.00539525581351,0.0598311355599,0.999999938897,0.000204181191374,-0.000281973302336,3.17223449737e-05,1793243291640864256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.905575913,659,635,878,787,805.905575913,652,631,651.905575913,0.401557834469,-0.00539350941956,0.0598334156495,0.999999937799,0.000213791094701,-0.000278744906854,3.15585660852e-05,1793243291657531392
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.326349567,659,635,878,787,805.326349567,652,631,651.326349567,0.401452403153,-0.0053929962785,0.0598338070164,0.999999934727,0.000229571271571,-0.00027727523631,3.10222641553e-05,1793243291674198528
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805,652,631,651,0.401358946552,-0.00539213050679,0.0598351642922,0.999999933207,0.000238674535469,-0.000275086826404,3.07803866124e-05,1793243291690865152
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805,652,631,651,0.401280943895,-0.00539080964847,0.0598377681193,0.999999933939,0.000239160924182,-0.000271970849267,3.09184778077e-05,1793243291707531776
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.400379605,745,714,679,659,635,878.400379605,787,805,652,631,651.400379605,0.401213798804,-0.00539106769158,0.059836526159,0.999999934059,0.000235508996348,-0.000274745703319,3.05496849087e-05,1793243291724197888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.976785861,745,714,679,659,635,878.976785861,787,805,652,631,651.976785861,0.401151427236,-0.00539201989778,0.0598335934006,0.999999933862,0.000230037660125,-0.000280110457806,2.99580407196e-05,1793243291740864256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.431832151,745,714,679,659,635,879,787,805,652,631.568167849,651.431832151,0.401106673028,-0.00539250272519,0.0598317180602,0.999999933014,0.000230603214978,-0.000282656033126,2.99988953592e-05,1793243291757531136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805.156015251,652,631.843984749,651.156015251,0.401066757195,-0.00539239525667,0.0598307599327,0.99999993247,0.000230992926283,-0.000284254797985,3.00298991409e-05,1793243291774198016
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805.732639256,652,631.267360744,651.732639256,0.401037892271,-0.00539074948396,0.0598321549339,0.999999932829,0.000230225603357,-0.000283619953318,2.99627892759e-05,1793243291790864640
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.308504502,745,714,679.308504502,659,635,879,787,805.691495498,652.308504502,631,652,0.401015922404,-0.0053904035874,0.0598332125071,0.999999933293,0.000229937700445,-0.000282220745184,2.99104679751e-05,1793243291807531264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.883713861,745,714,679.883713861,659,635,879,787,805.116286139,652.883713861,631,652,0.400999913372,-0.00539118144505,0.059833978371,0.999999933844,0.000230064260264,-0.000280160738039,2.98709315106e-05,1793243291824198144
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.531460014,745,714,679.531460014,659,635,878.531460014,787,805,652.531460014,631,652,0.40099070298,-0.00539243045279,0.0598358693977,0.999999935094,0.000228320151989,-0.000277110692413,2.98692723902e-05,1793243291840864768
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.055410199,659,635,878.055410199,787,805,652,631,652,0.400983352457,-0.00539364367141,0.05983783817,0.999999936341,0.000226454769832,-0.000274124139474,2.98703715037e-05,1793243291857531136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.638540786,659,635,878.638540786,787,805,652,631,652,0.400977308283,-0.00539337903688,0.0598378320872,0.999999936001,0.000227948775144,-0.000274131490661,2.98063322784e-05,1793243291874197760
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.780808729,659,635,879,787,805,652,631,652,0.400972624146,-0.00539336337247,0.0598378497574,0.9999999359,0.000228319001724,-0.000274205125276,2.97119047052e-05,1793243291890864384
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.204202354,659,635,879,787,805,652,631,652,0.400970157697,-0.00539375368082,0.0598379061596,0.999999936187,0.000226856785301,-0.000274386842195,2.95679256441e-05,1793243291907530752
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.369668232,745,714,679,659,635,878.630331768,787,805,652,631,652,0.400969452225,-0.00539433118274,0.0598384394972,0.999999936484,0.000226850601977,-0.000273313735055,2.95037766912e-05,1793243291924197120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.942038669,745,714,679,659,635,878.057961331,787,805,652,631,652,0.40096971236,-0.00539501132954,0.0598392343554,0.999999936784,0.000227642813295,-0.000271552563365,2.9483401423e-05,1793243291940863488
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.469601753,745,714,679.530398247,658.469601753,635,878.530398247,787,805,652,631,652,0.40096920511,-0.00539475357242,0.0598400885421,0.999999937339,0.00022589376908,-0.000270987529263,2.9319288064e-05,1793243291957530368
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.88171437,714,679.88171437,658.11828563,635,878.88171437,787.11828563,804.88171437,652,631,652,0.400968797884,-0.0053944154733,0.0598408914393,0.999999937898,0.000224173953527,-0.000270369736468,2.91668590117e-05,1793243291974197248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.302683945,714,679.302683945,658.697316055,635,878.302683945,787.697316055,804.302683945,652,631,652,0.400969117077,-0.00539417606605,0.0598414685152,0.999999938373,0.000223683327639,-0.000269021462933,2.91230281505e-05,1793243291990864384
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.274847557,714,679,659,635,878,787.450304887,804.274847557,652,631,652,0.400969161931,-0.0053939550605,0.0598415964815,0.999999938471,0.000224013376708,-0.000268390913952,2.90263262129e-05,1793243292007531264
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.85073735,714,679,659,635,878,786.298525299,804.85073735,652,631,652,0.400968906301,-0.00539375421043,0.0598412325352,0.999999938158,0.000225242316096,-0.000268546492968,2.88717142511e-05,1793243292024197632
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.435129549,659,635,878.435129549,786.435129549,805,652,631,652,0.400968366805,-0.00539415200831,0.0598415423099,0.999999938231,0.000225184999989,-0.000268322821618,2.88506242378e-05,1793243292040864000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.977681003,659,635,878.977681003,787,805.022318997,652,631,652,0.40096773925,-0.00539476471013,0.0598420548425,0.999999938443,0.000224640672302,-0.000267985341879,2.88737125003e-05,1793243292057530624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.394946567,659,635,878.394946567,787,805.605053433,652,631,652,0.400967394321,-0.00539551443252,0.0598417399072,0.999999938738,0.00022316745974,-0.00026812189344,2.88331080992e-05,1793243292074196992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.185604784,745,714,679,659,635,878.185604784,786.814395216,805.814395216,652,631,652,0.400967465685,-0.0053958166089,0.0598418774014,0.999999939077,0.000222205698627,-0.000267660039243,2.87803647243e-05,1793243292090863616
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.761564735,745,714,679,659,635,878.761564735,786.238435265,805.238435265,652,631,652,0.400968412578,-0.00539517752775,0.0598429664238,0.999999939513,0.000222319598001,-0.000265939646467,2.87020912388e-05,1793243292107530496
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.337127783,659,635,879,786,805,652,631,652,0.400967831735,-0.00539492347419,0.0598428174857,0.999999939225,0.000222842216212,-0.00026657576136,2.87830084968e-05,1793243292124197632
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.912410424,659,635,879,786,805,652,631,652,0.400966171664,-0.00539494141305,0.0598417940238,0.999999938422,0.000223653562852,-0.000268876567817,2.89763817791e-05,1793243292140864256
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.501831689,745,714,680,659,635,878.501831689,786.498168311,805.498168311,652,631,652,0.400967502176,-0.00539430117118,0.0598432772557,0.999999938466,0.000225988926831,-0.000266745313867,2.90453642718e-05,1793243292157530624
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.084661468,745,714,679.915338532,659,635,878.084661468,787,805.915338532,652,631,651.915338532,0.400969151079,-0.00539361003031,0.059844947739,0.999999938698,0.000228055403855,-0.000264105211754,2.90445819887e-05,1793243292174197248
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.664451706,745,714,679.335548294,659,635,878.664451706,787,805.335548294,652,631,651.335548294,0.400969520851,-0.00539331254203,0.0598450804003,0.999999939211,0.000226948571342,-0.000263144454881,2.8766446908e-05,1793243292190863872
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,634.756705311,878.756705311,787,805,652,631,651.243294689,0.400969348362,-0.00539426151829,0.0598451441762,0.999999939742,0.000224575042463,-0.000263166752988,2.87378300091e-05,1793243292207530496
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,634.179163618,878.179163618,787,805,652,631,651.820836382,0.400968430893,-0.00539692293239,0.0598451133151,0.999999940286,0.000220461280347,-0.000264539607287,2.9052010133e-05,1793243292224196864
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.596166311,745,714,679,659.403833689,634.403833689,878.403833689,787,805,652,631,651.596166311,0.400968445449,-0.00539774053664,0.0598448720305,0.999999940553,0.000219379861528,-0.000264434777527,2.89934074145e-05,1793243292240863744
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.010715472,745,714,679,659.989284528,634.989284528,878.989284528,787,805,652,631,651.010715472,0.400968879167,-0.00539772891947,0.0598445361117,0.999999940701,0.000219662186401,-0.000263665385083,2.87671521036e-05,1793243292257530368
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b51294db6195feaaf566fcd3b2a3ff5f246a014
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-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
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+367,6.116666667,pose2_to_pose3_retreat,0.581586417602,1.74872590292e-06,1.05004063676,0.552158175185,0.00867657398262,1.04967843483
+368,6.133333333,pose2_to_pose3_retreat,0.581452408667,1.77821894122e-06,1.05004094428,0.552024166151,0.00867660275179,1.04967874241
+369,6.150000000,pose2_to_pose3_retreat,0.581336119946,1.89799279779e-06,1.05004102309,0.551907875731,0.00867671662202,1.04967882587
+370,6.166666667,pose2_to_pose3_retreat,0.581234872548,1.8716860256e-06,1.05004089902,0.551806626932,0.00867668507685,1.04967869205
+371,6.183333333,pose2_to_pose3_retreat,0.581147868404,1.80088910084e-06,1.05004085185,0.551719624342,0.00867661856617,1.04967864328
+372,6.200000000,pose2_to_pose3_retreat,0.581071107754,1.81001406498e-06,1.05004084607,0.551642864138,0.00867662892016,1.04967863849
+373,6.216666667,pose2_to_pose3_retreat,0.581003957797,1.86658138734e-06,1.05004079534,0.551575713983,0.00867668527078,1.04967859078
+374,6.233333333,pose2_to_pose3_retreat,0.580946976003,1.86288973786e-06,1.05004072462,0.551518733745,0.00867668694803,1.04967852424
+375,6.250000000,pose2_to_pose3_retreat,0.58089915456,1.83254584816e-06,1.05004086324,0.551470912498,0.00867665624931,1.0496786543
+376,6.266666667,pose2_to_pose3_retreat,0.58085951287,1.87929135396e-06,1.0500409579,0.551431268846,0.00867669679501,1.0496787504
+377,6.283333333,pose2_to_pose3_retreat,0.580827352573,1.80739496051e-06,1.05004089088,0.551399108852,0.00867662533047,1.04967867863
+378,6.300000000,pose2_to_pose3_retreat,0.580803045482,1.85346593442e-06,1.05004093339,0.551374801535,0.00867667104926,1.04967872663
+379,6.316666667,pose2_to_pose3_retreat,0.580784691534,1.8622767799e-06,1.05004093961,0.551356448837,0.00867668446701,1.04967873995
+380,6.333333333,pose2_to_pose3_retreat,0.580771666218,1.83087905142e-06,1.05004091006,0.551343424118,0.0086766549227,1.04967870759
+381,6.350000000,pose2_to_pose3_retreat,0.580762330009,1.79584907611e-06,1.05004087296,0.551334086849,0.00867661572817,1.04967865774
+382,6.366666667,pose2_to_pose3_retreat,0.580755897784,1.84362377139e-06,1.05004075935,0.551327654608,0.00867666370036,1.04967855044
+383,6.383333333,pose2_to_pose3_retreat,0.580751572879,1.82823262025e-06,1.05004079118,0.551323329917,0.00867664892093,1.04967857974
+384,6.400000000,pose2_to_pose3_retreat,0.580748545387,1.78630987648e-06,1.0500408844,0.551320302721,0.00867660774036,1.04967866675
+385,6.416666667,pose2_to_pose3_retreat,0.580746785116,1.79413385788e-06,1.05004087675,0.551318542389,0.00867661550236,1.0496786626
+386,6.433333333,pose2_to_pose3_retreat,0.580745749334,1.80066916368e-06,1.05004086854,0.551317506557,0.00867662197159,1.04967865687
+387,6.450000000,pose2_to_pose3_retreat,0.580745283457,1.82188305283e-06,1.05004086079,0.551317040551,0.00867664283038,1.04967865113
+388,6.466666667,pose2_to_pose3_retreat,0.580745163793,1.83315083794e-06,1.05004085752,0.55131692082,0.00867665390335,1.04967864864
+389,6.483333333,pose2_to_pose3_retreat,0.580745130411,1.83629412791e-06,1.0500408566,0.55131688742,0.00867665699229,1.04967864795
+390,6.500000000,pose2_to_pose3_retreat,0.580745037721,1.84502209739e-06,1.05004085407,0.551316794678,0.00867666556936,1.04967864602
+391,6.516666667,pose2_to_pose3_retreat,0.580744941322,1.85409922506e-06,1.05004085143,0.551316698225,0.00867667448954,1.04967864402
+392,6.533333333,pose2_to_pose3_retreat,0.580744819587,1.86556206492e-06,1.05004084809,0.551316576422,0.0086766857542,1.04967864149
+393,6.550000000,pose2_to_pose3_retreat,0.580744621483,1.884215987e-06,1.05004084267,0.551316378207,0.0086767040856,1.04967863738
+394,6.566666667,pose2_to_pose3_retreat,0.580744426428,1.90258286003e-06,1.05004083733,0.551316183043,0.00867672213492,1.04967863333
+395,6.583333333,pose2_to_pose3_retreat,0.580744369654,1.90792886978e-06,1.05004083577,0.551316126236,0.0086767273885,1.04967863215
+396,6.600000000,pose2_to_pose3_retreat,0.580744308125,1.91372258293e-06,1.05004083409,0.551316064673,0.00867673308204,1.04967863087
+397,6.616666667,pose2_to_pose3_retreat,0.580744127864,1.93069633145e-06,1.05004082915,0.551315884312,0.00867674976232,1.04967862712
+398,6.633333333,pose2_to_pose3_retreat,0.580744115462,1.93186418039e-06,1.05004082881,0.551315871902,0.00867675090997,1.04967862687
+399,6.650000000,pose2_to_pose3_retreat,0.580743962129,1.95942267038e-06,1.0500408356,0.551315718233,0.00867677726793,1.04967863221
+400,6.666666667,pose2_to_pose3_retreat,0.580743865145,1.97842847661e-06,1.05004084121,0.551315621006,0.00867679540026,1.04967863662
+401,6.683333333,pose2_to_pose3_retreat,0.580743732426,2.00443715759e-06,1.05004084889,0.551315487954,0.00867682021361,1.04967864265
+402,6.700000000,pose2_to_pose3_retreat,0.580743562277,1.99742370264e-06,1.05004084995,0.551315318032,0.00867681393619,1.04967864294
+403,6.716666667,pose2_to_pose3_retreat,0.580743523434,1.94103017602e-06,1.05004083828,0.551315280125,0.00867676079057,1.04967863291
+404,6.733333333,pose2_to_pose3_retreat,0.580743512237,1.92477393143e-06,1.05004083491,0.551315269198,0.00867674547058,1.04967863002
+405,6.750000000,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315250947,0.00867671988156,1.04967862519
+406,6.766666667,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315250948,0.00867671988051,1.04967862519
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30c26953a36c131f39f930f6e9a4ec40e0a40f81
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc30c9c38e5046b4cd32d0cd3ae9ea1b2e609bcc1e980677a0fe9be702d72a58
+size 25848454
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c83d361ac5c30e49383707e7ba7b7669be0d815
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+36,0.600000000,BASELINE,765.120165451,745,714,679,659,635,878,787,805,652,631,652,0.400967703561,-0.00539789116124,0.0598456504349,0.999999940945,0.000221015284042,-0.000261628874571,2.85085676177e-05,1793243292972861184
+37,0.616666667,BASELINE,765,745,714,679.467701673,659.467701673,635,878.467701673,787,805,652,631,652,0.400967751351,-0.00539703418751,0.0598461271631,0.999999940921,0.000221416028981,-0.000261398194915,2.83411683914e-05,1793243292989528064
+38,0.633333333,BASELINE,765,745,714,680,659.942188741,634.942188741,878.942188741,787,805,652,631,652,0.400968050322,-0.00539655698461,0.0598467662594,0.999999941071,0.000221206873073,-0.000261020339201,2.81799465562e-05,1793243293006194688
+39,0.650000000,BASELINE,765,745,714,680,659.364648369,634.364648369,878.364648369,787,805,652,631,652,0.400967651079,-0.00539809899144,0.0598464890339,0.999999941574,0.000217398236652,-0.000262304464462,2.80526108929e-05,1793243293022861568
+40,0.666666667,BASELINE,765,745,714,680,659,634.211972804,878.211972804,786.788027196,805,652.211972804,631,652,0.400967994579,-0.00539881729823,0.0598467766789,0.999999941903,0.000216217646909,-0.000262024499569,2.80468589627e-05,1793243293039528192
+41,0.683333333,BASELINE,765,745,714,680,659,634.787019507,878.787019507,786.212980493,805,652.787019507,631,652,0.400969610275,-0.00539812474473,0.0598480318525,0.999999941945,0.000219538461044,-0.000259065510222,2.82493596052e-05,1793243293056194816
+42,0.700000000,BASELINE,765,745,714,679.630792066,659,635,878.630792066,786.369207934,805.369207934,652.630792066,631,652,0.400969266118,-0.00539844048494,0.0598475901086,0.999999941822,0.000219834298521,-0.000259283796731,2.82929567834e-05,1793243293072861440
+43,0.716666667,BASELINE,765,745,714,679.044402638,659,635,878.044402638,786.955597362,805.955597362,652.044402638,631,652,0.400967769106,-0.00539934934009,0.0598461501764,0.999999941605,0.00021835073493,-0.000261371072206,2.82430811754e-05,1793243293089528064
+44,0.733333333,BASELINE,765,745,714,679,659,635,878.535832468,787,805.464167532,652,631,652,0.4009673942,-0.00539867981796,0.059846512429,0.999999941757,0.000217845178946,-0.000261239704995,2.79729593218e-05,1793243293106194688
+45,0.750000000,BASELINE,765.115316775,745,714,679,659,635,878.884683225,787,805,652,631,652,0.400967295643,-0.00539806682729,0.0598470017947,0.999999941887,0.000217804025683,-0.000260792677493,2.7819488732e-05,1793243293122861312
+46,0.766666667,BASELINE,765.693810445,745,714,679,659,635,878.306189555,787,805,652,631,652,0.400967937818,-0.00539820027903,0.0598474086917,0.999999941804,0.000219306351794,-0.000259807846685,2.82070292913e-05,1793243293139528192
+47,0.783333333,BASELINE,765.729974557,745,714,679.270025443,659.270025443,635,878.270025443,787,805,652,631,652,0.400968859481,-0.00539855087469,0.0598476323312,0.99999994195,0.00021952945792,-0.000259036964131,2.84000825709e-05,1793243293156195072
+48,0.800000000,BASELINE,765.156321716,745,714,679.843678284,659.843678284,635,878.843678284,787,805,652,631,652,0.400970095411,-0.00539914563566,0.0598476499086,0.999999942354,0.000218314158172,-0.000258506653422,2.8374446631e-05,1793243293172862464
+49,0.816666667,BASELINE,765,745,714,679.570475168,660,635,878.570475168,787,805.429524832,652,631,652,0.400968178245,-0.00539927128832,0.0598465911113,0.999999942031,0.000217034995871,-0.000260852654764,2.81024711137e-05,1793243293189529088
+50,0.833333333,BASELINE,765,745,714,678.980432565,659.980432565,635,878.019567435,786.980432565,805.980432565,652,631,652,0.400965319972,-0.00539921352578,0.0598452359509,0.999999941474,0.00021583300441,-0.000264001311981,2.77583708029e-05,1793243293206195456
+51,0.850000000,BASELINE,765,745,714,678.40101516,659.40101516,635,878.59898484,786.40101516,805.40101516,652,631,652,0.400969327321,-0.00539893548273,0.0598469370422,0.999999942335,0.000217523389367,-0.00025928935863,2.79907248198e-05,1793243293222861824
+52,0.866666667,BASELINE,765,745,714,678.354607452,659,635,878.822696274,786.177303726,804.822696274,652,631,651.822696274,0.400971431328,-0.00539855380136,0.0598479602829,0.999999942805,0.000218340913975,-0.000256771704006,2.80374300912e-05,1793243293239528192
+53,0.883333333,BASELINE,765,745,714,679.506306624,659,635,878.246846688,786.753153312,804.246846688,652,631,651.246846688,0.400969256978,-0.00539793916028,0.0598474598412,0.999999942441,0.000217196410478,-0.000259186425848,2.76668314354e-05,1793243293256194816
+54,0.900000000,BASELINE,765.33337419,745,714,680,659,635,878,787,804.33337419,652,631,651.33337419,0.400968658749,-0.0053985454617,0.0598472125761,0.999999942206,0.000217308201584,-0.000259970632837,2.79304151254e-05,1793243293272861440
+55,0.916666667,BASELINE,765.916874766,745,714,680,659,635,878,787,804.916874766,652,631,651.916874766,0.400969243063,-0.00540006782067,0.0598471552663,0.99999994207,0.000218362574497,-0.0002595314853,2.86698177261e-05,1793243293289528320
+56,0.933333333,BASELINE,766,745,714,679.499963527,659.500036473,635,878.500036473,787,805,652,631,652,0.400968588912,-0.00540033823814,0.059847056965,0.999999941842,0.000218830648723,-0.000260015962511,2.86337351145e-05,1793243293306195200
+57,0.950000000,BASELINE,765.917542567,745,714,679,659.917542567,635,878.917542567,786.917542567,805,652,631,652,0.400967888147,-0.0054003120421,0.0598469910228,0.999999941652,0.000219162314668,-0.000260484444078,2.84869931275e-05,1793243293322862336
+58,0.966666667,BASELINE,765.339237722,745,714,679,659.339237722,635,878.339237722,786.339237722,805,652,631,652,0.400968144281,-0.00539975285805,0.0598471606169,0.999999941775,0.000219259404925,-0.000259934058278,2.84495063689e-05,1793243293339528704
+59,0.983333333,BASELINE,765.236952635,745,714.236952635,679,659,635,878,786.236952635,805,652,631,652,0.400967930199,-0.0053989597138,0.0598469733973,0.999999941609,0.000219901585809,-0.000260047267357,2.82857913152e-05,1793243293356195328
+60,1.000000000,BASELINE,765.810142601,745,714.810142601,679,659,635,878,786.810142601,805,652,631,652,0.400967048877,-0.0053978345784,0.0598462798567,0.999999941032,0.000221317253854,-0.000261102121808,2.79429574832e-05,1793243293372861952
+61,1.016666667,BASELINE,765.60458299,745,714.60458299,679.39541701,659,635,878,787,805,652,631,651.60458299,0.400967001906,-0.00539771481909,0.059846407919,0.999999941059,0.000221038415708,-0.000261233379776,2.79620214649e-05,1793243293389528320
+62,1.033333333,BASELINE,765.01332342,745,714.01332342,679.98667658,659,635,878,787,805,652,631,651.01332342,0.400967368173,-0.0053980930036,0.0598469429057,0.999999941385,0.000219920320634,-0.000260907197822,2.81603266047e-05,1793243293406194944
+63,1.050000000,BASELINE,765,745,714,679.434155681,659,634.434155681,878,787,805,652,631,651.565844319,0.400967510168,-0.00539776865178,0.0598471612916,0.999999941556,0.000219860574386,-0.000260325417117,2.79410652513e-05,1793243293422861568
+64,1.066666667,BASELINE,765.143709431,745,714,679,659,634.143709431,878.143709431,786.856290569,805,652,631,652,0.400967948012,-0.00539776733733,0.0598474039318,0.999999941924,0.000219137361453,-0.000259536332858,2.77630718073e-05,1793243293439528192
+65,1.083333333,BASELINE,765.718503216,745,714,679,659,634.718503216,878.718503216,786.281496784,805,652,631,652,0.400969288821,-0.00539878361893,0.059847741221,0.999999942893,0.00021635076301,-0.000258143076841,2.77377455843e-05,1793243293456194816
+66,1.100000000,BASELINE,765.699948016,745,713.699948016,679.300051984,659,635,878.699948016,786.300051984,805,652,631,652,0.400969349463,-0.00539916799334,0.0598477781801,0.999999942993,0.000216121587484,-0.0002579377521,2.78121410581e-05,1793243293472861440
+67,1.116666667,BASELINE,765.111916072,745,713.111916072,679.888083928,659,635,878.111916072,786.888083928,805,652,631,652,0.400968181445,-0.0053989458841,0.0598475268924,0.999999942263,0.000218346941951,-0.000258872564542,2.79822461163e-05,1793243293489528064
+68,1.133333333,BASELINE,765.469484855,744.530515145,713.469484855,679.530515145,659,635,878,787,805,652,631,652,0.400967913987,-0.00539866712112,0.059847830877,0.999999941899,0.000219601781854,-0.000259215486143,2.8002025212e-05,1793243293506194688
+69,1.150000000,BASELINE,765.950980604,744.049019396,714,679,659,635,878.049019396,787,805,652.049019396,631,652,0.400967933385,-0.00539837912524,0.0598482349277,0.999999941697,0.000220375764173,-0.000259339616751,2.79892452384e-05,1793243293522861056
+70,1.166666667,BASELINE,765.374755816,744.625244184,714,679,659,635,878.625244184,787,805,652.625244184,631,652,0.400968761243,-0.00539813505483,0.0598483114168,0.999999942313,0.000218431648211,-0.000258606992494,2.80063281247e-05,1793243293539527936
+71,1.183333333,BASELINE,765.20182795,745,714,679.20182795,659,634.79817205,879,787,805,653,631,652,0.40096889788,-0.00539841654173,0.0598482062078,0.999999942686,0.000216822631331,-0.000258507543731,2.80954748145e-05,1793243293556194816
+72,1.200000000,BASELINE,765.779079557,745,714,679.779079557,659,634.220920443,879,787,805,653,631,652,0.400967748766,-0.00539967562679,0.059847763019,0.999999942614,0.000215836937707,-0.000259585875514,2.83186686332e-05,1793243293572861440
+73,1.216666667,BASELINE,765.636738323,745,714,679.636738323,659.363261677,634.363261677,879.363261677,787,805.363261677,652.636738323,631,652,0.400968140975,-0.00539942950409,0.0598480460745,0.999999942549,0.000216596613623,-0.000259192689523,2.83995059667e-05,1793243293589527808
+74,1.233333333,BASELINE,765.048259415,745,714,679.048259415,659.951740585,634.951740585,879.951740585,787,805.951740585,652.048259415,631,652,0.400969488784,-0.00539825017327,0.0598487793914,0.999999942486,0.000218438394646,-0.000257887182739,2.83920842287e-05,1793243293606194688
+75,1.250000000,BASELINE,765,745,714,679,659.468099844,635,879.468099844,787,804.936199688,652,631,652,0.400969072753,-0.00539825785012,0.0598477597393,0.999999942311,0.000218404970746,-0.000258622442282,2.81503481135e-05,1793243293622861312
+76,1.266666667,BASELINE,765,745,714,679,659,635,878.889592792,787,804.110407208,652,631,651.889592792,0.400968844348,-0.00539835737365,0.0598469391036,0.999999942204,0.000218248551579,-0.000259192291598,2.78948629677e-05,1793243293639527936
+77,1.283333333,BASELINE,765,745,714,679,659,635,878.314909599,787,804.685090401,652,631,651.314909599,0.400970067529,-0.00539839721698,0.0598476138707,0.999999942435,0.000218279354495,-0.000258299943802,2.7669583111e-05,1793243293656194560
+78,1.300000000,BASELINE,765,745,714,679,659,634.739702635,878.260297365,787,805,652,631,651.260297365,0.400969746137,-0.00539822484809,0.059847485362,0.999999942159,0.000218944258071,-0.000258807824386,2.76217668482e-05,1793243293672861440
+79,1.316666667,BASELINE,765,745,714,679,659,634.163860774,878.836139226,787,805,652,631,651.836139226,0.400967552343,-0.00539779522574,0.059846383085,0.999999941267,0.000220377847768,-0.000261013126588,2.77890801721e-05,1793243293689528064
+80,1.333333333,BASELINE,765,745,714,679.420468276,659,634.420468276,878.579531724,787,805,652,631,652,0.400967073545,-0.00539839326002,0.0598463665635,0.999999941595,0.000218350152083,-0.000261469510987,2.76867431189e-05,1793243293706194688
+81,1.350000000,BASELINE,765,745,714,679.99190961,659,635,878,786.99190961,805,652.00809039,631,652,0.40096727083,-0.00539937347326,0.0598467747526,0.999999942382,0.00021502835236,-0.000261232753194,2.74823842661e-05,1793243293722861056
+82,1.366666667,BASELINE,765,745,714,679.410149249,659,635,878,786.410149249,805,652.589850751,631,652,0.400967040042,-0.00539847039449,0.0598466769309,0.999999941846,0.000217562312611,-0.000261171131145,2.76487711517e-05,1793243293739527680
+83,1.383333333,BASELINE,765.169510015,745,714,679,659,635,878.339020029,786.169510015,805,653,631,652,0.400967825375,-0.00539832059283,0.0598471528749,0.999999941888,0.000218631375685,-0.000260090039282,2.78849675714e-05,1793243293756194560
+84,1.400000000,BASELINE,765.744147788,745,714,679,659,635,879.488295577,786.744147788,805,653,631,652,0.400971039233,-0.0053999711181,0.0598490001148,0.999999943314,0.000216199345177,-0.000256572421622,2.82880083278e-05,1793243293772861440
+85,1.416666667,BASELINE,765.680911695,745,714,679.319088305,659,635,879.361823391,786.680911695,805,652.680911695,631,651.680911695,0.400971432926,-0.00540034488335,0.0598493405423,0.99999994377,0.000214632184125,-0.000256105640735,2.83434977928e-05,1793243293789528064
+86,1.433333333,BASELINE,765.105728237,745,714,679.894271763,659,635,878.211456475,786.105728237,805,652.105728237,631,651.105728237,0.4009695632,-0.00539969394141,0.0598484716261,0.999999943454,0.000213759153568,-0.000258087412701,2.81200481443e-05,1793243293806194688
+87,1.450000000,BASELINE,765,745,714,680.481854687,659,635,878,786.481854687,805,652,631,651.481854687,0.400969919374,-0.00539823071733,0.0598488008351,0.999999943151,0.000215993960623,-0.000257423445204,2.78919843532e-05,1793243293822861312
+88,1.466666667,BASELINE,765.07091545,745,714,680.8581691,659,635,878.07091545,786.92908455,805,652,631,652,0.400970497075,-0.00539686453241,0.0598491765622,0.999999942815,0.000218567538473,-0.000256575451166,2.76985927782e-05,1793243293839527936
+89,1.483333333,BASELINE,765.65054517,745,714,679.698909661,659,635,878.65054517,786.34945483,805,652,631,652,0.400969067785,-0.00539750677205,0.0598479503153,0.999999942274,0.000218550323118,-0.000258681754357,2.77613779977e-05,1793243293856194816
+90,1.500000000,BASELINE,765.772252261,745,714,679,659,635,878.772252261,786.227747739,805.227747739,652,631.227747739,652,0.400968567499,-0.00539784154139,0.059847826702,0.999999942173,0.000218591024222,-0.000259037778738,2.77713327761e-05,1793243293872861184
+91,1.516666667,BASELINE,765.198734678,745,714,679,659,635,878.198734678,786.801265322,805.801265322,652,631.801265322,652,0.40096947764,-0.00539770950491,0.0598493771228,0.99999994274,0.000218719654914,-0.000256736504837,2.77010796244e-05,1793243293889527808
+92,1.533333333,BASELINE,765,745,714,679,659,635,878.384987417,787,806,652,631.615012583,652,0.400969915078,-0.00539834860968,0.0598491753694,0.99999994266,0.000219210060317,-0.000256616121527,2.78291044231e-05,1793243293906194944
+93,1.550000000,BASELINE,765,745,714,679,659,635,878.974120673,787,806,652,631.025879327,652,0.400970101857,-0.00539939662463,0.0598480444973,0.999999942238,0.000219892302657,-0.00025765219071,2.80622693231e-05,1793243293922861568
+94,1.566666667,BASELINE,765,745,714,679,659.554155349,635,879,787,805.445844651,652.554155349,631,652,0.40096908485,-0.00539930099948,0.0598482624172,0.999999942317,0.000218705417469,-0.000258348600917,2.80981209881e-05,1793243293939528192
+95,1.583333333,BASELINE,765,745,714.133364334,679,660,635,878.866635666,787,805,652.866635666,631,652,0.400968424158,-0.00539933338907,0.0598484468787,0.999999942402,0.000217888329607,-0.000258703306641,2.81566724923e-05,1793243293956194816
+96,1.600000000,BASELINE,765,745,714.711214837,679,660,635,878.288785163,787,805,652.288785163,631,652,0.400969135355,-0.00539996756375,0.0598483132842,0.999999942434,0.000218589952461,-0.000257971168287,2.83210947113e-05,1793243293972861440
+97,1.616666667,BASELINE,765,745,714.707741529,679.292258471,660,635,878.292258471,787,805,652,631,652,0.400969575119,-0.00539982134787,0.0598482396945,0.999999942576,0.000218230730492,-0.000257733177534,2.82155340747e-05,1793243293989528064
+98,1.633333333,BASELINE,765,745,714.123507895,679.876492105,660,635,878.876492105,787,805,652,631,652,0.400969743716,-0.00539889549787,0.0598482260515,0.99999994283,0.000216811692007,-0.000257988855416,2.78402522858e-05,1793243294006194688
+99,1.650000000,BASELINE,765.457034703,745,714,680,659.542965297,635,879,787,805,652.457034703,631,652,0.400969393346,-0.00539825891542,0.0598485078353,0.999999942205,0.000218883778063,-0.000258675533471,2.76805886305e-05,1793243294022861312
+100,1.666666667,BASELINE,765.963478736,745,714,679.963478736,659,635,879,787,805,652.963478736,631,652,0.40096891818,-0.00539775562511,0.0598488008396,0.999999941418,0.000221593741635,-0.00025941919626,2.75961751573e-05,1793243294039528192
+101,1.683333333,BASELINE,765.38497998,745,714,679.38497998,659,635,879,787,805,652.38497998,631,652,0.400968655586,-0.00539807963007,0.0598480850872,0.999999941824,0.000219881415654,-0.000259293906541,2.77707041599e-05,1793243294056194816
+102,1.700000000,BASELINE,765,745,714,679,659,635,878.807340409,786.807340409,805,652,631,652,0.40096828381,-0.00539815650162,0.0598475014117,0.999999942009,0.000218988990637,-0.000259336565771,2.77454460867e-05,1793243294072861696
+103,1.716666667,BASELINE,765,745,714,679,659,635,878.231410137,786.231410137,805,652,631,652,0.400967694835,-0.00539774173402,0.0598471804858,0.999999941761,0.000219727649946,-0.000259713337152,2.73227381296e-05,1793243294089528320
+104,1.733333333,BASELINE,765,745,714,679,659,635,878.351967852,786.351967852,805,652,631,652,0.400967810673,-0.00539819909933,0.0598472425143,0.999999941941,0.000218968348885,-0.00025964163053,2.75178173199e-05,1793243294106194944
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.940348447,786.940348447,805,652,631,652,0.400968399926,-0.00539924226621,0.0598475617687,0.999999942406,0.000217202885216,-0.000259268686447,2.81278569603e-05,1793243294122861568
+106,1.766666667,BASELINE,765,745,714,679,659,635,878.479608604,787,805.520391396,652,631,652,0.40096935357,-0.00539894878487,0.0598482489911,0.999999942732,0.000217200357264,-0.000258036637178,2.78784861998e-05,1793243294139527936
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,787,804,652,631,652,0.400968292028,-0.00539789485276,0.0598472823805,0.999999942066,0.000218564139633,-0.000259503262354,2.75079988043e-05,1793243294182210816
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.426243796,659,635,878,787,805.147512407,652,631,652,0.400967852416,-0.00539839143163,0.0598473565704,0.999999942187,0.000217764876753,-0.000259691582195,2.76678563161e-05,1793243294198877440
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805.847810788,652,631,652,0.400967577826,-0.00539884208002,0.0598475021212,0.999999942223,0.000217455185656,-0.00025979643839,2.78137081212e-05,1793243294215544320
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805.2558638,652,631,652,0.400967780076,-0.00539916001028,0.0598478538724,0.999999942014,0.000218560134713,-0.000259660122554,2.79190898262e-05,1793243294232211456
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.328721942,745,714,679,659,635,878,787,805,652,631,652,0.400968091407,-0.00539917665901,0.0598480538403,0.999999942038,0.000218789522171,-0.000259375626027,2.79263939075e-05,1793243294248878080
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.907703454,745,714,679,659,635,878,787,805,652,631,652,0.400968485783,-0.00539896393881,0.0598481382539,0.999999942238,0.000218352335051,-0.000258978317946,2.78590304272e-05,1793243294265544192
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.5166746,745,714,679,659,635,878,787,805,652,631,652,0.400968966821,-0.0053980421916,0.0598486407682,0.999999942119,0.000219737122005,-0.000258267992704,2.78560764616e-05,1793243294282210560
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.058993369,787,805,652,631,652,0.400969420675,-0.00539732285385,0.0598491299445,0.999999941977,0.000221085340085,-0.000257662862858,2.7879534154e-05,1793243294298877184
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.640714526,787,805,652,631,652,0.400969488035,-0.0053995884651,0.0598487983644,0.999999942201,0.000219047903398,-0.00025851583787,2.80287869131e-05,1793243294315544064
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,678.775921135,659,635,878.775921135,787,805,652,631,652,0.400974286876,-0.00540051849484,0.0598503760801,0.999999943109,0.000218061312897,-0.000255810880616,2.81271445625e-05,1793243294332210688
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,678.18990273,659,635,878.18990273,787,805,652,631,652,0.40098672816,-0.00539929124925,0.0598550377532,0.99999994508,0.000218772083847,-0.000247359034257,2.81432947448e-05,1793243294348877312
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,678.778218782,659.389109391,635,878,787,805,652,631,651.610890609,0.401017991228,-0.00540020849417,0.0598673488069,0.999999950618,0.000217497364088,-0.000224999203126,2.8879283768e-05,1793243294365543936
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.929525327,659.964762664,635,878,787,805,652,631,651.035237336,0.401058277693,-0.00540215383439,0.0598833270692,0.999999957178,0.000215270775301,-0.000195971710205,2.99603724663e-05,1793243294382210816
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.459740324,659.459740324,635,878.540259676,787,805.540259676,652,631,651,0.401119215734,-0.00540397809731,0.0598999882569,0.999999962357,0.000215116910213,-0.000167572279097,3.05129399116e-05,1793243294398877440
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.118156486,745,714,679,659,635,879,787,805.881843514,652,631,651,0.401182976929,-0.00540593777287,0.059915333351,0.999999966316,0.000214951579757,-0.000142125788466,3.10441635467e-05,1793243294415544064
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.705625835,745,714,679,659,635,879,787,805.294374165,652,631,651,0.401252603083,-0.00540846666017,0.0599252741089,0.999999968335,0.000214203899071,-0.000128245591418,3.16274913669e-05,1793243294432210688
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.710894081,745,714,679,659,635,878.710894081,787,805,652,631,651,0.401330240517,-0.00541002737498,0.0599313536305,0.999999969421,0.000214506703785,-0.000118982802772,3.14263141381e-05,1793243294448877568
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.131420707,745,714,679,659,635,878.131420707,787,805,652,631,651,0.401415924182,-0.00541061569245,0.0599335550665,0.999999969699,0.000215864577847,-0.000114357571806,3.04372085789e-05,1793243294465544192
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713.554318148,679,659,634.554318148,877.554318148,786.554318148,805,652,631,651.445681852,0.401523826451,-0.00541509460071,0.0599385309463,0.999999971868,0.000210960336653,-0.000104255204464,2.98518238602e-05,1793243294482210816
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713.022023782,679,659,634.022023782,877.022023782,786.022023782,805,652,631,651.977976218,0.401639199298,-0.00542057769269,0.0599442323041,0.999999974357,0.000204526987445,-9.26908606236e-05,2.93664160568e-05,1793243294498877184
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713.596728912,679,659,634.596728912,877.596728912,786.596728912,805,652,631,651.403271088,0.401778500585,-0.00542262315391,0.0599477175739,0.999999974825,0.000205814445219,-8.47539957273e-05,2.84182461991e-05,1793243294515544064
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.176475639,745,714,679.176475639,659.176475639,635,878.176475639,787,805.176475639,652,631,651.176475639,0.401921929954,-0.0054248998146,0.0599492389149,0.999999975417,0.000205287460202,-7.93048259038e-05,2.71050393448e-05,1793243294532210688
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.768081834,745,714,679.768081834,659.768081834,635,878.768081834,787,805.768081834,652,631,651.768081834,0.402075069952,-0.00542772033459,0.0599461404284,0.999999976414,0.000200492290216,-7.97075597273e-05,2.49331418092e-05,1793243294548877312
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.647544209,635,879,787,805.647544209,652,631,652,0.402252529379,-0.00543185186895,0.0599457059385,0.999999977509,0.000196664938874,-7.59944040855e-05,2.30263591159e-05,1793243294565543680
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.067833367,635,879,787,805.067833367,652,631,652,0.402445669405,-0.00543682871426,0.0599469891295,0.999999978636,0.000193461613331,-6.96274215436e-05,2.12905159076e-05,1793243294582210560
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493609166,745,714,680,659,635,879,787,805,652,631,652,0.402673548859,-0.00544260337151,0.0599486898881,0.999999980093,0.000188559091331,-6.23786473564e-05,1.91794259912e-05,1793243294598877440
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.917910703,659,635,878.917910703,787,805.082089297,652.082089297,631,652,0.402911057108,-0.00544863050283,0.0599506637417,0.999999981592,0.000183092165759,-5.4799933576e-05,1.70223414927e-05,1793243294615544320
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.328610386,659,635,878.328610386,787,805.671389614,652.671389614,631,652,0.403179614841,-0.00545556436535,0.0599539830821,0.99999998343,0.000175529224653,-4.59046090108e-05,1.48883192358e-05,1793243294632210944
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.256132955,745,714,679.256132955,659,635,878.256132955,787,806,652.743867045,631,652,0.403457141364,-0.00546325009236,0.0599525828019,0.999999984839,0.000167470301993,-4.61240030174e-05,1.21885045726e-05,1793243294648877312
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.835132006,745,714,679.835132006,659,635,878.835132006,787,806,652.164867994,631,652,0.403745973398,-0.00547188357497,0.059945233246,0.999999985683,0.000158786174694,-5.78328741683e-05,8.7754855027e-06,1793243294665544192
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.587345647,745,714,679.587345647,659,635,879,787,805.587345647,652.412654353,631,652,0.40405524628,-0.0054790147372,0.0599338279894,0.999999985794,0.000150438086108,-7.58538619872e-05,5.06364590421e-06,1793243294682210816
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.010411197,745,714,679.010411197,659,635,879,787,805.010411197,652.989588803,631,652,0.404372656774,-0.00548554781675,0.0599208081349,0.99999998524,0.00014222377664,-9.63877398336e-05,1.23284419601e-06,1793243294698877440
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652.436522663,631,651.436522663,0.404726242519,-0.00549422558601,0.0599077688059,0.999999984403,0.000129149886509,-0.00012043721697,-3.11943491402e-06,1793243294715544320
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,651.141730525,0.405099127143,-0.00550279113209,0.059899108071,0.999999983793,0.000116419779892,-0.000137140859909,-7.3193351465e-06,1793243294732210688
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,651.734037242,0.405531251372,-0.00551087460687,0.0599043684857,0.999999985933,0.000105066513768,-0.000130285927852,-1.10043395651e-05,1793243294748877312
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.680855807,787,805.319144193,652,631,652,0.405999534967,-0.00551897783829,0.0599229037744,0.999999993605,5.00455504139e-05,-0.000100475378455,-1.37862635638e-05,1793243294765544192
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.101616436,787,805.898383564,652,631,652,0.40649728766,-0.00552709717178,0.0599522577807,0.999999997702,-4.05635836423e-05,-5.19565272538e-05,-1.58321980827e-05,1793243294782210816
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.473652979,635,878.473652979,786.526347021,805.526347021,652,631,652,0.407022128605,-0.00552256510345,0.0599793238495,0.999999998983,-4.10932592412e-05,-6.60381941431e-06,-1.73881164433e-05,1793243294798877696
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.048112303,659.951887697,634.951887697,878.951887697,786.048112303,805.048112303,652,631,651.951887697,0.407551732472,-0.00551495606199,0.0600032829184,0.999999999034,-2.23889256621e-05,3.26339380367e-05,-1.9146831554e-05,1793243294815544320
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.622950114,659.377049886,634.377049886,878.377049886,786.622950114,805.622950114,652,631,651.377049886,0.408070386431,-0.00550312848348,0.0599985561516,0.999999999626,-2.92701329439e-06,1.23008501135e-05,-2.42670792016e-05,1793243294832210944
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.803131515,659,634.196868485,878.196868485,787,805.60626303,652,631,651.196868485,0.40860536895,-0.00549991063311,0.0599902119448,0.999999999516,-6.39797971249e-08,-1.13073265325e-05,-2.89949124481e-05,1793243294848877568
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.230965939,659,634.769034061,878.769034061,787,804.461931877,652,631,651.769034061,0.40917147913,-0.00551310580114,0.0599749716896,0.999999998193,-2.88439550326e-05,-4.11589150094e-05,-3.29746724628e-05,1793243294865544192
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.644362563,879,786.644362563,804.355637437,652,631,652,0.409772490492,-0.00552275037866,0.0599713514936,0.999999996901,-4.95804383378e-05,-4.96111885964e-05,-3.57573433185e-05,1793243294882211072
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.04798593,879,786.04798593,804.95201407,652,631,652,0.410397127246,-0.0055299914789,0.0599755971849,0.999999996235,-6.48720950272e-05,-4.35777704924e-05,-3.77296767319e-05,1793243294898877952
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.528541636,659.528541636,634.528541636,879,786.528541636,805,652,631,652,0.411071443974,-0.00552819008753,0.0599895719176,0.999999999405,-1.79615905025e-05,-9.9882047768e-06,-2.77115593768e-05,1793243294915544576
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.893979789,659.893979789,635,879,787,804.893979789,652,631,652,0.411748176584,-0.00552439508582,0.0599981197815,0.999999999419,2.47874845498e-05,1.24967319719e-05,-1.97871444081e-05,1793243294932211456
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.304237886,659.304237886,635,879,787,804.304237886,652,631,652,0.412416097479,-0.00551511425038,0.0599780231305,0.999999999019,2.37164449134e-05,-2.66851130115e-05,-2.62023697009e-05,1793243294948877824
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.280493743,679,659.280493743,635,879,787,804.280493743,652,631,652,0.413079763507,-0.00550983446947,0.0599494600823,0.999999996021,7.87228762981e-06,-8.30171597917e-05,-3.16835945678e-05,1793243294965544192
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.859886412,679,659.859886412,635,879,787,804.859886412,652,631,652,0.413738895558,-0.0055088182795,0.0599118750942,0.999999986642,-2.37143565227e-05,-0.000157624759347,-3.61695332959e-05,1793243294982211072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.436790194,745,714.563209806,679.436790194,660,635,879,786.563209806,805,652,631,651.563209806,0.414501039528,-0.00551580818304,0.0599204232794,0.999999989077,-2.69628460796e-05,-0.000140474608243,-3.72366144096e-05,1793243294998877696
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.98709446,745,714,679.98709446,660,635,879,786.01290554,805,652,631.01290554,651.01290554,0.415296858836,-0.0055252731759,0.0599441906993,0.999999994725,-2.14121696011e-05,-9.33300441851e-05,-3.71569250793e-05,1793243295015544320
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.410740707,745,714,679.410740707,660,635,879,786.589259293,805,652,631.589259293,651.589259293,0.416128410745,-0.00553130853451,0.0599899834333,0.99999999895,-2.63242262005e-05,-1.44395384249e-05,-3.46199624404e-05,1793243295032211200
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.169614984,745,714,679.169614984,660,634.830385016,879.169614984,787,805.169614984,652,631.830385016,651.830385016,0.416951899007,-0.00553362061584,0.0600208013931,0.99999999838,-2.84352291839e-05,3.6408395664e-05,-3.32620647195e-05,1793243295048877824
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.75989594,745,714,679.75989594,660,634.24010406,879.75989594,787,805.75989594,652,631.24010406,651.24010406,0.417755388385,-0.0055266985123,0.060014480073,0.999999998958,-2.35992755966e-05,1.77073066406e-05,-3.48283932544e-05,1793243295065544192
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.343655887,714,679.656344113,660.343655887,634.343655887,880,787,806,652,631,651.343655887,0.418567877838,-0.00552403550365,0.0599997581136,0.999999998999,-2.44445810191e-05,-5.62870222888e-06,-3.70564009197e-05,1793243295082210816
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.922944583,714,679.077055417,660.922944583,634.922944583,880,787,806,652,631,651.922944583,0.419386538296,-0.00552429280752,0.0599792761303,0.999999998268,-2.9185327017e-05,-3.21427125827e-05,-3.9738098718e-05,1793243295098877440
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.502877143,714,679.497122857,660.502877143,635,879.502877143,787,805.502877143,652,631,651.502877143,0.420199955434,-0.00552757767985,0.059954537344,0.999999996225,-3.39768220363e-05,-6.80256412045e-05,-4.20420237813e-05,1793243295115544064
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.072490243,652,631,651.072490243,0.421009049574,-0.00553069628629,0.0599283706316,0.999999992392,-3.76039332191e-05,-0.000108874390948,-4.41323859268e-05,1793243295132210944
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.661928655,652,631,651.661928655,0.421793051625,-0.00552931667789,0.0598966784476,0.99999998315,-3.28719702812e-05,-0.000174885055177,-4.51130992602e-05,1793243295148877312
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.75272301,745.24727699,714,679.75272301,660,635,879.24727699,787,806,652,631,652,0.422655978552,-0.00552884380306,0.059895836418,0.999999982566,-3.5534169436e-05,-0.000177414577708,-4.61532811272e-05,1793243295165544192
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.172875465,745.827124535,714,679.172875465,660,635,879.827124535,787,806,652,631,652,0.423625054123,-0.00552959042235,0.0599364857212,0.999999993252,-4.81410077246e-05,-9.45663368779e-05,-4.7273444203e-05,1793243295182210816
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.403884421,745.596115579,714,679.403884421,660.403884421,635,880,787.403884421,806,652,631,652,0.424566661828,-0.00553291419124,0.059986890309,0.999999997515,-5.17386533421e-05,-1.48807392663e-05,-4.5513938153e-05,1793243295198877440
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.979332683,745.020667317,714,679.979332683,660.979332683,635,880,787.979332683,806,652,631,652,0.42549660155,-0.00553733269328,0.060041438788,0.999999995755,-5.15093326522e-05,6.34614115408e-05,-4.25311930865e-05,1793243295215544064
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.443908594,635,879.443908594,787.443908594,806,652,631,652,0.426387507921,-0.00554086203098,0.0600359187504,0.999999995504,-5.38851889981e-05,6.44700126447e-05,-4.39432482404e-05,1793243295232210944
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.135104658,634.864895342,879.135104658,787,806,651.864895342,631,652,0.427267258586,-0.00554394625841,0.0600240233649,0.999999995752,-5.85598565098e-05,5.44371600064e-05,-4.58656244231e-05,1793243295248877568
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.721485386,634.278514614,879.721485386,787,806,651.278514614,631,652,0.428114603987,-0.0055456543712,0.0599983075549,0.999999996164,-7.05888349698e-05,1.71465082064e-05,-4.89457159498e-05,1793243295265544192
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.694793948,634.305206052,879.694793948,787,806,651.305206052,631,651.694793948,0.42896470662,-0.00554449236141,0.0599719745343,0.999999995883,-7.09540748432e-05,-2.50714608643e-05,-5.07036172731e-05,1793243295282211072
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.113479769,634.886520231,879.113479769,787,806,651.886520231,631,651.113479769,0.42981730357,-0.00554073386249,0.0599450831484,0.999999994266,-6.0767580205e-05,-7.17469815001e-05,-5.12653839826e-05,1793243295298877696
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.462424554,787,806.462424554,652,631.462424554,651.462424554,0.430688188249,-0.00553892672736,0.0599372011655,0.999999993534,-6.08025697692e-05,-8.06925607073e-05,-5.21818315247e-05,1793243295315544064
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.036952249,660,635,880,787,806.963047751,652,631.963047751,652,0.431567149692,-0.00553798730863,0.0599373251876,0.999999993766,-6.3474600889e-05,-7.49987276916e-05,-5.30520402377e-05,1793243295332210688
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.610544184,660,635,880,787,806.389455816,652,631.389455816,652,0.432498984041,-0.00554277536726,0.0599867532875,0.999999996252,-6.84365080026e-05,1.0387249392e-05,-5.20013305016e-05,1793243295348877568
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.190041151,714,680.809958849,660.190041151,635,880,787,806.190041151,652,631,651.809958849,0.433396159587,-0.00554676895414,0.0600186503963,0.999999994084,-7.20167556474e-05,6.3318955482e-05,-5.13356127088e-05,1793243295365544192
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.782027625,714,680.217972375,660.782027625,635,880,787,806.782027625,652,631,651.217972375,0.434220030426,-0.00554908219954,0.060013468704,0.999999994901,-7.26747350778e-05,4.7608479426e-05,-5.14841701339e-05,1793243295382210816
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.633226864,714.366773136,680.366773136,661,635,880,787,806.633226864,652,631,651.366773136,0.435045584474,-0.00554849154044,0.0599865149736,0.999999995677,-7.58252416798e-05,3.56313694394e-07,-5.38165647664e-05,1793243295398877440
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.052701361,714.947298639,680.947298639,661,635,880,787,806.052701361,652,631,651.947298639,0.435872119432,-0.00554620850956,0.059946872679,0.999999992986,-8.04283723123e-05,-6.52780883682e-05,-5.74216815641e-05,1793243295415544320
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.478104479,745,714.478104479,680.478104479,660.478104479,635,880,787,806,651.478104479,631.521895521,652,0.436659003821,-0.00554737885286,0.0599323651589,0.999999990523,-8.53017600071e-05,-9.12044588136e-05,-5.79569060691e-05,1793243295432210944
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.094816673,745,714,680,660.094816673,634.905183327,880,787,806,651.094816673,631.905183327,652,0.437434008935,-0.00554814446929,0.0599200650837,0.999999987688,-8.82994125413e-05,-0.000115878230753,-5.8305992635e-05,1793243295448877568
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.662334711,745,714,680,660.662334711,634.337665289,880,787,806,651.662334711,631.337665289,652,0.438169527926,-0.00554517334053,0.0599062585488,0.999999983029,-8.18112011293e-05,-0.000154073007133,-5.92552239867e-05,1793243295465544192
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.75645594,745,714,680,660.75645594,634,880,787,805.75645594,651.75645594,631,652,0.438936318418,-0.00554382166501,0.0599107976033,0.999999983115,-7.96675512154e-05,-0.000154429757282,-5.97790365853e-05,1793243295482210816
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.155133415,745,714,680,660.155133415,634,880,787,805.155133415,651.155133415,631,652,0.43974904825,-0.00554484904795,0.059942287252,0.999999989779,-8.39062810363e-05,-9.92005417799e-05,-5.96778875465e-05,1793243295498877696
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.428129413,634,880,787,805.428129413,651.428129413,631,652,0.440553874338,-0.00554789708381,0.0599857741043,0.999999994149,-8.58261691914e-05,-3.18799712054e-05,-5.76153212051e-05,1793243295515544320
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.00517852,661,634,880,787,806,652,631.00517852,651.99482148,0.441354675791,-0.00555164357364,0.0600328476333,0.99999999396,-8.69619205763e-05,3.87885510891e-05,-5.48977896378e-05,1793243295532210944
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.589533701,661,634,880,787,806,652,631.589533701,651.410466299,0.44201269038,-0.0055549317646,0.060014540615,0.999999994281,-9.0568345936e-05,1.3715625944e-05,-5.51990182589e-05,1793243295548877568
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.172930086,880,787,806,651.827069914,632,651.172930086,0.442666007591,-0.00555700453517,0.0599927677871,0.999999993661,-9.64506292637e-05,-1.53454162036e-05,-5.60341703792e-05,1793243295565544192
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.754063342,880,787,806,651.245936658,632,651.754063342,0.443308236726,-0.0055562082946,0.0599628138775,0.999999991062,-0.000107705098474,-5.382045283e-05,-5.81296542487e-05,1793243295582210816
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.670049154,880,787,806,651.329950846,631.670049154,652,0.443943401207,-0.00555634577911,0.0599529629681,0.999999989901,-0.000110239000431,-6.74650949373e-05,-5.91162945098e-05,1793243295598877696
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.098010538,880,787,806,651.901989462,631.098010538,652,0.444573382251,-0.00555716834577,0.0599578618044,0.999999990607,-0.000106374546689,-6.28914610099e-05,-5.92893666111e-05,1793243295615544320
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.482396871,745,714,681,660.517603129,634.482396871,880,787,806.482396871,652,631,652,0.44518553502,-0.005557685586,0.0599657478782,0.999999991367,-0.00010209584509,-5.74790694731e-05,-5.94873318876e-05,1793243295632211200
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,681.065205227,660,634.934794773,880,787,806.934794773,652,631,652,0.445779678594,-0.00555769508656,0.0599692725366,0.999999991622,-9.80983413239e-05,-5.9433108698e-05,-6.00021301602e-05,1793243295648877568
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681.653392238,660,634.346607762,880,787,806.346607762,652,631,652,0.446258943841,-0.00555413856983,0.0599328623972,0.999999985881,-9.70431611501e-05,-0.000121860917478,-6.30168219653e-05,1793243295665544448
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.761841088,745,714,682,660,634,880,787,806,652,631,652,0.446738673295,-0.00555287547345,0.0599014739087,0.999999978178,-9.96874967877e-05,-0.000171340814575,-6.59518977632e-05,1793243295682211072
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.181981822,745,714,682,660,634,880,787,806,652,631,652,0.447219068731,-0.00555490288013,0.0598772902761,0.999999971391,-0.000107639742019,-0.000202243589557,-6.87727438499e-05,1793243295698877696
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.395249131,745.395249131,714,682,660,634,880,786.604750869,806.395249131,652,631.395249131,652,0.447694201359,-0.00555846212214,0.0598709065742,0.999999969181,-0.000112262582602,-0.000210123879267,-6.98743702919e-05,1793243295715544320
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.971277992,745.971277992,714,682,660,634,880,786.028722008,806.971277992,652,631.971277992,652,0.448166926916,-0.00556272199782,0.0598726642333,0.99999996936,-0.00011536261506,-0.00020747410763,-7.0189657348e-05,1793243295732210944
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.122595174,714,681,660,633,880,787,806.877404826,652,631,652,0.448975336378,-0.00557570784647,0.0598402341983,0.999999955531,-0.000127894000176,-0.000259191371652,-7.34896300735e-05,1793243295765543936
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.711755545,714,681,660,633,880,787,806.288244455,652,631,652,0.449292837174,-0.00557743296758,0.0597983780955,0.999999936052,-0.000120351901688,-0.000328475928356,-7.42615598036e-05,1793243295782210816
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.70313637,714,681,659.70313637,633,880,786.70313637,806.29686363,652,631,652,0.44960838842,-0.00557896375211,0.0597629023895,0.999999919541,-9.47770969255e-05,-0.000383712994656,-6.85574818764e-05,1793243295798877696
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.121909965,714,681,659.121909965,633,880,786.121909965,806.878090035,652,631,652,0.44992207219,-0.00558030838343,0.0597335384061,0.999999906524,-5.19289393382e-05,-0.000425494102936,-5.66500994111e-05,1793243295815544320
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.452860632,745,714,681,658.547139368,633,880,786,806.547139368,652,631,652,0.450224579246,-0.00557858467625,0.0597210548428,0.999999900243,-4.48084304724e-05,-0.000440900551643,-5.57874548882e-05,1793243295832210944
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.973991659,745,714.026008341,681.026008341,658.026008341,633,880.026008341,786,806.026008341,652,631,652,0.450523501894,-0.00557553574505,0.0597138330159,0.999999896657,-4.95493915857e-05,-0.000448199147658,-5.78713892077e-05,1793243295848877312
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.398931444,745,714.601068556,681.601068556,658.601068556,633,880.601068556,786,806.601068556,652,631,652,0.450809379775,-0.00556170271996,0.0597231070497,0.999999899361,-0.000104507796818,-0.000432115754966,-6.02746824181e-05,1793243295865544192
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.181429217,745.181429217,714.818570783,681.818570783,659,632.818570783,880.818570783,786.181429217,806.818570783,652,631,652,0.451076963073,-0.00555181844374,0.0597293921355,0.999999899582,-0.000140990508167,-0.000420810829674,-6.22507591982e-05,1793243295882210560
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.913189798,745.913189798,714,681,658,632,880,785.913189798,807,652,631,652,0.452038483077,-0.00557140289315,0.0597214048979,0.99999989443,-0.000144118399581,-0.000431484922821,-6.47422901786e-05,1793243295965544448
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.772845069,745,714,680,659,634.227154931,879,787,805,652,631,651.772845069,0.418696920387,-0.00538445970717,0.0597306846021,0.999999890689,0.000194936110722,-0.000424417370551,2.2188349042e-05,1793243298024198912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,634.346773552,878.653226448,787,805,652,631,652,0.417888159403,-0.00538492415434,0.0597540182902,0.999999907747,0.000192378991663,-0.000383363336842,2.29779438472e-05,1793243298040865280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,634.91957129,878.08042871,787,805,652,631,652,0.417102653904,-0.00538455297277,0.0598007801123,0.999999930114,0.00019491488238,-0.000317964573654,2.60487226139e-05,1793243298057531648
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.260656911,744.739343089,714,679,659,634.739343089,879,787,805,652,631,652,0.40974577142,-0.00537602451842,0.0598113550225,0.9999999247,0.000216364759361,-0.000320809734672,2.94592181713e-05,1793243298224197888
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878.188488707,787.188488707,805,652,631,652,0.402377898246,-0.00536947358047,0.0598451678555,0.99999994512,0.000219877439607,-0.000246069444431,2.93760338057e-05,1793243298524198144
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.153860934,745,714,679.153860934,659,635,879,787,805.153860934,653,631,652,0.400967566795,-0.0053820842905,0.0598413543838,0.999999934309,0.000242775631818,-0.000268060834316,2.42134947065e-05,1793243298974198528
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.431574462,745,714,679,659.431574462,635,879,787,805,653,631,652,0.400967413754,-0.00538271956193,0.0598417933866,0.999999934325,0.000242702426628,-0.000268052287969,2.43480758303e-05,1793243298990865152
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.979952322,745,714,679.020047678,659.979952322,635,879,787,805,652.979952322,631,652,0.400967238981,-0.00538267554615,0.0598421092665,0.999999933967,0.000243917853544,-0.000268284464847,2.4342774097e-05,1793243299007531520
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.398700484,745,714,679.601299516,659.398700484,635,879,787,805,652.398700484,631,652,0.400967552138,-0.00538221206645,0.059842095792,0.999999934285,0.000243601451624,-0.000267432781029,2.38495895763e-05,1793243299024198400
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.819915202,659,635,879,786.819915202,805,652,631,652,0.400967452905,-0.00538171909453,0.059841979099,0.99999993435,0.000243806648916,-0.000267029646343,2.35068626125e-05,1793243299040865280
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.246517027,659,635,879,786.246517027,805,652,631,652,0.400966452992,-0.00538116171028,0.0598416369719,0.999999933868,0.00024515104259,-0.000267606163379,2.34927418145e-05,1793243299057531904
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.33488622,659,635,878.66511378,786.33488622,805,652,631,652,0.400965902873,-0.00538044968712,0.0598414640115,0.999999933582,0.000246148308505,-0.000267761021901,2.3479396143e-05,1793243299074198528
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.922326456,659,635,878.077673544,786.922326456,805,652,631,652,0.400965691965,-0.00537962104323,0.0598414186279,0.999999933445,0.000246883788402,-0.000267597887163,2.34666350326e-05,1793243299090864896
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.497254004,659,634.497254004,878.502745996,787,805,652,631,652,0.400966739001,-0.00538102190399,0.0598423046596,0.999999934017,0.000245721720636,-0.000266482842805,2.39327596382e-05,1793243299107531520
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.082184832,878.917815168,787,805,652.082184832,631,652,0.400968072809,-0.00538239314766,0.0598433228745,0.999999934669,0.00024460366714,-0.000265026657932,2.43483751028e-05,1793243299124198144
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.662162767,878.337837233,787,805,652.662162767,631,652,0.40096998262,-0.00538152737024,0.0598442821108,0.999999935153,0.000245503472216,-0.00026238271319,2.40160888152e-05,1793243299140865024
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.239236065,659.239236065,635,878,787,805,652.760763935,631,652,0.400970057987,-0.00538125820349,0.059844139687,0.999999935231,0.000245384927607,-0.000262217520704,2.3812656704e-05,1793243299157531648
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.812256867,659.812256867,635,878,787,805,652.187743133,631,652,0.400967573918,-0.00538182143424,0.0598424602155,0.999999934739,0.000243845570668,-0.000265510709693,2.37890032805e-05,1793243299174198272
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.60381582,635,878,787,805,652,631,651.60381582,0.400966190007,-0.00538389369941,0.0598416465708,0.999999934903,0.000241218199531,-0.00026725526541,2.41280236899e-05,1793243299190864896
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.014573875,635,878,787,805,652,631,651.014573875,0.400965342197,-0.00538670130641,0.0598412548374,0.999999935382,0.000238060646815,-0.000268245182823,2.46437725099e-05,1793243299207531520
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e3cdc52f4c8999b9344dd63cb25587bd30f9ac4
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/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,0.580743493535,1.89762152628e-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
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+75,1.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+76,1.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+77,1.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+78,1.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+79,1.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+80,1.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+81,1.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+82,1.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+83,1.383333333,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_PLA_15/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..181844d63938cac092641a90a06413798313532e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d151b14bb60193f3ed07a2b9d98b6fccd9ce70fcba5bb8472ad1dd9216e969bb
+size 25841567
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bf2e60831b39c5e23f1926d65f24c304a5dbe89
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+7,0.116666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400968757081,-0.0053821045291,0.0598449387277,0.999999935816,0.000243810183428,-0.000261465822323,2.36684144233e-05,1793243299439504384
+8,0.133333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400966416744,-0.00538197637885,0.0598430088217,0.999999935457,0.000242099504259,-0.000264438371533,2.33813915492e-05,1793243299456171264
+9,0.150000000,BASELINE,765,745,714,679,659,635,878.217993097,787,805,652,631,652,0.400965680691,-0.00538229150464,0.0598423417124,0.999999935531,0.000240620112112,-0.000265510252961,2.3335019693e-05,1793243299472837888
+10,0.166666667,BASELINE,765,745,714,679,659,635,878.804839696,787,805,652,631,652,0.400967659157,-0.00538335667218,0.0598438113085,0.999999936351,0.000239532067521,-0.000263366124141,2.36958395252e-05,1793243299489504768
+11,0.183333333,BASELINE,765.386830229,745,714,679,659,635,879,787,805.773660459,652,631,652,0.400967348528,-0.00538406438892,0.0598440101994,0.999999936371,0.000239680827087,-0.000263149436055,2.37320214664e-05,1793243299506171136
+12,0.200000000,BASELINE,765.966401249,745,714,679,659,635,879,787,806.932802497,652,631,652,0.400965897342,-0.00538459400346,0.059843575953,0.999999935994,0.000240445832625,-0.000263893108216,2.36064504052e-05,1793243299522837504
+13,0.216666667,BASELINE,766,745,714,679.545937469,659,635,879,786.454062531,805.908125062,652,631,652,0.400967425042,-0.00538317765844,0.059844665948,0.999999935949,0.000242483923046,-0.000262184056072,2.37444793852e-05,1793243299539503872
+14,0.233333333,BASELINE,765.875697046,745,714,680,659,635,878.875697046,786.124302954,805.124302954,652,631,651.875697046,0.400968470229,-0.00538157840956,0.0598453811575,0.999999935796,0.000244251358501,-0.000261122533794,2.37610043664e-05,1793243299556170496
+15,0.250000000,BASELINE,765.301560369,745,714,680,659,635,878.301560369,786.698439631,805.698439631,652,631,651.301560369,0.400967105872,-0.00537975062675,0.0598444006241,0.999999935205,0.000244755816974,-0.000262950549719,2.32791205432e-05,1793243299572837376
+16,0.266666667,BASELINE,765.279209634,745,714,680,659,635,878.279209634,787,805.720790366,652,631,651.279209634,0.400966880751,-0.00538043157878,0.0598441770678,0.999999935494,0.000243218824518,-0.000263271828997,2.33324683317e-05,1793243299589504000
+17,0.283333333,BASELINE,765.867318275,745,714,680,659,635,878.867318275,787,805.132681725,652,631,651.867318275,0.400967916005,-0.00538388802861,0.0598447909806,0.999999936748,0.00023942330623,-0.000261926154748,2.39779608775e-05,1793243299606170880
+18,0.300000000,BASELINE,766,745.448757776,714,680,659,635,878.551242224,787,805,652,631,652,0.400968546556,-0.00538419682686,0.0598455047337,0.999999937239,0.000238351692387,-0.000261028553891,2.39882934028e-05,1793243299622837760
+19,0.316666667,BASELINE,765.972022839,745.972022839,714,679.972022839,659,635,878.055954322,787,805.027977161,652,631,652,0.400968916699,-0.00538355025797,0.0598461321175,0.999999937436,0.000238207820837,-0.000260419601181,2.3811355627e-05,1793243299639504896
+20,0.333333333,BASELINE,765.398210767,745.398210767,714,679.398210767,659,635,879.203578467,787,805.601789233,652,631,652,0.400966506602,-0.00538215554633,0.0598445069469,0.999999936201,0.000240681687079,-0.000262895352927,2.35909873083e-05,1793243299656171008
+21,0.350000000,BASELINE,765,745,714,679.180336127,659,635,879.819663873,787,806,652,631,652,0.400965381728,-0.00538126081599,0.0598436177661,0.999999935466,0.000242384167782,-0.000264137304729,2.34419544153e-05,1793243299672837376
+22,0.366666667,BASELINE,765,745,714,679.769620088,659,635,879.230379912,787,806,652,631,652,0.40096717135,-0.00538149989231,0.0598443975878,0.999999935887,0.000242337378891,-0.000262581370824,2.34546887379e-05,1793243299689504000
+23,0.383333333,BASELINE,765,745,714,680,659.352888018,635,878.647111982,786.647111982,805.647111982,652.352888018,631,652,0.400968072842,-0.00538167601736,0.0598453322872,0.999999936286,0.000242131048956,-0.000261240331245,2.35352216609e-05,1793243299706170880
+24,0.400000000,BASELINE,765,745,714,680,659.932294323,635,878.067705677,786.067705677,805.067705677,652.932294323,631,652,0.400968404245,-0.0053818117341,0.0598463664025,0.999999936671,0.00024182230986,-0.00026003723186,2.36592744047e-05,1793243299722837760
+25,0.416666667,BASELINE,765.511172452,745,714,679.488827548,659.488827548,635,878.511172452,786.511172452,805,652.488827548,631,652,0.400967722403,-0.00538221937298,0.0598456418242,0.999999936858,0.000239937934853,-0.000261087148062,2.34011664702e-05,1793243299739504384
+26,0.433333333,BASELINE,765.910749455,745,714,679,659,635,879.089250545,786.910749455,805,652,631,652,0.400966896888,-0.00538252945683,0.0598448450176,0.99999993687,0.000238578627725,-0.00026230328831,2.31694015664e-05,1793243299756171008
+27,0.450000000,BASELINE,765.336637737,745,714,679,659,635,879.663362263,786.336637737,805,652,631,652,0.400966019195,-0.00538211410386,0.0598449199951,0.999999936105,0.000241204382586,-0.00026280295943,2.33554491988e-05,1793243299772837632
+28,0.466666667,BASELINE,765.243975242,745,714,679,659,635,879.512049516,786.243975242,805,652,631,652,0.400965821897,-0.00538256458725,0.0598448000012,0.999999935882,0.000241927520043,-0.000262972819406,2.34885081563e-05,1793243299789504256
+29,0.483333333,BASELINE,765.833804223,745,714,679,659,635,878.332391553,786.833804223,805,652,631,652,0.400966589113,-0.00538424246053,0.0598444036205,0.999999936435,0.000239953550298,-0.000262675146598,2.35464515655e-05,1793243299806170880
+30,0.500000000,BASELINE,765.583961477,745,714,679,659,635,878,787,805,652,631,652,0.400967089691,-0.00538406669377,0.0598449105671,0.999999936612,0.000240539681558,-0.000261462756375,2.35421948521e-05,1793243299822837760
+31,0.516666667,BASELINE,765.004706665,745,714,679,659,635,878,787,805,652,631,652,0.400967485664,-0.00538316372447,0.0598457718986,0.999999936638,0.000242130167419,-0.000259891512895,2.35135363748e-05,1793243299839504640
+32,0.533333333,BASELINE,765.571653209,745,714,679,659,635,878,787,805,652,631,652,0.400967132575,-0.00538226928015,0.0598452144303,0.999999936478,0.000241154638343,-0.000261434355909,2.32569468042e-05,1793243299856171264
+33,0.550000000,BASELINE,766,745,714,679,659,635,878.147387236,787,805.147387236,652,631,652,0.400966855732,-0.00538181505441,0.0598447225937,0.999999936292,0.000240590297356,-0.000262672525676,2.3121532803e-05,1793243299872837632
+34,0.566666667,BASELINE,766,745,714,679,659,635,878.721378325,787,805.721378325,652,631,652,0.400966817339,-0.00538263481397,0.0598444543655,0.999999936048,0.000241276959801,-0.000262954997599,2.33422590402e-05,1793243299889504256
+35,0.583333333,BASELINE,765.706248605,745,714,679,659,635,879,787,805.706248605,652.293751395,631,652,0.400966843228,-0.00538333548508,0.0598445240608,0.999999936242,0.000240541576679,-0.000262885373501,2.34042330362e-05,1793243299906170880
+36,0.600000000,BASELINE,765.135401744,745,714,679,659,635,879,787,805.135401744,652.864598256,631,652,0.400966929753,-0.00538392382023,0.0598449125191,0.999999936847,0.000238464779148,-0.000262483617528,2.33164561906e-05,1793243299922837760
+37,0.616666667,BASELINE,765,745.458659669,714,679.458659669,659,635,879,787,805,652.541340331,631,651.541340331,0.400966397753,-0.00538353386853,0.0598449648989,0.999999936878,0.000238544520091,-0.000262283613982,2.33896990146e-05,1793243299939504384
+38,0.633333333,BASELINE,765,745.94267969,714,679.94267969,659,634.94267969,879,787,805,652,631,651.05732031,0.400965878281,-0.00538306782711,0.0598449607529,0.99999993682,0.000239066166374,-0.00026201902605,2.35160545584e-05,1793243299956170752
+39,0.650000000,BASELINE,765,745.367675091,714,679.367675091,659,634.367675091,879,787,805,652,631,651.632324909,0.400967208978,-0.00538466193345,0.0598453899156,0.999999937554,0.000237522589792,-0.000260604562476,2.36698984314e-05,1793243299972837376
+40,0.666666667,BASELINE,765,745,714,679.206254737,659,634.206254737,878.793745263,787,805,652,631,652,0.400967602067,-0.00538552671514,0.0598453814091,0.999999937751,0.000236926375503,-0.000260389222758,2.37102405187e-05,1793243299989504256
+41,0.683333333,BASELINE,765,745,714,679.77827855,659,634.77827855,878.22172145,787,805,652,631,652,0.400966332415,-0.00538509812329,0.0598445967464,0.999999936998,0.000238010199475,-0.000262300391493,2.35493002223e-05,1793243300006170880
+42,0.700000000,BASELINE,765,745,714,679.637677044,659,635,878.362322956,786.637677044,805,652,631,651.637677044,0.400966241873,-0.00538525063356,0.0598446982721,0.999999937137,0.000237290969974,-0.000262425053522,2.35031694393e-05,1793243300022837504
+43,0.716666667,BASELINE,765,745,714,679.04602431,659,635,878.95397569,786.04602431,805,652,631,651.04602431,0.400966897641,-0.00538577094838,0.0598453607046,0.999999937839,0.000235430510363,-0.000261418958571,2.35297065398e-05,1793243300039504384
+44,0.733333333,BASELINE,765,745.534311273,714,679.534311273,659,635,878.465688727,786.534311273,805,652,631,651,0.400967588682,-0.00538490167386,0.0598454409064,0.999999937645,0.000236366546711,-0.000261326593783,2.34197173055e-05,1793243300056171264
+45,0.750000000,BASELINE,765,745.886920815,714,679.886920815,659.113079185,635,878,787,805,652,631,651.113079185,0.40096813076,-0.00538430223278,0.0598455435133,0.99999993742,0.000237489894566,-0.000261176162473,2.33610690795e-05,1793243300072838144
+46,0.766666667,BASELINE,765,745.31066417,714,679.31066417,659.68933583,635,878,787,805,652,631,651.68933583,0.400968050493,-0.00538528815276,0.0598459390562,0.999999937379,0.0002384142736,-0.000260472189205,2.35598865877e-05,1793243300089504512
+47,0.783333333,BASELINE,765,745,714,679,659.729719176,635,878,787,805,652,631,651.729719176,0.400967720346,-0.00538518665008,0.0598460195237,0.999999937282,0.000239003344722,-0.000260304764739,2.35514608708e-05,1793243300106171136
+48,0.800000000,BASELINE,765,745,714,679,659.143290134,635,878,787,805,652,631,651.143290134,0.400967097913,-0.00538381318628,0.0598457314468,0.999999937121,0.000239200205382,-0.000260764942781,2.33006222132e-05,1793243300122837504
+49,0.816666667,BASELINE,765.438253626,745,714,679,659,635,878.438253626,787,805.438253626,652,631,651.438253626,0.400967109914,-0.005384530216,0.0598459444923,0.999999937712,0.000237183068416,-0.000260341393538,2.33027976079e-05,1793243300139503872
+50,0.833333333,BASELINE,765.981888733,745.018111267,714,679.018111267,659,635,879,787,805.981888733,652,631,652,0.400967339592,-0.00538584544497,0.0598462996889,0.999999938492,0.000234606417551,-0.000259669633988,2.33809950149e-05,1793243300156170496
+51,0.850000000,BASELINE,765.405312344,745.594687656,714,679.594687656,659,635,879,787,805.405312344,652,631,652,0.400967955675,-0.00538476270242,0.0598460416327,0.999999937839,0.000236852023809,-0.00026015558931,2.32806335391e-05,1793243300172837376
+52,0.866666667,BASELINE,765.171228023,745.828771977,713.828771977,679.828771977,659,635,878.828771977,787,805,652,631,652,0.400968162876,-0.00538423310023,0.0598460130929,0.999999937508,0.000238038999983,-0.000260349707204,2.32356952822e-05,1793243300189504256
+53,0.883333333,BASELINE,765.747683109,745.252316891,713.252316891,679.252316891,659,635,878.252316891,787,805,652,631,652,0.400967402423,-0.00538501255629,0.0598465277251,0.999999937948,0.000236720629349,-0.000259853164621,2.33219212398e-05,1793243300206170624
+54,0.900000000,BASELINE,765.668631813,745,713.331368187,679,659,635,878,787,805,652,631.331368187,652,0.40096574023,-0.00538483510315,0.059845475859,0.999999937219,0.000237793957246,-0.000261662426404,2.34161473232e-05,1793243300222837248
+55,0.916666667,BASELINE,765.079318765,745,713.920681235,679,659,635,878,787,805,652,631.920681235,652,0.4009633761,-0.00538391276913,0.0598432045934,0.999999935565,0.000240729040109,-0.000265266581058,2.35166008904e-05,1793243300239503872
+56,0.933333333,BASELINE,765,745,714,679.50164359,659,635,878,787,805,652,631.49835641,652,0.400965521627,-0.00538394347214,0.0598445250588,0.99999993641,0.000239730220499,-0.000262986644699,2.34035721796e-05,1793243300256170496
+57,0.950000000,BASELINE,765,745,714,679.921370944,659,635,878.078629056,787,805,652,631,652,0.40096780204,-0.00538429630116,0.059846064928,0.99999993748,0.000238123860051,-0.000260373971592,2.32993970904e-05,1793243300272837120
+58,0.966666667,BASELINE,765,745,714,679.360800703,659,635,878.639199297,787,805,652,631,652,0.400966610243,-0.00538571502408,0.0598455256541,0.999999937602,0.000236543819707,-0.000261331056933,2.34529974958e-05,1793243300289503744
+59,0.983333333,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400965861997,-0.00538623885998,0.0598449626953,0.999999937579,0.000235942766792,-0.000261956729193,2.34693602154e-05,1793243300306170368
+60,1.000000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400965914843,-0.00538514645396,0.0598443569597,0.999999937302,0.000237109848269,-0.000261983841367,2.32378600145e-05,1793243300322836992
+61,1.016666667,BASELINE,765.40487947,745,714,679,659,635,878.59512053,787,805,652.40487947,631,652,0.400966937823,-0.00538456586366,0.059845255012,0.999999937096,0.000238508824856,-0.000261478056401,2.34684970302e-05,1793243300339503872
+62,1.033333333,BASELINE,765.984565477,745,714,679,659,635,878.015434523,787,805,652.984565477,631,652,0.400968379657,-0.00538420624965,0.0598468023242,0.999999936919,0.000240007921985,-0.000260742193323,2.3898661604e-05,1793243300356170496
+63,1.050000000,BASELINE,766,745,714,679.563194598,659,635,878,786.436805402,805,652.436805402,631,652,0.400967598365,-0.00538373453616,0.0598471446875,0.999999937358,0.000238628066357,-0.000260351117951,2.36253157905e-05,1793243300372837120
+64,1.066666667,BASELINE,765.860459592,745,714,679.860459592,659,635,878.139540408,786.139540408,805,652,631,651.860459592,0.400966723414,-0.00538350653084,0.0598469687756,0.999999937657,0.00023722871432,-0.000260502308668,2.33853441134e-05,1793243300389504000
+65,1.083333333,BASELINE,765.291058599,745,714,679.291058599,659,635,878.708941401,786.708941401,805,652,631,651.291058599,0.400965747275,-0.00538403872571,0.0598452978288,0.999999937478,0.00023601189825,-0.000262294921206,2.33074644284e-05,1793243300406171392
+66,1.100000000,BASELINE,765,745,714,679.290809652,659,635,878.709190348,786.709190348,805,652,631,651.290809652,0.400965619702,-0.00538456091893,0.0598446110254,0.999999937623,0.000235080728613,-0.000262582204469,2.32630000366e-05,1793243300422838272
+67,1.116666667,BASELINE,765,745,714,679.885714698,659,635,878.114285302,786.114285302,805,652,631,651.885714698,0.40096637946,-0.00538507265352,0.0598449533262,0.999999938109,0.000234448255341,-0.000261295386853,2.32534775325e-05,1793243300439504640
+68,1.133333333,BASELINE,765,745,714,680,659,634.533161195,878,786.466838805,805,652,631,652,0.4009674323,-0.00538556108562,0.0598456422255,0.999999938228,0.000235294774421,-0.000260062513608,2.33951794018e-05,1793243300456171008
+69,1.150000000,BASELINE,765,745,714,679.955521158,659,634.044478842,878.044478842,787,805,652,631,652,0.400968354531,-0.00538595854762,0.0598462945508,0.999999938204,0.000236465539033,-0.00025907600159,2.35650119923e-05,1793243300472837888
+70,1.166666667,BASELINE,765,745,714,679.380353049,659,634.619646951,878.619646951,787,805,652,631,652,0.400966886935,-0.00538533673177,0.0598455271638,0.999999937535,0.000237308906477,-0.000260875848157,2.36414401575e-05,1793243300489504512
+71,1.183333333,BASELINE,765.19416766,745,714,679.19416766,659,635,878.80583234,787,805.19416766,652,631,651.80583234,0.400965248745,-0.00538505832193,0.0598445446212,0.999999937003,0.000237601604813,-0.000262649703614,2.35394052183e-05,1793243300506171392
+72,1.200000000,BASELINE,765.7674245,745,714,679.7674245,659,635,878.2325755,787,805.7674245,652,631,651.2325755,0.400963277491,-0.00538545037122,0.059843142013,0.999999936745,0.000236819187594,-0.000264372814847,2.30889423829e-05,1793243300522837760
+73,1.216666667,BASELINE,765.648402411,745,714,679.648402411,659,635,878.351597589,787,805.648402411,652,631,651.351597589,0.400964622243,-0.00538619201491,0.0598443668145,0.999999937668,0.000235042427022,-0.000262452339346,2.3192642573e-05,1793243300539504384
+74,1.233333333,BASELINE,765.056777079,745,714,679.056777079,659,635,878.943222921,787,805.056777079,652,631,651.943222921,0.400968230757,-0.00538717231879,0.0598473852894,0.999999939378,0.000232586850712,-0.000258044469259,2.36746573877e-05,1793243300556171008
+75,1.250000000,BASELINE,765,745,713.477770664,679,659,635,879,787,805,652,631,652,0.400968105379,-0.00538544982839,0.0598471027075,0.999999938737,0.000234835289599,-0.000258513349092,2.34285048565e-05,1793243300572837376
+76,1.266666667,BASELINE,765,745,713.099631813,679,659,635,879,787,805,652,631,652,0.400967722373,-0.00538418068057,0.0598464949307,0.999999938075,0.000236771995494,-0.000259329746841,2.31747861361e-05,1793243300589503744
+77,1.283333333,BASELINE,765,745,713.675769879,679,659,635,879,787,805,652,631,652,0.400968002939,-0.0053864519487,0.0598460078232,0.999999938531,0.000234829523993,-0.000259332249283,2.32545763808e-05,1793243300606170624
+78,1.300000000,BASELINE,765,745,714,679,658.742574006,634.742574006,878.742574006,786.742574006,805.257425994,652,631,651.742574006,0.400968127575,-0.00538686935815,0.0598459956997,0.999999938642,0.000234509059262,-0.000259181035585,2.3381540973e-05,1793243300622837760
+79,1.316666667,BASELINE,765,745,714,679,658.153815668,634.153815668,878.153815668,786.153815668,805.846184332,652,631,651.153815668,0.400968051514,-0.00538490067062,0.0598465949271,0.999999938312,0.000236276275483,-0.000258831974235,2.35692235421e-05,1793243300639504640
+80,1.333333333,BASELINE,765.428138333,745,714,679,658.428138333,634.428138333,878.428138333,786.428138333,805.571861667,652,631,651.428138333,0.400967958099,-0.00538437100056,0.0598466911965,0.999999938398,0.000235940206463,-0.000258829698104,2.33055834994e-05,1793243300656171008
+81,1.350000000,BASELINE,765.992373748,745,714.007626252,679.007626252,659,635,878.992373748,786.992373748,805.007626252,652,631,651.992373748,0.40096786328,-0.00538434603034,0.0598466125302,0.99999993862,0.000234916026622,-0.000258939339719,2.28914751485e-05,1793243300672837376
+82,1.366666667,BASELINE,765.417335264,745,714.582664736,679.582664736,659,635,878.417335264,786.417335264,805.582664736,652,631,651.417335264,0.400968120599,-0.00538400836847,0.0598467521138,0.999999938054,0.000238036613112,-0.00025825128113,2.3157412526e-05,1793243300689504000
+83,1.383333333,BASELINE,765,745,714.842512472,680,659,634.842512472,878,786.157487528,805.842512472,652,631,651.157487528,0.400968074945,-0.00538402609681,0.0598465925465,0.999999937662,0.000239692126714,-0.000258221947614,2.33307473058e-05,1793243300706170624
+84,1.400000000,BASELINE,765,745,714.268260347,680,659,634.268260347,878,786.731739653,805.268260347,652,631,651.731739653,0.400967227521,-0.00538498430627,0.0598456413265,0.99999993775,0.000237470568834,-0.000259935820494,2.32590247436e-05,1793243300722836992
+85,1.416666667,BASELINE,765,745,714,680,659,634.31602671,878,787,805,652,631,652,0.400967472322,-0.00538501978741,0.0598456494431,0.999999937947,0.000236640468362,-0.000259934905214,2.32758906626e-05,1793243300739503872
+86,1.433333333,BASELINE,765,745,714,680,659,634.90911127,878,787,805,652,631,652,0.400968674668,-0.00538424632065,0.0598464986018,0.999999938242,0.000237030246554,-0.000258430650063,2.33704213318e-05,1793243300756170752
+87,1.450000000,BASELINE,765,745,714,679.509761254,659,635,878.490238746,786.509761254,805.490238746,652,631,651.509761254,0.400967359113,-0.00538381815377,0.0598461471645,0.999999937989,0.000236239452526,-0.000260145830467,2.31815941271e-05,1793243300772837120
+88,1.466666667,BASELINE,765,745.06815184,714,679,659,635,878.93184816,786.06815184,805.863696319,652,631,651.06815184,0.400965938242,-0.00538364700016,0.0598456974511,0.999999937703,0.000235476130367,-0.000261944068844,2.30145878181e-05,1793243300789504000
+89,1.483333333,BASELINE,765,745.638327748,714,679,659,635,878.361672252,786.638327748,804.723344503,652,631,651.638327748,0.400967098356,-0.00538490873109,0.0598461244029,0.999999937947,0.000236489070562,-0.00026006209519,2.33860826406e-05,1793243300806170624
+90,1.500000000,BASELINE,765,745.788698761,714,679.211301239,659,635,878.422602478,787,804.211301239,652,631,651.788698761,0.400967745431,-0.00538630332642,0.0598462316773,0.999999938361,0.000235864665229,-0.000259010671516,2.36391658729e-05,1793243300822837248
+91,1.516666667,BASELINE,765,745.210872619,714,679.789127381,659,635,879.578254762,787,804.789127381,652,631,651.210872619,0.400967502586,-0.00538792838933,0.0598457844364,0.99999993907,0.000232400106492,-0.000259399927001,2.3686851328e-05,1793243300839503616
+92,1.533333333,BASELINE,765,745,714,679.621758949,659,635,879.243517899,787,805,652,631,651.378241051,0.400966584108,-0.00538679984951,0.059845614155,0.999999938548,0.000234169185214,-0.000259846697308,2.34407923002e-05,1793243300856170496
+93,1.550000000,BASELINE,765,745,714,679.02615876,659,635,878.05231752,787,805,652,631,651.97384124,0.400965277372,-0.00538408893079,0.0598456030303,0.999999937302,0.000238945813762,-0.000260326518985,2.30259307426e-05,1793243300872837120
+94,1.566666667,BASELINE,765,745,714,679.550524695,659,635,878,787,805,652,631,651.449475305,0.400965936074,-0.00538603487382,0.0598455754288,0.999999937846,0.000236659490544,-0.000260300309298,2.3326440022e-05,1793243300889504256
+95,1.583333333,BASELINE,765,745,714,679.873801989,659.126198011,635,878.126198011,787,805,652,631,651,0.40096629907,-0.00538732566732,0.059845459226,0.999999938251,0.000234711325751,-0.00026048889106,2.35347483506e-05,1793243300906171136
+96,1.600000000,BASELINE,765,745,714,679.298630684,659.701369316,635,878.701369316,787,805,652,631,651,0.400965288827,-0.00538552456458,0.0598450305002,0.99999993789,0.000235120532453,-0.000261524335536,2.32981202354e-05,1793243300922838016
+97,1.616666667,BASELINE,765.284093046,745,714.284093046,679,659.715906954,635,878.715906954,787,805,652.284093046,631.284093046,651.284093046,0.400965715011,-0.00538499503551,0.0598455827073,0.999999937982,0.000235435853172,-0.000260897048825,2.32192811905e-05,1793243300939504640
+98,1.633333333,BASELINE,765.874972453,745,714.874972453,679,659.125027547,635,878.125027547,787,805,652.874972453,631.874972453,651.874972453,0.400967692365,-0.00538583865336,0.059847194204,0.999999938558,0.00023564978828,-0.000258474212111,2.33108354005e-05,1793243300956171776
+99,1.650000000,BASELINE,765.543175184,745,714.543175184,679,659,635,878.456824816,787,805,652.543175184,631.543175184,652,0.400968630824,-0.00538480044192,0.0598475510446,0.99999993841,0.000237369998193,-0.000257474726235,2.3296154683e-05,1793243300972838144
+100,1.666666667,BASELINE,765,745,714,679.035709457,659,634.964290543,879,787,805,652,631,652,0.400969252296,-0.00538348058443,0.0598475715832,0.999999938149,0.000239078882834,-0.000256910953563,2.32549668486e-05,1793243300989504512
+101,1.683333333,BASELINE,765,745,714,679.606428853,659,634.393571147,879,787,805,652,631,652,0.400969302008,-0.0053855078973,0.0598475985418,0.999999939157,0.000234561324732,-0.000257151843013,2.32438143324e-05,1793243301006171136
+102,1.700000000,BASELINE,765,745,714,679.820562725,659,634,879,787,805.179437275,652,631,652,0.400968792235,-0.0053867159479,0.0598472883351,0.999999939559,0.000232041084045,-0.000257876893667,2.32234923827e-05,1793243301022837504
+103,1.716666667,BASELINE,765,745,714,679.242468839,659,634,879,787,805.757531161,652,631,652,0.40096703945,-0.0053861038395,0.0598462290466,0.999999938647,0.000233958293174,-0.000259677607448,2.3182798663e-05,1793243301039504128
+104,1.733333333,BASELINE,765,745,714,679.344739713,659,634.344739713,879,787,805.655260287,652.344739713,631,652,0.400967580951,-0.00538630119632,0.059847039495,0.999999938837,0.000234439885266,-0.000258492333299,2.336128394e-05,1793243301056170752
+105,1.750000000,BASELINE,765,745,714,679.93853312,659,634.93853312,879,787,805.06146688,652.93853312,631,652,0.400969779935,-0.00538708334297,0.0598492007156,0.999999939818,0.000233884330645,-0.000255149862758,2.36981128474e-05,1793243301072837632
+106,1.766666667,BASELINE,765,745,714,679.481651677,659,635,879,787,804.481651677,652.481651677,631,652,0.400967701248,-0.00538435937658,0.0598476041628,0.999999938058,0.000238458629561,-0.000257844951195,2.31807748852e-05,1793243301089504256
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,659,635,878,787,805,652,631,652,0.400968336018,-0.00538360832378,0.0598476322703,0.999999938528,0.000236828203633,-0.000257507288141,2.33771872126e-05,1793243301132563968
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.424921456,679.150157088,659,635,878,787,805,652,631,652,0.4009681074,-0.0053856993618,0.059847265993,0.999999938398,0.000236875930422,-0.00025793600358,2.37285999256e-05,1793243301149231104
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.844061812,659,635,878.155938188,786.844061812,805,652,631,652,0.400967810825,-0.00538697829593,0.0598470106233,0.999999938273,0.000236940379266,-0.000258344771632,2.3911202518e-05,1793243301165897984
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.246842409,659,635,878.753157591,786.246842409,805,652,631,652,0.40096732194,-0.00538595910075,0.0598470691054,0.999999938162,0.000237052148982,-0.000258697091732,2.36160983737e-05,1793243301182564352
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.664839384,786.335160616,805,652.335160616,631,652,0.400967722665,-0.00538574944614,0.0598472735592,0.999999938303,0.000237078631812,-0.000258135967004,2.35367366888e-05,1793243301199230976
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.093556411,786.906443589,805,652.906443589,631,652,0.400968750126,-0.00538611011703,0.0598475808508,0.999999938619,0.00023704502959,-0.000256931315733,2.36093666799e-05,1793243301215897600
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.516988441,714,679,659,635,878,786.516988441,804.516988441,652.516988441,631,651.516988441,0.40096846103,-0.00538573325311,0.0598473905581,0.999999938639,0.000236712043586,-0.000257173858577,2.34704561332e-05,1793243301232563968
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.061958188,714,679,659,635,878,786.061958188,804.061958188,652,630.938041812,651.061958188,0.400967895829,-0.00538530971383,0.0598470729145,0.999999938574,0.00023627191362,-0.000257844821114,2.33262811447e-05,1793243301249230080
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.652365086,714,679,659,635,878,786.652365086,804.652365086,652,630.347634914,651.652365086,0.400967174759,-0.00538571999024,0.0598465002023,0.999999938278,0.000235418005263,-0.000259752556302,2.34905443701e-05,1793243301265896704
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,630.238634253,652,0.400970971136,-0.00538605619438,0.059847879684,0.999999938705,0.000235458867334,-0.000258052768887,2.3625690854e-05,1793243301282563328
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,630.818978388,652,0.400981236226,-0.00538628633145,0.0598520545899,0.999999940139,0.000236780986841,-0.000251187226166,2.37191439024e-05,1793243301299229952
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.396378104,745,714,679,659.396378104,635,878.396378104,787,805,652,631,652,0.401009431997,-0.00538678899992,0.0598638879545,0.999999945188,0.000237106417699,-0.000229825942756,2.41635074187e-05,1793243301315896576
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.972443102,745,714,679,659.972443102,635,878.972443102,787,805,652,631,652,0.40104575614,-0.00538741521289,0.0598791930669,0.999999951233,0.000236980027685,-0.000201893421234,2.47669463433e-05,1793243301332563200
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.454729645,745,714,679,659.454729645,635,878.454729645,787,805,652,631,652,0.401105051005,-0.00538925525409,0.0598990901471,0.999999957668,0.000236241164486,-0.000167877893014,2.58945590468e-05,1793243301349229824
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.122014412,787,805.122014412,652,631,652,0.40116738424,-0.00539098418698,0.0599173485661,0.999999962425,0.000235456396933,-0.000137796907985,2.68681787267e-05,1793243301365896704
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.714488122,787,805.714488122,652,631,652,0.401236983024,-0.00539204957852,0.05992839917,0.999999964414,0.000234613277367,-0.000124064956242,2.71464982857e-05,1793243301382563328
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.700721845,787,805.700721845,652,631,652,0.401313067946,-0.00539409814581,0.05993500173,0.999999966031,0.000232839804969,-0.00011399912529,2.69670470305e-05,1793243301399229952
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.123078601,787,805.123078601,652,631,652,0.401395185761,-0.0053970611861,0.0599374670673,0.999999967395,0.000230200991342,-0.00010734323346,2.63618132197e-05,1793243301415896576
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631,651.548114463,0.401493547736,-0.00539904760398,0.0599405419774,0.999999968532,0.000228003362666,-0.000101468842711,2.55785369152e-05,1793243301432562944
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.026875031,659,635,878,787,805,652,631,651.026875031,0.401597742605,-0.00540089937231,0.0599438487118,0.999999969593,0.000225976207209,-9.5582064001e-05,2.47682950944e-05,1793243301449229824
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.617616295,659,635,878,787,805,652,631,651.617616295,0.401732036904,-0.00540547410714,0.0599485564654,0.999999970773,0.000225019448066,-8.49957738676e-05,2.44037226621e-05,1793243301465896448
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.795655179,714,679.795655179,659,634.795655179,878,787,805,652,631,652,0.40187209075,-0.00541022552506,0.0599506984359,0.99999997197,0.000222238697817,-7.82224601329e-05,2.34760855555e-05,1793243301482563072
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.216291009,714,679.216291009,659,634.216291009,878,787,805,652,631,652,0.402022714662,-0.00541530119625,0.0599481316084,0.99999997334,0.000216110508045,-7.84468288534e-05,2.15150964031e-05,1793243301499229952
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.359836804,714,679,659,634.359836804,878,787,805,652,631,652,0.402194653498,-0.00541960430689,0.059946583899,0.999999974253,0.000212794929373,-7.63791611775e-05,1.94598255527e-05,1793243301515896576
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.934036698,714,679,659,634.934036698,878,787,805,652,631,652,0.40237929014,-0.00542344718587,0.0599456433014,0.999999974896,0.000211154887478,-7.29460745288e-05,1.73483887307e-05,1793243301532563200
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.508745779,745,714,679,659,635,878,787,805,652,631,651.491254221,0.402600162824,-0.00542950007672,0.0599495941467,0.999999976609,0.000206612056948,-6.19969476748e-05,1.58042667335e-05,1793243301549230336
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913743859,745,714,679,659,635,878.086256141,786.913743859,805,652,631,651.086256141,0.402831183532,-0.00543601389983,0.0599536191049,0.999999978411,0.00020093605288,-5.09969508666e-05,1.41813574319e-05,1793243301565897472
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.320145356,745,714,679,659,635,878.679854644,786.320145356,805,652,631,651.679854644,0.403094230803,-0.00544355173707,0.0599543458951,0.999999980695,0.00019081089917,-4.54354260279e-05,1.16619519121e-05,1793243301582563584
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.266672657,659,634.733327343,878.733327343,786.266672657,804.733327343,652,631,652,0.403365962147,-0.00545104089828,0.0599524179375,0.999999982343,0.00018182719066,-4.65845619742e-05,9.13622014774e-06,1793243301599229696
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.845552373,659,634.154447627,878.154447627,786.845552373,804.154447627,652,631,652,0.403647860355,-0.0054584730716,0.0599473819334,0.999999983264,0.000174179829928,-5.55902055333e-05,6.60308208287e-06,1793243301615896320
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.578723886,659,634.421276114,878,787,804.421276114,652,631,651.578723886,0.403953145423,-0.00546631578134,0.0599370174277,0.999999984127,0.000163797166206,-7.00489757229e-05,2.97050811892e-06,1793243301632563456
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.004148594,659,634.995851406,878,787,804.995851406,652,631,651.004148594,0.404266940786,-0.005474307882,0.059924713921,0.999999984643,0.000152419146611,-8.6492097062e-05,-1.0621421651e-06,1793243301649230848
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631,651,0.404602098082,-0.00548308521563,0.0599114628343,0.999999983445,0.000142780901892,-0.000112697150677,-4.80545877905e-06,1793243301665897216
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.170487616,659,634.829512384,878,786.829512384,804.829512384,652,631,651.170487616,0.404963210907,-0.00549167853292,0.0599027286454,0.999999982566,0.000132767795007,-0.000131028497309,-8.55728824836e-06,1793243301682563840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.750108722,659,634.249891278,878,786.249891278,804.249891278,652,631,651.750108722,0.40538623852,-0.00549981654467,0.0599048505768,0.999999984015,0.00012182473691,-0.00013029426624,-1.23345959764e-05,1793243301699230720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.672095277,659,634.327904723,878.327904723,786.327904723,804.327904723,652,631.327904723,651.672095277,0.405839764218,-0.0055092215211,0.0599182406055,0.999999988423,0.000104200789528,-0.000109857224206,-1.50913883251e-05,1793243301715897344
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.095682403,659,634.904317597,878.904317597,786.904317597,804.904317597,652,631.904317597,651.095682403,0.406316403451,-0.00551958668905,0.0599401703529,0.999999993758,8.15136156875e-05,-7.44880727571e-05,-1.70747661782e-05,1793243301732563200
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.488693081,659,635,878.511306919,786.511306919,805,652,631.511306919,651.488693081,0.406825080264,-0.00552547437435,0.0599663029622,0.999999999452,-5.98504761627e-07,-2.77140185058e-05,-1.80911818345e-05,1793243301749229824
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.926163424,659.073836576,635,878.073836576,786,805,652,631,652,0.407342076528,-0.00552731082624,0.0599906218529,0.999999996625,-7.83901847546e-05,1.50296887329e-05,-1.94604663905e-05,1793243301765896448
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.346614191,659.653385809,635,878.653385809,786,805,652,631,652,0.407872379681,-0.00550750380474,0.0599967890683,0.999999998553,-4.55821958145e-05,1.46219709093e-05,-2.45647523281e-05,1793243301782563072
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.232018433,659.767981567,634.767981567,879,786,805,652,630.767981567,652,0.408413150842,-0.00549764976758,0.0599940149454,0.999999999222,-2.63863230617e-05,-2.52102412614e-07,-2.93177607362e-05,1793243301799229696
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.80928708,659.19071292,634.19071292,879,786,805,652,630.19071292,652,0.408969498673,-0.00550260606339,0.0599779358495,0.999999998389,-2.74456792788e-05,-3.66525357506e-05,-3.35480576074e-05,1793243301815896576
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.614322112,659,634.385677888,878.614322112,786,805,652,630.385677888,651.614322112,0.409563035474,-0.00551331887747,0.0599737202721,0.999999997082,-4.55207052221e-05,-4.8486637146e-05,-3.75886661075e-05,1793243301832563456
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.038364415,659,634.961635585,878.038364415,786,805,652,630.961635585,651.038364415,0.410174919978,-0.00552687175362,0.059975357735,0.999999995384,-7.19906598359e-05,-4.8200579463e-05,-4.15356889526e-05,1793243301849230592
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.549851127,659,635,878.549851127,786.549851127,805,652,631,651,0.410824608681,-0.0055295518288,0.0599818596336,0.999999995134,-8.36693329653e-05,-2.50535855841e-05,-4.58622453572e-05,1793243301865896960
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.863331636,805,652,631,651.136668364,0.411484151107,-0.00552936885317,0.0599860662727,0.999999996662,-6.84666153779e-05,-8.33581219334e-06,-4.38098332015e-05,1793243301882563072
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.283878897,805,652,631,651.716121103,0.412166877381,-0.00552242389151,0.0599817119379,0.99999999916,3.04078231568e-05,-1.77333093564e-05,-2.10027973655e-05,1793243301899229696
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.293364068,805,652,631,651.706635932,0.412839161866,-0.00551224169958,0.0599595460587,0.999999996226,5.85575537276e-05,-6.24586134397e-05,-1.47519847138e-05,1793243301915896320
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.868484761,805,652,631,651.131515239,0.413501417791,-0.00549895036301,0.0599202733784,0.999999989569,1.87809298464e-05,-0.000141113921403,-2.44023178212e-05,1793243301932563200
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.556316631,659,634.556316631,879,787,805,652,631,651.443683369,0.414240703744,-0.00550292205245,0.0599159857752,0.999999988587,6.38782618874e-06,-0.000147976494689,-2.98076341078e-05,1793243301949230080
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.019342692,659,634.019342692,879,787,804.980657308,652,631,651.980657308,0.415004842136,-0.00551202426311,0.0599235093628,0.99999999084,2.06935716786e-06,-0.000131043168211,-3.38208166564e-05,1793243301965896704
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.607880777,659,634.607880777,879,787,804.392119223,652,631,651.392119223,0.415828289693,-0.00552149639248,0.0599733842124,0.999999998611,-3.53591576682e-06,-4.02016918401e-05,-3.39020396041e-05,1793243301982563328
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.194212261,745.194212261,714.194212261,679.805787739,659.194212261,634.805787739,879,787,804.194212261,652,631,651.194212261,0.416647093904,-0.00552784528957,0.0600083635291,0.999999999142,-1.25300118406e-05,2.0465135874e-05,-3.37736912723e-05,1793243301999229952
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.77613858,745.77613858,714.77613858,679.22386142,659.77613858,634.22386142,879,787,804.77613858,652,631,651.77613858,0.417456628356,-0.00552795914686,0.0600136062676,0.99999999883,-2.82893570021e-05,2.08930444215e-05,-3.32269674866e-05,1793243302015896576
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.646777312,745.646777312,714.646777312,679.353222688,659.646777312,634.353222688,879,787.353222688,805,652,631,652,0.418278874073,-0.00552606169182,0.0600036548419,0.999999998984,-2.80104773049e-05,5.65609840325e-06,-3.48684495202e-05,1793243302032563456
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.072720566,745.072720566,714.072720566,679.927279434,659.072720566,634.927279434,879,787.927279434,805,652,631,652,0.419109066814,-0.00552290676869,0.0599842040577,0.999999998938,-1.77045336687e-05,-1.93744806722e-05,-3.78779930807e-05,1793243302049230080
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.502048119,745,714,679.497951881,659.502048119,635,879,787.497951881,805,652,631,652,0.419920713449,-0.00552285153316,0.0599577074843,0.99999999702,-2.18988780375e-05,-6.19128168279e-05,-4.05766265159e-05,1793243302065896960
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.920927072,745,714,679.079072928,660.079072928,634.920927072,879,787,805,652,631,652,0.420726554506,-0.00552327793986,0.0599296611671,0.999999992824,-2.6776724646e-05,-0.000108555400686,-4.30101335789e-05,1793243302082563584
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.329965752,745,714,679.670034248,660.670034248,634.329965752,879,787,805,652,631,652,0.421512227271,-0.00552391164293,0.0598981985533,0.999999985112,-2.24632189001e-05,-0.000165327155825,-4.40192628114e-05,1793243302099229952
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.74435443,660.74435443,634.25564557,879,787,805,652,631,652,0.422355159182,-0.00552596594008,0.0598883065799,0.999999982266,-2.8658648511e-05,-0.000180587207947,-4.51148464139e-05,1793243302115896832
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.165506807,660.165506807,634.834493193,879,787,805,652,631,652,0.423270481553,-0.00552981623527,0.059905685465,0.999999987492,-4.81400871071e-05,-0.00014336574992,-4.63197308986e-05,1793243302132563712
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.410239546,745,714,679.410239546,660,635,879.410239546,787,805,652,631,652,0.424226704114,-0.00553261058014,0.0599573935392,0.9999999957,-5.20676879884e-05,-6.20683614337e-05,-4.51292145938e-05,1793243302149230080
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.984744078,745,714,679.984744078,660,635,879.984744078,787,805,652,631,652,0.42519930356,-0.00553498210921,0.060022847444,0.999999997158,-4.97673384251e-05,3.68775726309e-05,-4.29795497754e-05,1793243302165896448
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.426750115,879.426750115,787,805.573249885,652,631,652,0.426083346651,-0.00553750179228,0.0600311116557,0.999999996509,-4.71729237807e-05,5.42634268281e-05,-4.25626710788e-05,1793243302182563072
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,786.840386236,806,652,631,651.840386236,0.4269644571,-0.00553988102448,0.0600277437466,0.999999996369,-4.7513808732e-05,5.59874967556e-05,-4.3233137669e-05,1793243302199229696
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,786.260665286,806,652,631,651.260665286,0.427844207049,-0.00554187994913,0.059997866031,0.999999997117,-5.56015852919e-05,2.23453794329e-05,-4.66411089353e-05,1793243302215896576
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.682703229,745,714,680,660,634.317296771,879,786.317296771,805.682703229,651.682703229,631,651,0.428703407911,-0.0055423871936,0.0599718674889,0.999999996887,-6.01869739728e-05,-1.44124736577e-05,-4.8955051095e-05,1793243302232563712
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.106178198,745,714,680,660,634.893821802,879,786.893821802,805.106178198,651.106178198,631,651,0.429545820331,-0.00554167575031,0.059949038194,0.999999995372,-6.19109466717e-05,-5.37158497635e-05,-5.03751823225e-05,1793243302249230336
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.469915454,745.469915454,714,680,660,635,879.469915454,786.530084546,805,651,631,651.469915454,0.430414761332,-0.00553835396012,0.0599272724784,0.9999999928,-5.62028240266e-05,-9.27588741639e-05,-5.13496925692e-05,1793243302265896960
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.953012128,714,680,660,634.953012128,879.953012128,786,805.093975743,651.046987872,631,651.953012128,0.431294810719,-0.00553520964873,0.0599116370753,0.99999999008,-5.02434307828e-05,-0.000120839655241,-5.20851165406e-05,1793243302282563584
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.363515299,714,680,660,634.363515299,879.363515299,786,806.272969402,651.636484701,631,651.363515299,0.432233970068,-0.00554091802597,0.0599640084854,0.999999996577,-6.07538318413e-05,-2.30319534771e-05,-5.12215752738e-05,1793243302299229952
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.777650912,745,714,680,660.222349088,634.222349088,879.222349088,786.222349088,806.777650912,651.777650912,631.222349088,651,0.433140931356,-0.0055441706729,0.0599987685633,0.999999995825,-6.58970374753e-05,3.78054566634e-05,-5.07707012526e-05,1793243302315896320
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.197629601,745,714,680,660.802370399,634.802370399,879.802370399,786.802370399,806.197629601,651.197629601,631.802370399,651,0.433996098779,-0.00554347301666,0.0600051989432,0.999999995986,-6.24065392835e-05,3.91722250074e-05,-5.09836470145e-05,1793243302332563200
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.374021407,661,635,879.625978593,787,806,651,631.625978593,651,0.434821144471,-0.00554536809454,0.0599867389346,0.999999996416,-6.62122931058e-05,5.72607591347e-06,-5.244205523e-05,1793243302349230080
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.9413464,661,635,879.0586536,787,806,651,631.0586536,651,0.43563062245,-0.0055486031621,0.0599554149523,0.999999994745,-7.37889318989e-05,-4.57122567699e-05,-5.45441493563e-05,1793243302365896704
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.46588832,634.46588832,880.068223361,787,806,651.53411168,631,651,0.436438047089,-0.00554822317582,0.0599318843915,0.999999991195,-8.01084974158e-05,-8.9460220195e-05,-5.64841105147e-05,1793243302382563840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.125918805,634.125918805,880.874081195,787,806,651.874081195,631.125918805,651.125918805,0.437236432352,-0.00554679966343,0.0599119272447,0.999999986581,-8.29326805408e-05,-0.000128839569262,-5.79642392702e-05,1793243302399230720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.703758955,634.703758955,880.296241045,787,806,651.296241045,631.703758955,651.703758955,0.438003225103,-0.00554312699022,0.0599015698383,0.999999983483,-7.37321947642e-05,-0.000155722565069,-5.7861130936e-05,1793243302415897344
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.71841357,714,680.71841357,660.71841357,635,880,787,806,651,631.71841357,651.71841357,0.438788868375,-0.00554294307415,0.059904850567,0.999999983699,-7.36080107325e-05,-0.000154305177926,-5.80881867164e-05,1793243302432563712
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.140599468,714,680.140599468,660.140599468,635,880,787,806,651,631.140599468,651.140599468,0.439594342261,-0.00554642931531,0.059922478554,0.999999987253,-8.30320563663e-05,-0.000123115911985,-5.86625736757e-05,1793243302449229824
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.435221498,714,680.435221498,660,634.564778502,880,787,806,651.435221498,631,651,0.440405722332,-0.00555103344051,0.0599699395724,0.999999993428,-8.47568532421e-05,-5.2701586779e-05,-5.64130363658e-05,1793243302465896704
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.010074759,745,714,681,660,634.010074759,880,787,806,651.989925241,631,651.010074759,0.441216863726,-0.00555586336146,0.060025656777,0.999999994648,-8.39862404516e-05,2.83910445715e-05,-5.33227362072e-05,1793243302482563072
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.567183788,745,714,681,660,634.567183788,880,787,806,651.432816212,631,651.567183788,0.441911914333,-0.00555343404529,0.0600087497925,0.999999995163,-8.21576436149e-05,4.38032606236e-06,-5.38896553052e-05,1793243302499229696
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.137161465,634.862838535,880.137161465,787,806.137161465,651,631,651.862838535,0.442600365386,-0.00555180615406,0.0599888461431,0.99999999475,-8.36749939592e-05,-2.22493460754e-05,-5.48013283114e-05,1793243302515896320
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.751950908,634.248049092,880.751950908,787,806.751950908,651,631,651.248049092,0.443265835456,-0.00555296900936,0.0599585074074,0.999999992009,-9.6843706688e-05,-5.79988275781e-05,-5.69135144515e-05,1793243302532563456
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,634,881,787,807,651.343631672,631,651,0.443916637356,-0.00555540342113,0.0599462032318,0.999999990473,-0.000101475327416,-7.34962965892e-05,-5.79232744117e-05,1793243302549230080
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,661,634,881,787,807,651.919682578,631,651,0.444557518232,-0.00555869786465,0.0599460969401,0.999999990439,-0.000100332787059,-7.5296081924e-05,-5.81873956586e-05,1793243302565896704
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.507071658,745,714,681,661,634,880.507071658,787,806.507071658,651.507071658,631.492928342,651.492928342,0.445171664707,-0.00555732405538,0.0599556209892,0.999999991451,-9.59271380763e-05,-6.64700261084e-05,-5.8978477608e-05,1793243302582563072
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.932144289,634,880,787,806.067855711,651.067855711,631.932144289,652,0.445770751589,-0.005554996598,0.0599614689506,0.999999991984,-9.10895775806e-05,-6.42459888659e-05,-6.00634089823e-05,1793243302599229696
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.340735547,634,880,787,806.659264453,651.659264453,631.340735547,652,0.44628706345,-0.00555114675808,0.0599269147512,0.999999986278,-8.69986531389e-05,-0.000126244111671,-6.2756848827e-05,1793243302615896320
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.754373081,880,787,806.754373081,652,631,651.754373081,0.446796651739,-0.00555042684053,0.0598960510912,0.999999978349,-8.9074278046e-05,-0.000176228580873,-6.56633645443e-05,1793243302632563456
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.174869973,880,787,806.174869973,652,631,651.174869973,0.447297100756,-0.00555396136966,0.059870203917,0.99999997065,-9.95319815687e-05,-0.000209883105308,-6.88595103911e-05,1793243302649230592
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.401356604,880,787,806,652,631,651,0.447787814252,-0.00555720853405,0.0598638008361,0.999999967928,-0.000107289730782,-0.000218214624354,-7.0817091812e-05,1793243302665897216
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.976167214,880,787,806,652,631,651,0.448274320397,-0.00556033150851,0.0598658008935,0.999999967664,-0.000113880643528,-0.000215602320544,-7.22394039934e-05,1793243302682563840
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.436934953,633.436934953,880.563065047,786.436934953,806.563065047,651.436934953,631,651.563065047,0.448698925569,-0.0055642947205,0.0598494457677,0.999999961102,-0.000117139386817,-0.000242003635272,-7.42136874258e-05,1793243302699230464
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.851455148,786.148544852,806.851455148,651,631,651.851455148,0.44910242277,-0.00556953428849,0.0598255635121,0.999999950472,-0.000122225103211,-0.000279795455215,-7.63596414373e-05,1793243302715896832
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.271610508,786.728389492,806.271610508,651,631,651.271610508,0.449452407379,-0.00557837422825,0.0597821315073,0.999999927826,-0.000133033928458,-0.000347015717414,-7.89347179189e-05,1793243302732563456
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.306288107,745,714,681,659,632.693711893,880,786.693711893,806,651,631,651.306288107,0.449791479711,-0.00558284643753,0.0597471401863,0.999999906818,-0.000135310954694,-0.000401929008989,-8.06716839052e-05,1793243302749230080
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.882471884,745,714,681,659,632.117528116,880,786.117528116,806,651,631,651.882471884,0.450120936315,-0.00558346987933,0.0597195866494,0.999999888749,-0.000130069909896,-0.000445997611901,-8.16701216902e-05,1793243302765896704
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.542533347,745,714,681,659,632,880,786,806.457466653,651.457466653,631,652,0.450443135811,-0.00558045971789,0.0597088296227,0.999999891332,-7.88501738068e-05,-0.000454498279469,-6.74572969709e-05,1793243302782563328
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.033075617,880,786,807,652,631,652,0.450762380616,-0.00557604035086,0.0597033862584,0.999999895853,-2.24334013973e-05,-0.00045304194983,-5.04399563674e-05,1793243302799229952
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.624187453,880,786,807,652,631,652,0.45106314956,-0.00556355447322,0.0597149771383,0.999999900038,-7.71116396685e-05,-0.000437364639956,-5.18681003631e-05,1793243302815896832
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681.211191218,659,632.788808782,880,786,806.788808782,652,631,652,0.451344455604,-0.00555442536711,0.0597215469726,0.999999900327,-0.000113619281113,-0.000428421154848,-5.37816852825e-05,1793243302832563456
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681.791024138,659,632.208975862,880,786,806.208975862,652,631,652,0.451591788438,-0.00555115562512,0.0597193523939,0.999999898411,-0.000118409501136,-0.00043123180143,-5.65426245031e-05,1793243302849230080
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.632316584,631.632316584,880,785.632316584,806.367683416,651.632316584,630.632316584,651.632316584,0.451820827638,-0.00555550437454,0.0597209485252,0.99999989869,-0.000123227275575,-0.000429096154282,-5.75518955226e-05,1793243302865896704
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.057445582,631.057445582,880,785.057445582,806.942554418,651.057445582,630.057445582,651.057445582,0.4520395585,-0.00556414610177,0.0597246807006,0.999999900181,-0.000128060577223,-0.000424173298017,-5.75741113824e-05,1793243302882563328
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.903703159,745,714,681,658,631,880,785.903703159,806.903703159,651.096296841,631,652,0.452392997724,-0.00556866310174,0.0597136359273,0.999999894281,-0.000133299723098,-0.000435705576947,-6.18837812279e-05,1793243302915896576
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.312020326,745,714,681,658,631,880,785.312020326,806.312020326,651.687979674,631,652,0.452538740887,-0.00556819747293,0.0597071223809,0.999999890867,-0.000128847719885,-0.00044470083007,-6.24942188494e-05,1793243302932563200
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.272270506,745.272270506,714,681.272270506,658,631,880,785,806,652,631,652,0.452670632759,-0.00556917261947,0.0597018724334,0.999999887347,-0.0001266808143,-0.000453096223271,-6.29382838797e-05,1793243302949230336
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.576244551,714,681.576244551,658,631,880,785,806,651.576244551,631,652,0.452888046454,-0.00557171266873,0.0596965903194,0.999999881781,-0.000125429460957,-0.000465470631796,-6.35873867977e-05,1793243302982564096
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.17747027,681.17747027,658,631,880,785.17747027,806.17747027,652,630,651,0.453126454496,-0.00557788884727,0.0596920362282,0.999999877156,-0.000127183025108,-0.000474916108536,-6.29829385455e-05,1793243303032562944
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.757083899,681.757083899,658,631,880,785.757083899,806.757083899,652,630,651,0.453186209133,-0.0055751510651,0.0596916372204,0.999999876668,-0.000122521853418,-0.00047712221456,-6.33032933812e-05,1793243303049229568
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.942691599,745,714,681,657.057308401,630.942691599,880,785,806.057308401,652,631,652,0.453325488947,-0.00557417256484,0.0596820018315,0.999999870131,-0.000120307435888,-0.000491125367912,-6.37148770578e-05,1793243303115897856
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.348655821,745,714,681,657.651344179,630.348655821,880,785,806.651344179,652,631,652,0.453343622475,-0.00557418978698,0.059679858645,0.999999868439,-0.00012041370778,-0.000494601657149,-6.31811080403e-05,1793243303132563968
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.238625312,714,681.238625312,657.761374688,630.238625312,880,785.238625312,806.761374688,651.761374688,631,652,0.453356690256,-0.00557304065362,0.0596770190897,0.999999865909,-0.000119429887815,-0.000499921346643,-6.32161548716e-05,1793243303149230336
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+243,4.050000000,POSE1_TO_POSE2_PRESS,764.067598387,745.067598387,714.932401613,681.067598387,657.932401613,630.932401613,880,785,806,652,631,652,0.453384757884,-0.00556782810625,0.0596657716528,0.999999858112,-0.000111977085259,-0.000517006453766,-6.27854699996e-05,1793243303399230208
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.517761151,745.517761151,714.482238849,681.517761151,657.482238849,631,880,785,806.517761151,652,630.482238849,651.482238849,0.453385399666,-0.00556784713114,0.0596655074028,0.999999858058,-0.000111045722522,-0.000517356700769,-6.24022645009e-05,1793243303415896832
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,681.896766122,657,631,880,785,806.896766122,652,630,651.103233878,0.453386399083,-0.00556755318856,0.0596656826919,0.999999858292,-0.000110404370523,-0.000517067332249,-6.21971536638e-05,1793243303432563200
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,681.317163177,657,631,880,785,806.317163177,652,630,651.682836823,0.453387775679,-0.00556575906475,0.0596668261879,0.999999859088,-0.00011069778056,-0.000515387209694,-6.28241228187e-05,1793243303449229824
+247,4.116666667,HOLD_POSE2,765,745,714,682,658,631,880,785,807,652,631,652,0.453383127987,-0.00556685894907,0.059663596418,0.999999855315,-0.000113263148364,-0.000522162094545,-6.23530338334e-05,1793243303487150592
+248,4.133333333,HOLD_POSE2,765,745,714.57477259,681.42522741,657.42522741,630.42522741,880,785,806.42522741,652,630.42522741,652,0.453384036887,-0.00556547382013,0.0596637267342,0.999999855886,-0.000111398757496,-0.000521409416741,-6.2851375933e-05,1793243303503817216
+249,4.150000000,HOLD_POSE2,765,745,714.846912797,681.153087203,657,630.153087203,880,785.153087203,806.153087203,651.846912797,630.153087203,651.846912797,0.453384812369,-0.00556447385692,0.0596639282992,0.999999856368,-0.000109703445982,-0.000520805934093,-6.31728112956e-05,1793243303520483840
+250,4.166666667,HOLD_POSE2,765,745,714.258526407,681.741473593,657,630.741473593,880,785.741473593,806.741473593,651.258526407,630.741473593,651.258526407,0.453385208479,-0.00556456910136,0.0596643324581,0.999999856605,-0.000108488906459,-0.000520626683539,-6.29912174089e-05,1793243303537150464
+251,4.183333333,HOLD_POSE2,765,745,714,681.675049009,657,630.675049009,880,785.675049009,806.675049009,651.324950991,630.675049009,651.324950991,0.453385464829,-0.00556584250722,0.0596644865586,0.999999856486,-0.000109747009724,-0.000520650235272,-6.25089734076e-05,1793243303553817344
+252,4.200000000,HOLD_POSE2,765,745,714,681.095419047,657,630.095419047,880,785.095419047,806.095419047,651.904580953,630.095419047,651.904580953,0.453385611644,-0.00556803929211,0.059664444677,0.999999856079,-0.000112943036427,-0.000520832732452,-6.17910961561e-05,1793243303570483968
+253,4.216666667,HOLD_POSE2,765.481811391,745,714.481811391,681,657.481811391,630,880,785,806,652,630.481811391,651.518188609,0.453385183527,-0.0055687380762,0.0596646452094,0.999999855879,-0.000114238340932,-0.000520925462036,-6.18766470102e-05,1793243303587150592
+254,4.233333333,HOLD_POSE2,765.941616002,745,714.941616002,681,657.941616002,630.058383998,880,785,806,652,631,651.058383998,0.453384588647,-0.00556887596696,0.0596646944121,0.999999855692,-0.00011464383642,-0.000521164993184,-6.21223497298e-05,1793243303603816960
+255,4.250000000,HOLD_POSE2,765.36667997,745,714.36667997,681,657.36667997,630.63332003,880,785,806,652,631,651.63332003,0.453383520718,-0.00556666311482,0.0596629820786,0.999999855259,-0.000110490652497,-0.000522859859578,-6.2384222008e-05,1793243303620483584
+256,4.266666667,HOLD_POSE2,765,745,714,680.786201272,657,631,880,785,806,652,630.786201272,651.786201272,0.453383778034,-0.00556577981752,0.0596623250155,0.999999855281,-0.000108700000516,-0.000523184706209,-6.24463608241e-05,1793243303637150464
+257,4.283333333,HOLD_POSE2,765,745,714,680.195963575,657,631,880,785,806,652,630.195963575,651.195963575,0.453386368731,-0.00556723748972,0.0596635259849,0.999999856129,-0.000111069098199,-0.000521097336123,-6.2156825591e-05,1793243303653817088
+258,4.300000000,HOLD_POSE2,765,745.386786657,714,680.386786657,657,631,880,785,806.386786657,652,630,651.386786657,0.453386727437,-0.00556683063816,0.0596635842349,0.999999856222,-0.000110550939743,-0.000521043393191,-6.20396257825e-05,1793243303670483712
+259,4.316666667,HOLD_POSE2,765,745.965815493,714,680.965815493,657,631,880,785,806.965815493,652,630,651.965815493,0.45338597679,-0.00556549707403,0.0596630745263,0.999999855939,-0.000108597746446,-0.000522000111786,-6.20080807576e-05,1793243303687150336
+260,4.333333333,HOLD_POSE2,765.541348638,745.458651362,714,681,657,630.458651362,880.541348638,785,807,652,630,652,0.453385468782,-0.00556434124818,0.0596628551809,0.999999855443,-0.000107515522561,-0.000523154116989,-6.2165805365e-05,1793243303703817216
+261,4.350000000,HOLD_POSE2,766,745.116471715,714,681,657,630,880.767056571,785,806.883528285,652,630,652,0.453385099288,-0.00556346797614,0.0596625587299,0.999999855082,-0.000106730083351,-0.000523978025188,-6.2378486479e-05,1793243303720483840
+262,4.366666667,HOLD_POSE2,766,745.690845074,714,681,657,630,879.618309853,785,806.309154926,652,630,652,0.4533852145,-0.00556366170544,0.05966188752,0.999999855314,-0.000106896596988,-0.000523455513103,-6.27605395826e-05,1793243303737150464
+263,4.383333333,HOLD_POSE2,765.725808525,745.725808525,714,681,657,630.274191475,879.274191475,785.274191475,806.274191475,652,630.274191475,652,0.453385565318,-0.00556460282725,0.0596618576234,0.999999855391,-0.000108307770383,-0.00052301827389,-6.27656724121e-05,1793243303753817088
+264,4.400000000,HOLD_POSE2,765.132002629,745.132002629,714,681,657,630.867997371,879.867997371,785.867997371,806.867997371,652,630.867997371,652,0.453386190773,-0.00556641515566,0.0596625752812,0.999999855281,-0.000111169795615,-0.000522680433999,-6.23314438003e-05,1793243303770483712
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,657,630,880,785,807,651,631,652,0.453385731104,-0.00556380859991,0.0596629008767,0.999999855918,-0.00010795828363,-0.000522094615199,-6.26645527328e-05,1793243303803130112
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.575374296,746,714,681,657,630.575374296,880,785,806.424625704,651.575374296,630.424625704,652,0.453384997511,-0.00556345245274,0.0596625290205,0.999999855701,-0.000107779440379,-0.000522475717055,-6.32507348113e-05,1793243303819796736
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.84605525,745.84605525,714,681.15394475,657,630.84605525,879.84605525,785,806.15394475,651.84605525,630.15394475,652,0.453384657614,-0.00556302421931,0.0596622596213,0.999999855472,-0.000107275343952,-0.00052298469287,-6.35204794906e-05,1793243303836463360
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.258481787,745.258481787,714,681.741518213,657,630.258481787,879.258481787,785,806.741518213,651.258481787,630.741518213,652,0.453385426673,-0.00556239293454,0.059662278821,0.999999855208,-0.000105855080374,-0.000523853861765,-6.28988893116e-05,1793243303853129984
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.325251608,714,681.674748392,657,630,879.325251608,785,807,651,630.674748392,652,0.453386540127,-0.00556301267907,0.0596627572237,0.999999855489,-0.000106500886595,-0.00052321598988,-6.26495693528e-05,1793243303869796608
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.905968824,714,681.094031176,657,630,879.905968824,785,807,651,630.094031176,652,0.453387924084,-0.00556461503205,0.0596635963029,0.999999856193,-0.000108769466677,-0.000521394427893,-6.26926453369e-05,1793243303886463488
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.481926097,745.518073903,714,681,657,630,880,785,806.518073903,651.481926097,630,651.518073903,0.45338640876,-0.00556449013561,0.0596624295026,0.999999855607,-0.000107934520192,-0.00052269988126,-6.26109470865e-05,1793243303903129856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.942129317,745,714,681,657,630.057870683,879.942129317,785,806.057870683,652,630,651.057870683,0.453384082309,-0.00556393995596,0.0596608732078,0.999999854717,-0.000106543046604,-0.000524692701783,-6.25432515682e-05,1793243303919796480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.357936005,745,714,681,657,630.642063995,879.357936005,785,806.642063995,652,630,651.642063995,0.45337947337,-0.00556255699734,0.0596592992291,0.999999853359,-0.000105543523786,-0.00052744226242,-6.28221590507e-05,1793243303936463360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.225435595,745,714,681.225435595,657,630.774564405,879,785,806.774564405,651.774564405,630.225435595,652,0.453366980907,-0.00556116527966,0.0596538535551,0.999999848758,-0.000105591177172,-0.000536036119643,-6.32378697441e-05,1793243303953130240
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.807507201,745,714,681.807507201,657,630.192492799,879,785,806.192492799,651.192492799,630.807507201,652,0.453342016818,-0.00555975970538,0.0596422829128,0.999999838815,-0.000107295448979,-0.000553875573312,-6.3870001196e-05,1793243303969796608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.613738612,745.386261388,714,682,657,630.386261388,879.386261388,785,806.386261388,651.386261388,630.613738612,652,0.453300119396,-0.00555857476638,0.0596257642572,0.99999982358,-0.00010581230226,-0.0005809317897,-6.45059812e-05,1793243303986463232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.036623526,745.963376474,714,682,657,630.963376474,879.963376474,785,806.963376474,651.963376474,630.036623526,652,0.453249855126,-0.00555749884424,0.0596068007623,0.999999804995,-0.00010275423606,-0.000612542056159,-6.51438628023e-05,1793243304003130112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.537971636,746,714,681.462028364,657,631,880,785,806.462028364,652,630,652,0.453195143019,-0.00555597670013,0.0595960321124,0.999999799584,-0.000101602805006,-0.000621455678727,-6.55910328874e-05,1793243304019797504
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.884356709,714,681,657,630.884356709,879.884356709,784.884356709,806.115643291,652,630,652,0.453135136891,-0.00555455643645,0.0595862816502,0.999999794164,-0.000100640325706,-0.000630241391108,-6.58749762849e-05,1793243304036464640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.293336376,714,681,657,630.293336376,879.293336376,784.293336376,806.706663624,652,630,652,0.453054607423,-0.00555367926519,0.0595784340683,0.999999784961,-9.9923497692e-05,-0.000644823246931,-6.55410617725e-05,1793243304053131008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.708038504,745,714,681,657,630.291961496,879.291961496,784.291961496,807,652,630.291961496,651.708038504,0.452967622854,-0.00555212979208,0.059573912912,0.9999997799,-9.91610781951e-05,-0.000652792498345,-6.50316297392e-05,1793243304069797120
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.128379554,745,714,681,657,630.871620446,879.871620446,784.871620446,807,652,630.871620446,651.128379554,0.452874277464,-0.00554991783601,0.0595726696001,0.999999779074,-9.83537331286e-05,-0.00065424572038,-6.43492436144e-05,1793243304086463488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,631,880,785,807,652,630.56713365,651.43286635,0.452752014982,-0.0055448725457,0.0595634439534,0.999999770331,-9.56231717521e-05,-0.000667883428063,-6.42370743728e-05,1793243304103130368
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,631,880,785,807,652,630.011125882,651.988874118,0.452621526194,-0.00553902123113,0.0595519474995,0.999999759066,-9.23454955727e-05,-0.000684987366711,-6.42871198952e-05,1793243304119797248
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.582119489,745.582119489,714,681.582119489,657.582119489,631,880,785,807,652,630,652,0.452467709358,-0.00553522419777,0.0595418708559,0.999999747101,-8.78166456111e-05,-0.000702850303224,-6.39416927318e-05,1793243304136463616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.824052407,745.824052407,714,681.824052407,658,631,880,785,807,651.824052407,630,651.824052407,0.452302865218,-0.00553138468358,0.0595314545084,0.99999973511,-8.33582268408e-05,-0.000720290027744,-6.33550741263e-05,1793243304153130496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.230645807,745.230645807,714,681.230645807,658,631,880,785,807,651.230645807,630,651.230645807,0.45211298752,-0.0055273448558,0.0595201633849,0.999999723579,-7.91275311359e-05,-0.000736688852596,-6.22153561852e-05,1793243304169797120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.352632963,658,631,880.352632963,785,806.647367037,651.352632963,630.352632963,651,0.451907353062,-0.00552174407052,0.0595166727794,0.99999971872,-7.43430490248e-05,-0.000743867662034,-6.07734901972e-05,1793243304186463488
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.929472445,658,631,880.929472445,785,806.070527555,651.929472445,630.929472445,651,0.451691700327,-0.0055151508171,0.0595181417972,0.999999718207,-6.92064652126e-05,-0.000745184322475,-5.91395162493e-05,1793243304203130368
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.50464167,714,681.49535833,658,631,880.49535833,785,806.50464167,652,631,651.50464167,0.45145948695,-0.0055064099141,0.059533830475,0.99999973513,-6.29462040333e-05,-0.00072284725755,-5.71853062366e-05,1793243304219796736
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.918710324,714,681,658,631,880,785.081289676,806.918710324,652,631,652,0.45121908108,-0.00549769576688,0.0595497341759,0.999999751944,-5.67053434825e-05,-0.000699901986799,-5.50779911957e-05,1793243304236463360
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.331408675,714,681,658,631,880,785.668591325,806.331408675,652,631,652,0.450942038102,-0.00549101037867,0.0595546465814,0.999999756707,-5.15595790626e-05,-0.000693680745969,-5.22953020294e-05,1793243304253129984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.252592474,714,681.252592474,658,631.252592474,880,785.747407526,806,652,631,651.747407526,0.450638986231,-0.00548322177076,0.0595583013097,0.999999761413,-4.39722674827e-05,-0.000687565357436,-4.99442277189e-05,1793243304269796864
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.83231909,714,681.83231909,658,631.83231909,880,785.16768091,806,652,631,651.16768091,0.450302250089,-0.0054740043763,0.0595603272121,0.999999766008,-3.32228927308e-05,-0.00068158705924,-4.81521407582e-05,1793243304286463488
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.589461898,714,681.589461898,658,632,880,785.410538102,806,652,630.589461898,651.410538102,0.449941346632,-0.0054639964922,0.0595607507674,0.999999768583,-2.20627309767e-05,-0.000678391860313,-4.61606742208e-05,1793243304303130368
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.011856415,714,681.011856415,658,632,880,785.988143585,806,652,630.011856415,651.988143585,0.449570608358,-0.00545366692068,0.0595605222518,0.99999977026,-1.07354008141e-05,-0.000676329236269,-4.40880707393e-05,1793243304319796992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.561740715,632,880,785.438259285,806,652,630.561740715,652,0.449173061137,-0.00544437529327,0.059571602775,0.999999784555,-3.24485383499e-07,-0.000655141047883,-4.097684953e-05,1793243304336463872
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632,880.139566104,785.139566104,806,651.860433896,631,652,0.448768963079,-0.00543555377187,0.0595860680209,0.999999800428,9.42855000688e-06,-0.000630588448711,-3.75885787197e-05,1793243304353130496
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632,880.731364279,785.731364279,806,651.268635721,631,652,0.448345459107,-0.00542818504034,0.0596107327288,0.999999821431,1.71121038432e-05,-0.000596432998954,-3.33731214717e-05,1793243304369796864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.316518374,880.683481626,786,806,651,631,651.683481626,0.447904165371,-0.00542010613884,0.0596464907636,0.999999854059,2.63107178302e-05,-0.000538843025088,-2.89579640311e-05,1793243304386463488
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.896149499,880.103850501,786,806,651,631,651.103850501,0.447448083461,-0.00541143689238,0.0596914703692,0.99999989241,3.67687591139e-05,-0.000461772589772,-2.43768009031e-05,1793243304403130112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.47123133,745,714,681,659.47123133,633.47123133,880,786,806,651.47123133,631,651,0.446953926487,-0.00541553113097,0.0597334727903,0.999999918098,3.15453969285e-05,-0.000402994976053,-2.01112021467e-05,1793243304419796992
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.365618772,745,714,681,659.365618772,634.634381228,879.365618772,786.634381228,806,652,631,651.634381228,0.445878880884,-0.0054326428003,0.0597775723278,0.999999940481,1.10663925264e-05,-0.000344709373287,-9.5456082757e-06,1793243304453131264
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.219458145,745,714,681,659.219458145,634.780541855,879.219458145,786.780541855,806,652,631,651.780541855,0.44528323721,-0.00543251575576,0.0597764476395,0.999999940734,9.04577388056e-06,-0.000344126601575,-5.29462883176e-06,1793243304469797888
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.799784947,745,714,681,659.799784947,634.200215053,879.799784947,786.200215053,806,652,631,651.200215053,0.444641229897,-0.00541575872645,0.0597643118155,0.999999936892,2.27765493872e-05,-0.000354512290644,-4.26489893671e-06,1793243304486464256
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634,880,786.377659175,806,652,631,651,0.443993271274,-0.00540540246276,0.0597754641805,0.999999944259,3.29751191772e-05,-0.000332258184229,-1.18962229016e-07,1793243304503130880
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.30275958,660,634,880,787,806,652.30275958,631,651.69724042,0.441178815897,-0.00540271358106,0.0597989997679,0.999999912633,0.000269728289595,-0.000318758144581,1.93159165137e-05,1793243304569796864
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.580948924,745,714,681,660.419051076,634,880,787,806,651.580948924,631.580948924,652,0.437164042067,-0.00539500727163,0.0598040836169,0.999999914639,0.000249700564228,-0.000326527518662,4.18610828556e-05,1793243304653130240
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.65918651,660,634,879,786.65918651,806.34081349,652,631.34081349,651.65918651,0.434599091591,-0.00539532930054,0.0597490600759,0.999999922016,0.000111973002821,-0.000378684675455,-5.29136136045e-06,1793243304703130112
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.084792842,660,634,879,786.084792842,806.915207158,652,631.915207158,651.084792842,0.43374975953,-0.00540943134761,0.0597703091755,0.999999937769,0.000120066338233,-0.000331711697712,3.543128513e-06,1793243304719796992
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.658371433,745,714,680.658371433,660,634,880,786.658371433,805.658371433,652,631,652,0.43108744978,-0.0053954688981,0.0598194561114,0.999999949399,0.000173690099174,-0.000265723780721,2.05928707446e-05,1793243304769798144
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.148651814,745,714,680,659.851348186,634,879,787,805.148651814,652,631,652,0.42556752248,-0.00539715789072,0.0597821600529,0.999999929706,0.000170430283455,-0.000333269223114,2.17503553229e-05,1793243304869797120
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.114975306,745,714,680.885024694,659,634,879,787,806,652,631,652,0.422894274231,-0.00539341248456,0.0598452763461,0.99999995152,0.000184275505264,-0.000249407531774,2.82662772979e-05,1793243304919797504
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.378464765,745,714.378464765,679.621535235,659.378464765,634,879.621535235,786.378464765,805,652,631,651.378464765,0.420138085601,-0.00538418550531,0.0597722195151,0.999999906342,0.000205598491263,-0.000379952237367,2.61210949521e-05,1793243304969797120
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.514626517,634.485373483,879,787,805,652,631,652,0.416007447286,-0.00537973268721,0.0598317200858,0.999999936355,0.000215376594374,-0.000282944952396,2.90619035094e-05,1793243305053130752
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.588879805,634.588879805,879,787,804.588879805,652,631,651.588879805,0.410732218515,-0.0053720067997,0.0597538901628,0.999999889926,0.000230573043623,-0.000407858087878,2.52289277657e-05,1793243305169796864
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.55302096,680,659,635,879,787,805,652.44697904,631,651.55302096,0.404492776193,-0.00535760938114,0.0597977160925,0.999999912399,0.00026084938353,-0.000326117108087,2.83966316538e-05,1793243305369798144
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.14033572,745.14033572,714.85966428,680,659,635,878.85966428,787,805,652,631,652,0.404102093977,-0.00535238965486,0.0597773323966,0.999999898118,0.000268188338721,-0.000362012155626,2.80553928964e-05,1793243305386464512
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.71931258,745.71931258,714.28068742,680,659,635,878.28068742,787,805,652,631,652,0.403752952977,-0.00534755837166,0.0597687230475,0.999999891702,0.000278672607875,-0.000371673994042,2.82168343088e-05,1793243305403130880
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.703659047,714,679.703659047,659,634.703659047,878,787,805,652,631,652,0.403449687895,-0.00534422491463,0.0597751510066,0.99999989498,0.000285855033771,-0.000357016131162,2.94216743995e-05,1793243305419797248
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.128464215,714,679.128464215,659,634.128464215,878,787,805,652,631,652,0.403189591613,-0.00534230089736,0.0597957289231,0.999999906439,0.000289930457217,-0.000319473671176,3.16083421956e-05,1793243305436463872
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,634.445827279,878.445827279,787,805,652,631,652,0.402953248584,-0.00534380174482,0.0598172884063,0.999999918078,0.000287335379202,-0.000283088133868,3.38225715382e-05,1793243305453130496
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.979461682,745,714,679.020538318,659,635,879,787,805,652,631,652,0.402724160609,-0.00534649396433,0.0598385002036,0.999999928621,0.000282530156992,-0.000248271746889,3.60115231442e-05,1793243305469796864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.385793905,745,714,679.614206095,659,635,879,787,805,652,631,652,0.402506916781,-0.00535494864118,0.05984213301,0.999999932227,0.000269578256381,-0.000247959219237,3.72739209564e-05,1793243305486463744
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.201535866,745,714,679.798464134,659,635,878.798464134,787,805,652,631,652,0.402293090553,-0.00536461702179,0.0598411914131,0.999999934547,0.000254197245342,-0.000254631321087,3.81187034585e-05,1793243305503130624
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.777102841,745,714,679.222897159,659,635,878.222897159,787,805,652,631,652,0.402085607084,-0.00537653791847,0.0598317601647,0.99999993421,0.000234308041252,-0.000274266220907,3.81884321141e-05,1793243305519797248
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.353437784,659,635,878,787,805,652,631,652,0.401909940442,-0.00538117722693,0.0598269511576,0.999999940782,0.000190204979027,-0.000285408447948,2.82759064707e-05,1793243305536463616
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.930258161,659,635,878,787,805,652,631,652,0.401754382906,-0.00538121436857,0.0598250635357,0.999999948979,0.000130798076851,-0.000291183068738,1.20543160635e-05,1793243305553130240
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.497651658,745,714,679.497651658,659,635,878.502348342,787,805.502348342,652,631,652,0.401630004621,-0.00538417604729,0.0598268968169,0.999999949705,0.000128439966045,-0.000289735225568,1.21186808177e-05,1793243305569796864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.076789961,659,635,878.923210039,787,806,652,631,652,0.401513220925,-0.00538648383224,0.0598292474541,0.999999948671,0.000142073322338,-0.000286829064019,1.42106342193e-05,1793243305586463744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.67147847,659,635,878.32852153,787,806,652,631,652,0.401418736047,-0.00538166874265,0.059831635832,0.999999938284,0.000210640592968,-0.000280787008836,1.48705897003e-05,1793243305603130368
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.741116864,659,635,878.517766271,787,805.741116864,652,631,652,0.401332801509,-0.00537829637254,0.0598342462214,0.999999930683,0.000249215070794,-0.000276188458173,1.57037893852e-05,1793243305619796992
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.162702451,659,635,879.674595097,787,805.162702451,652,631,652,0.40125742039,-0.00537670470579,0.0598371306323,0.999999931051,0.000250770388665,-0.000273371581174,1.67508189473e-05,1793243305636463616
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.413536461,659,635,879.172927078,787,805.413536461,652,631,651.586463539,0.401193390884,-0.00537676234659,0.0598355948627,0.999999930618,0.00024923544422,-0.000276309523815,1.72610591383e-05,1793243305653130240
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.988923907,659,635,878.022152186,787,805.988923907,652,631,651.011076093,0.401133804204,-0.00537746549775,0.0598323291113,0.999999929846,0.000246491024762,-0.000281499802914,1.75612092725e-05,1793243305669796864
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.422938947,659,635,878,787,806,652,631,651.577061053,0.40109163396,-0.00537529104093,0.0598307138451,0.999999928378,0.00024903876202,-0.000284448020395,1.77164242028e-05,1793243305686463488
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805.837024408,652,631,652,0.40105389337,-0.0053739280513,0.0598297711157,0.99999992735,0.000250723792171,-0.000286558425238,1.79512292086e-05,1793243305703130112
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805.257431359,652,631,652,0.401026602535,-0.00537478381271,0.059830464792,0.999999927515,0.000249937937021,-0.000286639608257,1.83967637872e-05,1793243305719796736
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.320362251,659,635,878.320362251,787,805,652.320362251,631,651.679637749,0.401007322106,-0.00537568063697,0.0598320725168,0.999999928761,0.000248445239221,-0.000283541665118,1.888844084e-05,1793243305736463360
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.896718037,659,635,878.896718037,787,805,652.896718037,631,651.103281963,0.40099444259,-0.00537661027363,0.059834410635,0.999999930843,0.000246387720887,-0.000277903361059,1.94169892482e-05,1793243305753129984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,653,631,651.468726613,0.400985304774,-0.00537655795903,0.0598354395568,0.99999993114,0.000246563330151,-0.000276660711418,1.96273175092e-05,1793243305769796864
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.041468898,745,714,680,659,635,879,787,805,652.958531102,631,652,0.400977207286,-0.00537615562064,0.0598361500715,0.999999930998,0.000247462562166,-0.000276361612627,1.97428479159e-05,1793243305786463744
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.636682474,745,714,680,659,635,879,787,805,652.363317526,631,652,0.400972093399,-0.00537394200442,0.0598364255115,0.999999930134,0.00025151428456,-0.000275847353374,1.95202246151e-05,1793243305803130112
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.774911301,745,714,680,659.225088699,635,879,787,805,652.225088699,631,652,0.400967819632,-0.0053732852797,0.0598365256844,0.999999929854,0.000252590142514,-0.000275875123943,1.95737711454e-05,1793243305819796992
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.197170361,745,714,680,659.802829639,635,879,787,805,652.802829639,631,652,0.400964862103,-0.00537506777698,0.059836351262,0.999999930502,0.000249003637059,-0.000276752106575,2.00600000486e-05,1793243305836463616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.379238807,745,714,680,659.620761193,635,879,787,805.379238807,652.620761193,631,652,0.400964988047,-0.00537589225349,0.059837200846,0.999999931376,0.000247797764018,-0.000274658551757,2.0175918613e-05,1793243305853129984
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.954957978,745,714,680,659.045042022,635,879,787,805.954957978,652.045042022,631,652,0.400966711511,-0.00537622038762,0.0598385809591,0.999999932362,0.000247825276264,-0.000271025987008,2.0099982561e-05,1793243305869796608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.457710567,745,714,680,659,635,879,787,805.457710567,652,631,652,0.400966552121,-0.00537597045771,0.0598397906261,0.999999933041,0.000246733256219,-0.000269522520516,1.99596747684e-05,1793243305886463488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.871349793,659,635,878.871349793,787,805,652.128650207,631,652,0.400966004725,-0.00537563624282,0.0598406220601,0.999999933453,0.000246000942481,-0.00026867422635,1.97857980174e-05,1793243305903130112
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.291844973,659,635,878.291844973,787,805,652.708155027,631,652,0.400964657617,-0.0053751785963,0.0598401786758,0.999999933027,0.0002468622242,-0.000269488684108,1.95134262483e-05,1793243305919796736
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.286256924,745,714,679.286256924,659,635,878.286256924,787,805,652.713743076,631,652,0.400964279219,-0.00537478787725,0.0598402114558,0.999999932954,0.000246959653244,-0.000269679951408,1.93765668068e-05,1793243305936463616
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.862935556,745,714,679.862935556,659,635,878.862935556,787,805,652.137064444,631,652,0.400964883622,-0.00537446505935,0.0598407273279,0.99999993324,0.000246282116336,-0.00026923896148,1.93771912443e-05,1793243305953130240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.553209148,745,714,679.553209148,659,634.553209148,879,787,805,652.446790852,631,652,0.400965219054,-0.00537551563348,0.0598409474647,0.999999933666,0.000245181362309,-0.000268655337202,1.9452794944e-05,1793243305969796864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745.032519152,714,679,659,634.032519152,879,787,805,652.967480848,631,652,0.400965427302,-0.00537690247902,0.0598410829191,0.999999934102,0.000244041167179,-0.000268061832044,1.95453709127e-05,1793243305986463488
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.612115002,714,679,659,634.612115002,879,787,805,652.387884998,631,652,0.400964906705,-0.00537674277547,0.0598413449338,0.999999934004,0.000244457303321,-0.000268050243866,1.9530193843e-05,1793243306003129856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.808742581,714,679.191257419,659,635,878.808742581,787,805.191257419,652,631,652,0.400964361706,-0.0053761850702,0.05984125874,0.999999933695,0.000245457390462,-0.00026829355749,1.94959954728e-05,1793243306019796480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.230517623,714,679.769482377,659,635,878.230517623,787,805.769482377,652,631,652,0.400963767336,-0.00537482209552,0.0598404680225,0.999999932954,0.000247638974658,-0.000269052609137,1.94233116639e-05,1793243306036463104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.654378755,659,635,878,787,805.654378755,652.345621245,631,652,0.400963814215,-0.0053762859699,0.0598406226857,0.999999933398,0.000245839364276,-0.000269031044026,1.97556391596e-05,1793243306053129984
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.079622914,659,635,878,787,805.079622914,652.920377086,631,652,0.40096428622,-0.00537962394475,0.0598414041028,0.999999934612,0.000241400363361,-0.000268491957728,2.03564747513e-05,1793243306069796864
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.507709092,745,714,679.507709092,659,635,878.507709092,787,805,652.492290908,630.492290908,652,0.400964462793,-0.00537923535108,0.0598413773703,0.99999993455,0.000242095348931,-0.000268108243165,2.01981505271e-05,1793243306086463488
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.904579306,745,714,679.904579306,659.095420694,635,879,787,805.095420694,652,630.095420694,652,0.400964725245,-0.00537859419314,0.059841424627,0.999999934505,0.000242976243196,-0.000267494775969,1.99651019726e-05,1793243306103130112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.325199889,745,714,679.325199889,659.674800111,635,879,787,805.674800111,652,630.674800111,652,0.40096566422,-0.00537971149222,0.0598425062794,0.999999935584,0.000240612710966,-0.000265589317161,1.99722410662e-05,1793243306119796736
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.25088826,714,679.25088826,659.74911174,635,878.74911174,787,805.74911174,652,631,652,0.400965861419,-0.0053804524125,0.0598428338611,0.999999935815,0.000240077519177,-0.000265192557202,2.01240727033e-05,1793243306136463616
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745.822765606,714,679.822765606,659.177234394,635,878.177234394,787,805.177234394,652,631,652,0.400965109581,-0.00538071178994,0.0598421966768,0.999999934966,0.000241881525111,-0.000266726042211,2.04610255083e-05,1793243306153130240
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8defa8bd7f4dbc607387ad778fca4fefb5216c80
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_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
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+368,6.133333333,pose2_to_pose3_retreat,0.581714052,1.87980951794e-06,1.05004100553,0.552285808814,0.00867670312731,1.04967880985
+369,6.150000000,pose2_to_pose3_retreat,0.581563555808,1.89828975008e-06,1.05004099975,0.552135312114,0.00867671912728,1.04967879628
+370,6.166666667,pose2_to_pose3_retreat,0.581429851812,1.81124428472e-06,1.0500409823,0.552001607258,0.00867662849255,1.04967877183
+371,6.183333333,pose2_to_pose3_retreat,0.581315623131,1.77267391303e-06,1.05004097753,0.55188737841,0.0086765892087,1.04967876852
+372,6.200000000,pose2_to_pose3_retreat,0.581216916172,1.8780310304e-06,1.05004087604,0.551788671135,0.00867669368191,1.04967867613
+373,6.216666667,pose2_to_pose3_retreat,0.581132162516,1.88908261059e-06,1.05004066079,0.551703918207,0.00867670703151,1.04967847022
+374,6.233333333,pose2_to_pose3_retreat,0.581057828555,1.7925858368e-06,1.05004083407,0.551629586133,0.00867661604855,1.04967862853
+375,6.250000000,pose2_to_pose3_retreat,0.580993455554,1.88514826956e-06,1.05004090978,0.551565212094,0.00867670550123,1.04967871072
+376,6.266666667,pose2_to_pose3_retreat,0.580938108546,1.81358774552e-06,1.05004086727,0.551509865815,0.00867663608842,1.04967866435
+377,6.283333333,pose2_to_pose3_retreat,0.580891242336,1.80318742813e-06,1.05004101132,0.551462999775,0.0086766257066,1.04967879877
+378,6.300000000,pose2_to_pose3_retreat,0.580852599303,1.87381649185e-06,1.05004105863,0.551424355452,0.0086766917069,1.04967884434
+379,6.316666667,pose2_to_pose3_retreat,0.580821606017,1.90261834234e-06,1.05004094086,0.551393361002,0.00867671651753,1.04967872902
+380,6.333333333,pose2_to_pose3_retreat,0.580798638777,1.83429131981e-06,1.05004086503,0.551370394215,0.00867664975176,1.04967865407
+381,6.350000000,pose2_to_pose3_retreat,0.580781241529,1.73180946526e-06,1.05004084673,0.551352998489,0.00867655263106,1.04967864147
+382,6.366666667,pose2_to_pose3_retreat,0.580768913854,1.81749750364e-06,1.05004094482,0.551340670732,0.00867663807157,1.04967874081
+383,6.383333333,pose2_to_pose3_retreat,0.580760451496,1.84937165995e-06,1.05004088577,0.551332207909,0.00867666820724,1.04967867872
+384,6.400000000,pose2_to_pose3_retreat,0.580754440016,1.81421952036e-06,1.05004088738,0.551326197279,0.00867663590234,1.04967867998
+385,6.416666667,pose2_to_pose3_retreat,0.58075002903,1.74133139976e-06,1.05004096376,0.551321787955,0.00867656872556,1.0496787583
+386,6.433333333,pose2_to_pose3_retreat,0.580747190261,1.78575015951e-06,1.05004107014,0.551318947315,0.00867660666443,1.04967886153
+387,6.450000000,pose2_to_pose3_retreat,0.580745810473,1.79988083222e-06,1.05004097188,0.551317566731,0.00867661803376,1.04967876187
+388,6.466666667,pose2_to_pose3_retreat,0.580745125538,1.80291686819e-06,1.05004084312,0.551316881463,0.00867661990612,1.04967863249
+389,6.483333333,pose2_to_pose3_retreat,0.580744901205,1.80391124583e-06,1.05004080095,0.55131665702,0.00867662051936,1.04967859011
+390,6.500000000,pose2_to_pose3_retreat,0.58074487593,1.80402328259e-06,1.0500407962,0.551316631732,0.00867662058845,1.04967858534
+391,6.516666667,pose2_to_pose3_retreat,0.580744788314,1.80441164558e-06,1.05004077973,0.551316544074,0.00867662082796,1.04967856879
+392,6.533333333,pose2_to_pose3_retreat,0.580744563721,1.80493004115e-06,1.0500407402,0.551316319395,0.00867662104781,1.04967852911
+393,6.550000000,pose2_to_pose3_retreat,0.58074443035,1.79437782693e-06,1.0500407781,0.551316186515,0.00867661220804,1.04967856805
+394,6.566666667,pose2_to_pose3_retreat,0.580744372579,1.78980709553e-06,1.05004079452,0.551316128958,0.00867660837907,1.04967858492
+395,6.583333333,pose2_to_pose3_retreat,0.580744347658,1.78783537923e-06,1.0500408016,0.551316104129,0.00867660672733,1.04967859219
+396,6.600000000,pose2_to_pose3_retreat,0.580744339406,1.78718243343e-06,1.05004080395,0.551316095907,0.00867660618034,1.0496785946
+397,6.616666667,pose2_to_pose3_retreat,0.580744227723,1.77834620164e-06,1.05004083569,0.551315984636,0.00867659877809,1.04967862721
+398,6.633333333,pose2_to_pose3_retreat,0.58074408717,1.7672258588e-06,1.05004087563,0.551315844602,0.00867658946239,1.04967866825
+399,6.650000000,pose2_to_pose3_retreat,0.580743973007,1.75819334827e-06,1.05004090807,0.551315730859,0.00867658189571,1.04967870158
+400,6.666666667,pose2_to_pose3_retreat,0.580743928594,1.75467945548e-06,1.05004092069,0.55131568661,0.00867657895206,1.04967871455
+401,6.683333333,pose2_to_pose3_retreat,0.580743892222,1.75180177461e-06,1.05004093103,0.551315650373,0.00867657654138,1.04967872516
+402,6.700000000,pose2_to_pose3_retreat,0.580743736656,1.7849446702e-06,1.05004093285,0.55131549475,0.00867660949654,1.04967872709
+403,6.716666667,pose2_to_pose3_retreat,0.580743611562,1.88095869542e-06,1.05004086964,0.551315368649,0.00867670202481,1.04967866227
+404,6.733333333,pose2_to_pose3_retreat,0.58074355451,1.90044255346e-06,1.05004084715,0.551315311552,0.00867672139338,1.04967864062
+405,6.750000000,pose2_to_pose3_retreat,0.580743503467,1.89808104985e-06,1.0500408322,0.551315260808,0.00867672012946,1.0496786277
+406,6.766666667,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315250933,0.00867671988387,1.04967862519
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67b4ac1088227c4f730b3ef940955ac5f02dd3e5
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c630330fc9085fc9e4a439471db761bb57da99b82eabb60d678d006f293dbeef
+size 34581594
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da135636c94e066da47fbb594f504032f7957996
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,546 @@
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+0,0.000000000,BASELINE,766,745,714,679,659,635,879,787,805,652,631,652,0.400967398124,-0.0053772012783,0.0598445386564,0.999999935598,0.000243761720661,-0.000262684043244,1.95315264978e-05,1793243306301724672
+1,0.016666667,BASELINE,766,745,714,679,659,635,878.416722865,787,805,652,631,652,0.400966321689,-0.00537654552494,0.0598444783243,0.999999935236,0.000245199269551,-0.000262708650316,1.97566950542e-05,1793243306318391296
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+30,0.500000000,BASELINE,765.590180855,745,714,679.409819145,659,634.590180855,878.409819145,787,805,652,631,652,0.400965149938,-0.00537920747361,0.0598450159912,0.999999936438,0.000241061960294,-0.000261963055426,1.97138331763e-05,1793243306801725696
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+33,0.550000000,BASELINE,765,745,714,680,659,635,879,787,805.158102106,652,631,652,0.400965663971,-0.00537951006684,0.0598444250268,0.999999936746,0.000238729048812,-0.000262915899915,1.97735028638e-05,1793243306851725056
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+36,0.600000000,BASELINE,765,745,714,680,659,635,878.096896529,787,805.096896529,652,631,652,0.40096700703,-0.00537889516514,0.0598459577063,0.999999937288,0.000239413264348,-0.000260217793278,1.98052391637e-05,1793243306901724672
+37,0.616666667,BASELINE,765.4837663,745,714,680,659,634.5162337,878,787,805,652,631,652,0.400965922133,-0.00537812642219,0.0598450921132,0.999999936521,0.000241047130114,-0.00026166210344,1.96637517044e-05,1793243306918391552
+38,0.633333333,BASELINE,765.937240971,745,714,679.937240971,659,634.062759029,878.062759029,786.937240971,805,652,631,652,0.400964623609,-0.00537758394222,0.0598442537927,0.99999993577,0.000242455759156,-0.000263234444862,1.95629957187e-05,1793243306935058432
+39,0.650000000,BASELINE,765.3598658,745,714,679.3598658,659,634.6401342,878.6401342,786.3598658,805,652,631,652,0.400965054619,-0.00538065685089,0.0598452407203,0.999999937008,0.000237941796296,-0.000262615941047,2.0013852996e-05,1793243306951725056
+40,0.666666667,BASELINE,765,745,714,679,659,634.783781554,878.783781554,786.216218446,805.216218446,652,631,652,0.400964927042,-0.00538188865952,0.0598456679129,0.999999937495,0.000236348108941,-0.00026218284338,2.02594020781e-05,1793243306968391424
+41,0.683333333,BASELINE,765,745,714,679,659,634.209833155,878.209833155,786.790166845,805.790166845,652,631,652,0.400963875291,-0.00538007439748,0.059845169033,0.999999936759,0.000239585970859,-0.000262056497252,2.0165272017e-05,1793243306985058048
+42,0.700000000,BASELINE,765,745,714,679,659,634.371450144,878,787,805.628549856,652,631,652,0.400963760492,-0.00537975963294,0.0598451125543,0.999999936571,0.000240447698516,-0.000261987644396,2.01221704681e-05,1793243307001724928
+43,0.716666667,BASELINE,765,745,714,679,659,634.956960395,878,787,805.043039605,652,631,652,0.400964185642,-0.0053803090022,0.0598453110236,0.999999936703,0.000239940102171,-0.000261951923896,2.01084757461e-05,1793243307018392064
+44,0.733333333,BASELINE,765,745,714,679.538718177,659,635,878.538718177,787,805,652.538718177,631,652,0.400964390775,-0.00538044266783,0.0598450930161,0.999999936701,0.000239410177342,-0.000262453661251,1.99935494267e-05,1793243307035058432
+45,0.750000000,BASELINE,765.119141006,745,714,680,659,635,878.880858994,787,804.880858994,652.880858994,631,651.880858994,0.400964673275,-0.0053801136974,0.0598449941145,0.9999999366,0.000239492112207,-0.000262772038028,1.98442471731e-05,1793243307051724800
+46,0.766666667,BASELINE,765.695582469,745,714,680,659,635,878.304417531,787,804.304417531,652.304417531,631,651.304417531,0.400965319736,-0.00537813557995,0.0598454792089,0.999999936163,0.00024192935587,-0.000262222946486,1.95938275821e-05,1793243307068391424
+47,0.783333333,BASELINE,766,745,714,679.729188576,659,635,878.270811424,786.729188576,804.541622847,652,631,651.270811424,0.40096600838,-0.00537794621827,0.0598458252088,0.999999936366,0.000241776979995,-0.000261599944413,1.94339022747e-05,1793243307085058304
+48,0.800000000,BASELINE,766,745,714,679.155316446,659,635,878.844683554,786.155316446,805.689367108,652,631,651.844683554,0.400966744231,-0.00537975862415,0.0598460155502,0.999999937284,0.000238726602873,-0.000260894230184,1.93752476322e-05,1793243307101725184
+49,0.816666667,BASELINE,765.568789454,745,714,679.431210546,659,635,878.568789454,786.431210546,805.568789454,652,631,651.568789454,0.400967149393,-0.00537971395281,0.0598463685257,0.99999993741,0.000239155710802,-0.000260002594459,1.95942803146e-05,1793243307118391552
+50,0.833333333,BASELINE,765,745,714,680,659,635,878.022013974,787,805,652,631,651.022013974,0.40096738351,-0.00537907459497,0.0598467596662,0.999999937257,0.000240748439197,-0.000259095275868,1.99122821622e-05,1793243307135058432
+51,0.850000000,BASELINE,765,745,714,680,659,635,878.602182252,787,805,652,631,651.602182252,0.400966392144,-0.00538082952652,0.0598465883201,0.999999937531,0.000239107530378,-0.000259539564753,2.01269836963e-05,1793243307151724800
+52,0.866666667,BASELINE,765.180982268,745,714,679.819017732,659,634.819017732,879,787,805,652,631,652,0.400965754686,-0.0053816969532,0.0598463184297,0.999999937657,0.000238105010949,-0.000259969019067,2.02233868473e-05,1793243307168391424
+53,0.883333333,BASELINE,765.756797237,745,714,679.243202763,659,634.243202763,879,787,805,652,631,652,0.400965889315,-0.00538062819039,0.0598458335541,0.999999937464,0.000238495208205,-0.00026036611011,2.00617090664e-05,1793243307185058048
+54,0.900000000,BASELINE,765.661437158,745,714,679.338562842,659,634.338562842,879,787,805,652,631,651.661437158,0.400965551671,-0.00537905074917,0.0598456278134,0.999999936949,0.000240370765224,-0.000260637764208,1.98178826273e-05,1793243307201724928
+55,0.916666667,BASELINE,765.075320533,745,714,679.924679467,659,634.924679467,879,787,805,652,631,651.075320533,0.400964868707,-0.0053771013674,0.0598456261735,0.999999936191,0.000243332402514,-0.000260817700039,1.95139899128e-05,1793243307218392064
+56,0.933333333,BASELINE,765,745,714,680,659,635,879,786.494022797,805.505977203,652,631,651.505977203,0.400964409726,-0.00537961178925,0.0598451877592,0.999999936638,0.000240957790653,-0.000261293397402,1.97389781543e-05,1793243307235058944
+57,0.950000000,BASELINE,765.085983696,745,714,680,659,635,879,786.085983696,805.914016304,652,631,652,0.400964296599,-0.00538208574796,0.0598449166788,0.999999937142,0.00023844444531,-0.000261651692473,1.99908134293e-05,1793243307251726080
+58,0.966666667,BASELINE,765.662676117,745,714,680,659,635,879,786.662676117,805.337323883,652,631,652,0.400965968762,-0.0053805985182,0.0598459681344,0.999999937005,0.000239630003524,-0.000261091078364,1.99507913619e-05,1793243307268392192
+59,0.983333333,BASELINE,765.762089013,745,714,679.762089013,659,634.762089013,878.762089013,787,805,652,631,652,0.400966799825,-0.00537937464501,0.059846394435,0.999999936954,0.000240352150401,-0.000260631312018,1.98669010077e-05,1793243307285058560
+60,1.000000000,BASELINE,765.188908076,745,714,679.188908076,659,634.188908076,878.188908076,787,805,652,631,652,0.400966445589,-0.00537852190008,0.059845939752,0.999999937023,0.000240421246919,-0.000260313662711,1.9721190391e-05,1793243307301724928
+61,1.016666667,BASELINE,765.3963569,745,714,679.3963569,658.6036431,634.3963569,878.3963569,787,805,652,631,652,0.400966192344,-0.00537847937889,0.0598459165259,0.999999936927,0.000241100620132,-0.000260056542172,1.96853641297e-05,1793243307318391552
+62,1.033333333,BASELINE,765.987562338,745,714,679.987562338,658.012437662,634.987562338,878.987562338,787,805,652,631,652,0.400965988746,-0.00537883516269,0.0598461054033,0.999999936749,0.000242080004573,-0.000259829177514,1.97035568838e-05,1793243307335058432
+63,1.050000000,BASELINE,765.447287034,745,714,679.447287034,658.552712966,635,878.447287034,787,805,652,631,652,0.400965936787,-0.00538000050316,0.0598462908164,0.99999993743,0.000238110444651,-0.000260883451101,1.95611116852e-05,1793243307351725824
+64,1.066666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40096576811,-0.00538088691258,0.0598463016597,0.999999937901,0.000234922420974,-0.000261976004658,1.94239820854e-05,1793243307368392960
+65,1.083333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400965141955,-0.00538064340151,0.0598456471397,0.999999937559,0.000235119977801,-0.000263109501732,1.93202843097e-05,1793243307385059584
+66,1.100000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.4009645158,-0.00538039989044,0.0598449926197,0.999999937216,0.000235317534639,-0.000264242998872,1.92165865277e-05,1793243307401726208
+67,1.116666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400963889644,-0.00538015637936,0.0598443380997,0.999999936871,0.000235515091476,-0.000265376496013,1.91128887456e-05,1793243307418392832
+68,1.133333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400963263489,-0.0053799128683,0.0598436835797,0.999999936525,0.000235712648302,-0.000266509993085,1.90091909699e-05,1793243307435059456
+69,1.150000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400962637334,-0.00537966935722,0.0598430290597,0.999999936178,0.000235910205138,-0.000267643490226,1.89054931877e-05,1793243307451726080
+70,1.166666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400962011178,-0.00537942584615,0.0598423745397,0.999999935829,0.000236107761975,-0.000268776987366,1.88017954056e-05,1793243307468392704
+71,1.183333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400961385023,-0.00537918233508,0.0598417200197,0.999999935479,0.0002363053188,-0.000269910484437,1.86980976297e-05,1793243307485059328
+72,1.200000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400960758868,-0.00537893882401,0.0598410654997,0.999999935128,0.000236502875636,-0.000271043981576,1.85943998475e-05,1793243307501726208
+73,1.216666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400960132713,-0.00537869531293,0.0598404109797,0.999999934775,0.000236700432471,-0.000272177478715,1.84907020653e-05,1793243307518392832
+74,1.233333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400959506557,-0.00537845180187,0.0598397564597,0.999999934421,0.000236897989295,-0.000273310975786,1.83870042893e-05,1793243307535059456
+75,1.250000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400958880402,-0.00537820829079,0.0598391019397,0.999999934066,0.000237095546131,-0.000274444472925,1.8283306507e-05,1793243307551726080
+76,1.266666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400958254247,-0.00537796477972,0.0598384474197,0.999999933709,0.000237293102965,-0.000275577970063,1.81796087247e-05,1793243307568392704
+77,1.283333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400957628091,-0.00537772126866,0.0598377928998,0.999999933351,0.000237490659788,-0.000276711467133,1.80759109486e-05,1793243307585059328
+78,1.300000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400957001936,-0.00537747775758,0.0598371383797,0.999999932992,0.000237688216622,-0.00027784496427,1.79722131662e-05,1793243307601725952
+79,1.316666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400956375781,-0.0053772342465,0.0598364838597,0.999999932631,0.000237885773456,-0.000278978461407,1.78685153838e-05,1793243307618392832
+80,1.333333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400955749626,-0.00537699073544,0.0598358293398,0.999999932269,0.000238083330278,-0.000280111958477,1.77648176076e-05,1793243307635059456
+81,1.350000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40095512347,-0.00537674722436,0.0598351748198,0.999999931906,0.000238280887111,-0.000281245455613,1.76611198251e-05,1793243307651726080
+82,1.366666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400954497315,-0.00537650371329,0.0598345202997,0.999999931541,0.000238478443944,-0.00028237895275,1.75574220427e-05,1793243307668392704
+83,1.383333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40095387116,-0.00537626020223,0.0598338657798,0.999999931175,0.000238676000766,-0.000283512449818,1.74537242664e-05,1793243307685059328
+84,1.400000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400953245004,-0.00537601669115,0.0598332112598,0.999999930808,0.000238873557598,-0.000284645946954,1.73500264838e-05,1793243307701725952
+85,1.416666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400952618849,-0.00537577318007,0.0598325567398,0.999999930439,0.00023907111443,-0.000285779444088,1.72463287013e-05,1793243307718392576
+86,1.433333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400951992694,-0.00537552966901,0.0598319022198,0.999999930069,0.00023926867125,-0.000286912941156,1.71426309249e-05,1793243307735059456
+87,1.450000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400951366539,-0.00537528615794,0.0598312476998,0.999999929697,0.000239466228081,-0.000288046438291,1.70389331423e-05,1793243307751726080
+88,1.466666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400950740383,-0.00537504264686,0.0598305931798,0.999999929325,0.000239663784913,-0.000289179935425,1.69352353596e-05,1793243307768392704
+89,1.483333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400950114228,-0.0053747991358,0.0598299386598,0.999999928951,0.000239861341731,-0.000290313432491,1.68315375832e-05,1793243307785059328
+90,1.500000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400949488073,-0.00537455562472,0.0598292841398,0.999999928575,0.000240058898562,-0.000291446929625,1.67278398005e-05,1793243307801725952
+91,1.516666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400948861917,-0.00537431211364,0.0598286296198,0.999999928199,0.000240256455392,-0.000292580426757,1.66241420177e-05,1793243307818392576
+92,1.533333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400948235762,-0.00537406860258,0.0598279750998,0.999999927821,0.000240454012211,-0.000293713923823,1.65204442412e-05,1793243307835059200
+93,1.550000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400947609607,-0.00537382509151,0.0598273205798,0.999999927441,0.00024065156904,-0.000294847420955,1.64167464584e-05,1793243307851725824
+94,1.566666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400946983452,-0.00537358158043,0.0598266660598,0.99999992706,0.000240849125869,-0.000295980918088,1.63130486756e-05,1793243307868392704
+95,1.583333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400946357296,-0.00537333806937,0.0598260115398,0.999999926678,0.000241046682686,-0.000297114415152,1.6209350899e-05,1793243307885059328
+96,1.600000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400945731141,-0.00537309455829,0.0598253570198,0.999999926295,0.000241244239514,-0.000298247912283,1.61056531162e-05,1793243307901725952
+97,1.616666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400945104986,-0.00537285104721,0.0598247024998,0.99999992591,0.000241441796343,-0.000299381409414,1.60019553333e-05,1793243307918392576
+98,1.633333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40094447883,-0.00537260753615,0.0598240479798,0.999999925524,0.000241639353159,-0.000300514906476,1.58982575567e-05,1793243307935059200
+99,1.650000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400943852675,-0.00537236402508,0.0598233934598,0.999999925137,0.000241836909987,-0.000301648403607,1.57945597738e-05,1793243307951725824
+100,1.666666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40094322652,-0.005372120514,0.0598227389398,0.999999924748,0.000242034466814,-0.000302781900737,1.56908619907e-05,1793243307968392448
+101,1.683333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400942600365,-0.00537187700294,0.0598220844198,0.999999924358,0.00024223202363,-0.000303915397798,1.55871642141e-05,1793243307985059328
+102,1.700000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400941974209,-0.00537163349186,0.0598214298998,0.999999923967,0.000242429580456,-0.000305048894928,1.5483466431e-05,1793243308001725952
+103,1.716666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400941348054,-0.00537138998079,0.0598207753798,0.999999923574,0.000242627137282,-0.000306182392056,1.5379768648e-05,1793243308018392576
+104,1.733333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400940721899,-0.00537114646972,0.0598201208598,0.99999992318,0.000242824694096,-0.000307315889116,1.52760708712e-05,1793243308035059200
+105,1.750000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400940095743,-0.00537090295865,0.0598194663398,0.999999922784,0.000243022250923,-0.000308449386244,1.51723730882e-05,1793243308051725824
+106,1.766666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400939469588,-0.00537065944757,0.0598188118198,0.999999922388,0.000243219807748,-0.000309582883371,1.50686753052e-05,1793243308068392448
+107,1.783333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400938843433,-0.00537041593651,0.0598181572998,0.99999992199,0.000243417364561,-0.00031071638043,1.49649775283e-05,1793243308085059072
+108,1.800000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400938217278,-0.00537017242543,0.0598175027798,0.99999992159,0.000243614921385,-0.000311849877557,1.48612797452e-05,1793243308101725952
+109,1.816666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400937591122,-0.00536992891436,0.0598168482598,0.99999992119,0.00024381247821,-0.000312983374683,1.47575819621e-05,1793243308118392576
+110,1.833333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400936964967,-0.00536968540329,0.0598161937398,0.999999920787,0.000244010035023,-0.00031411687174,1.46538841852e-05,1793243308135059200
+111,1.850000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400936338812,-0.00536944189222,0.0598155392198,0.999999920384,0.000244207591846,-0.000315250368865,1.45501864021e-05,1793243308151725824
+112,1.866666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400935712656,-0.00536919838114,0.0598148846998,0.999999919979,0.000244405148669,-0.00031638386599,1.44464886189e-05,1793243308168392448
+113,1.883333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400935086501,-0.00536895487008,0.0598142301799,0.999999919573,0.00024460270548,-0.000317517363047,1.4342790842e-05,1793243308185059072
+114,1.900000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400934460346,-0.005368711359,0.0598135756598,0.999999919166,0.000244800262304,-0.000318650860171,1.42390930588e-05,1793243308201725696
+115,1.916666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400933834191,-0.00536846784793,0.0598129211398,0.999999918757,0.000244997819126,-0.000319784357294,1.41353952756e-05,1793243308218392320
+116,1.933333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400933208035,-0.00536822433687,0.0598122666199,0.999999918347,0.000245195375936,-0.000320917854349,1.40316974986e-05,1793243308235059200
+117,1.950000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40093258188,-0.00536798082579,0.0598116120999,0.999999917936,0.000245392932758,-0.000322051351471,1.39279997153e-05,1793243308251725824
+118,1.966666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400931955725,-0.00536773731471,0.0598109575798,0.999999917523,0.00024559048958,-0.000323184848593,1.38243019321e-05,1793243308268392448
+119,1.983333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400931329569,-0.00536749380365,0.0598103030599,0.999999917109,0.000245788046389,-0.000324318345646,1.37206041551e-05,1793243308285059072
+120,2.000000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400930703414,-0.00536725029257,0.0598096485399,0.999999916693,0.000245985603209,-0.000325451842767,1.36169063718e-05,1793243308301725696
+121,2.016666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400930077259,-0.0053670067815,0.0598089940199,0.999999916277,0.000246183160029,-0.000326585339888,1.35132085885e-05,1793243308318392320
+122,2.033333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400929451104,-0.00536676327044,0.0598083394999,0.999999915859,0.000246380716838,-0.00032771883694,1.34095108114e-05,1793243308335058944
+123,2.050000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400928824948,-0.00536651975936,0.0598076849799,0.999999915439,0.000246578273658,-0.000328852334059,1.33058130281e-05,1793243308351725824
+124,2.066666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400928198793,-0.00536627624828,0.0598070304599,0.999999915018,0.000246775830477,-0.000329985831178,1.32021152448e-05,1793243308368392448
+125,2.083333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400927572638,-0.00536603273722,0.0598063759399,0.999999914596,0.000246973387284,-0.000331119328228,1.30984174677e-05,1793243308385059072
+126,2.100000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400926946482,-0.00536578922614,0.0598057214199,0.999999914173,0.000247170944102,-0.000332252825346,1.29947196844e-05,1793243308401725696
+127,2.116666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400926320327,-0.00536554571507,0.0598050668999,0.999999913748,0.000247368500922,-0.000333386322464,1.2891021901e-05,1793243308418392320
+128,2.133333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400925694172,-0.00536530220401,0.0598044123799,0.999999913322,0.000247566057727,-0.000334519819513,1.27873241239e-05,1793243308435058944
+129,2.150000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400925068017,-0.00536505869293,0.0598037578599,0.999999912895,0.000247763614545,-0.000335653316628,1.26836263405e-05,1793243308451725568
+130,2.166666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400924441861,-0.00536481518185,0.0598031033399,0.999999912466,0.000247961171362,-0.000336786813744,1.25799285571e-05,1793243308468392192
+131,2.183333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400923815706,-0.00536457167079,0.0598024488199,0.999999912036,0.000248158728168,-0.000337920310792,1.247623078e-05,1793243308485059072
+132,2.200000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400923189551,-0.00536432815972,0.0598017942999,0.999999911604,0.000248356284984,-0.000339053807906,1.23725329966e-05,1793243308501725696
+133,2.216666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400922563395,-0.00536408464864,0.0598011397799,0.999999911172,0.0002485538418,-0.00034018730502,1.22688352131e-05,1793243308518392320
+134,2.233333333,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.40092193724,-0.00536384113758,0.0598004852599,0.999999910737,0.000248751398604,-0.000341320802066,1.2165137436e-05,1793243308535058944
+135,2.250000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400921311085,-0.0053635976265,0.0597998307399,0.999999910302,0.00024894895542,-0.00034245429918,1.20614396525e-05,1793243308551725568
+136,2.266666667,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400920684929,-0.00536335411542,0.0597991762199,0.999999909865,0.000249146512235,-0.000343587796291,1.1957741869e-05,1793243308568392192
+137,2.283333333,BASELINE,765.500883923,745,714,679,659.500883923,635,878,786.499116077,805,652,631,652,0.400921063757,-0.00536291366106,0.0597988993409,0.999999909034,0.000251577562373,-0.000344234405576,1.2000676403e-05,1793243308585058560
+138,2.300000000,BASELINE,765.922469886,745,714,679,659.922469886,635,878,786.077530114,805,652,631,652,0.40092144324,-0.00536221827138,0.05979862849,0.999999908158,0.00025414481304,-0.000344891637462,1.19958905874e-05,1793243308601724672
+139,2.316666667,BASELINE,765.328817826,745,714,679,659.328817826,635,878,786.671182174,805,652,631,652,0.400920849255,-0.0053600173852,0.0597980303328,0.999999907417,0.000255445624813,-0.000346093313633,1.15307584581e-05,1793243308618391296
+140,2.333333333,BASELINE,765,745,714,679,659,634.741306576,878.258693424,787,805,652,631,652,0.400920901545,-0.00536006714989,0.0597979938613,0.99999990778,0.000254317208716,-0.000345879535401,1.14356973952e-05,1793243308635057920
+141,2.350000000,BASELINE,765,745,714,679,659,634.16141967,878.83858033,787,805,652,631,652,0.400921756251,-0.00536291132002,0.0597986547783,0.999999909501,0.000250172666022,-0.000343908330629,1.18001161159e-05,1793243308651724544
+142,2.366666667,BASELINE,765,745,714,679,658.587958458,634.412041542,878.587958458,787,805,652,630.587958458,652,0.400921348587,-0.00536350957742,0.0597983402961,0.999999909495,0.000249471566767,-0.000344432666758,1.17946105436e-05,1793243308668391168
+143,2.383333333,BASELINE,765,745,714,679,658.016975928,634.983024072,878.016975928,787,805,652,630.016975928,652,0.400920453977,-0.00536324149582,0.059797649563,0.999999908827,0.000250098742321,-0.000345919633456,1.16464102782e-05,1793243308685057792
+144,2.400000000,BASELINE,765,744.426434978,714,679,658.573565022,635,878,787,805,652,630.573565022,652,0.400920505492,-0.00536428155541,0.0597970233226,0.999999908969,0.000249630580541,-0.000345835553017,1.19799409101e-05,1793243308701724416
+145,2.416666667,BASELINE,765,744.161473711,714,679,659,635,878.161473711,787,805,652.161473711,631,652,0.400920431631,-0.00536455061637,0.0597966929381,0.999999908849,0.000249967989232,-0.000345935291379,1.21344564152e-05,1793243308718391296
+146,2.433333333,BASELINE,765,744.741015574,714,679,659,635,878.741015574,787,805,652.741015574,631,652,0.400919958105,-0.00536271971992,0.0597971234313,0.99999990798,0.000252477981727,-0.000346635589839,1.1787269607e-05,1793243308735057920
+147,2.450000000,BASELINE,765,745,714,679,659,634.682310624,878.682310624,787,805,652.682310624,631,651.682310624,0.400919901669,-0.00536210792684,0.059797560102,0.999999908065,0.000252213010817,-0.000346588937047,1.15727430433e-05,1793243308751724544
+148,2.466666667,BASELINE,765,745,714,679,659,634.107954011,878.107954011,787,805,652.107954011,631,651.107954011,0.40092018221,-0.00536248107043,0.0597980017636,0.999999908921,0.000249706094518,-0.00034593880822,1.146539521e-05,1793243308768391168
+149,2.483333333,BASELINE,765,745,714,679,659,634.466581705,878.466581705,787.466581705,805,652,631,651,0.400920834797,-0.00536259475771,0.0597978711833,0.999999908672,0.000250939895557,-0.000345767339501,1.14343177741e-05,1793243308785057792
+150,2.500000000,BASELINE,765,745,714,679,659,635,878.957512786,787.957512786,805,652.042487214,631,651,0.400921422406,-0.00536258144857,0.059797557071,0.99999990817,0.000252896623978,-0.000345794383454,1.14230707672e-05,1793243308801724672
+151,2.516666667,BASELINE,765,745,714,679,659,635,878.364392605,787.364392605,805,652.635607395,631,651,0.400920051852,-0.0053617005681,0.0597965809598,0.99999990774,0.000253001334885,-0.000346958295721,1.14400351204e-05,1793243308818391040
+152,2.533333333,BASELINE,765,745,713.777409929,679,659,635,878,787,805,653,631,651.222590071,0.400919363234,-0.00536148067072,0.0597961013735,0.999999907553,0.000252833481576,-0.000347614612686,1.15142589617e-05,1793243308835057664
+153,2.550000000,BASELINE,765,745,713.200205002,679,659,635,878,787,805,653,631,651.799794998,0.400919761027,-0.00536231380502,0.0597964128159,0.999999907756,0.000252231398136,-0.000347462264681,1.16797045966e-05,1793243308851724288
+154,2.566666667,BASELINE,765.374332273,745,713.374332273,679.374332273,659,635,878.374332273,787,805,652.625667727,631,652,0.400919349376,-0.0053625855244,0.059796125139,0.999999907575,0.000252062111293,-0.000348111175286,1.1577029986e-05,1793243308868391168
+155,2.583333333,BASELINE,765.947452863,745,713.947452863,679.947452863,659,635,878.947452863,787,805,652.052547137,631,652,0.400918507871,-0.00536255910558,0.0597955193011,0.999999907188,0.000252122660153,-0.000349185592498,1.13319707079e-05,1793243308885058304
+156,2.600000000,BASELINE,765.465479394,745,714,680,659,635,878.465479394,787,805,652,631,652,0.40091861402,-0.00536289340321,0.0597949621246,0.99999990749,0.000251183733802,-0.000348991610627,1.14468830507e-05,1793243308901724672
+157,2.616666667,BASELINE,765,745,714,679.878269405,659,635,878,787,805,652,631,652,0.400918666279,-0.00536317712156,0.0597947042148,0.999999907824,0.00025015112399,-0.000348774977244,1.15321484927e-05,1793243308918391296
+158,2.633333333,BASELINE,765,745,714,679.295849074,659,635,878,787,805,652,631,652,0.400918152584,-0.00536313162484,0.0597955602913,0.999999908013,0.000249145779428,-0.00034895716153,1.13677020544e-05,1793243308935057920
+159,2.650000000,BASELINE,765,745,714,679.282611453,659.282611453,635,878,787,805,652,631,652,0.400918502804,-0.00536343474393,0.0597959466728,0.999999908168,0.000248634139367,-0.000348876711975,1.14227553519e-05,1793243308951724544
+160,2.666666667,BASELINE,765,745,714,679.856983941,659.856983941,635,878,787,805,652,631,652,0.400919744908,-0.0053640977653,0.059795848153,0.999999908288,0.000248632187614,-0.000348525125764,1.17044147269e-05,1793243308968391168
+161,2.683333333,BASELINE,765.432537418,745,714,680,659.567462582,635,878.432537418,787,805,652,631,652,0.400919857555,-0.00536391418769,0.0597959608602,0.999999908336,0.000248902540607,-0.000348191200133,1.17864382772e-05,1793243308985057792
+162,2.700000000,BASELINE,765.991338594,745,714,680,659,635,879,787,805,652,631,652,0.400919584417,-0.00536342483399,0.059796136757,0.999999908346,0.000249295719917,-0.000347878954364,1.17956680763e-05,1793243309001724416
+163,2.716666667,BASELINE,765.403245834,745,714,680,659,635,879,787,805,652,631,652,0.400918554453,-0.00536125724268,0.0597958548918,0.999999907447,0.000251866013404,-0.000348625339082,1.13630648112e-05,1793243309018391040
+164,2.733333333,BASELINE,765,745,714,679.817696662,659,635,879,787,805,652,631,652,0.400917721289,-0.00536006282209,0.0597953131519,0.999999906671,0.000253650174281,-0.000349564124824,1.11545764927e-05,1793243309035058176
+165,2.750000000,BASELINE,765,745,714,679.237696243,659,635,879,787,805,652,631,652,0.400917317443,-0.00536099138554,0.0597942044921,0.999999906175,0.000253719377241,-0.000350922636031,1.14349977335e-05,1793243309051725824
+166,2.766666667,BASELINE,765,745,714,679,659,635,878.660136555,787,804.660136555,652,631,652,0.400917479148,-0.00536087687455,0.0597945406276,0.999999906094,0.00025449557185,-0.000350590906916,1.14459825786e-05,1793243309068392704
+167,2.783333333,BASELINE,765,745,714,679,659,635,878.084271748,787,804.084271748,652,631,652,0.400918033571,-0.00536003805205,0.0597958800299,0.999999906299,0.000255762701846,-0.000349085473916,1.12698706259e-05,1793243309085058816
+168,2.800000000,BASELINE,765,745,714,679,659,635,878,787,804.500104343,652,631,652,0.400918623757,-0.00536195165405,0.0597958863587,0.999999907019,0.000253071044147,-0.000348976176552,1.14857565104e-05,1793243309101725184
+169,2.816666667,BASELINE,765,745,714,679,659,635,878,786.91495955,805,652,631,652,0.400919157443,-0.00536394747082,0.0597958284597,0.999999907774,0.000250105581503,-0.000348944067819,1.17308682687e-05,1793243309118391552
+170,2.833333333,BASELINE,765,745,714,679,659,635,878,786.335252997,805,652,631,652,0.400919326821,-0.0053636769221,0.0597967262395,0.999999908266,0.000249494967896,-0.000347968788242,1.17550992815e-05,1793243309135058176
+171,2.850000000,BASELINE,764.755948298,744.755948298,714,679.244051702,659,635,878.244051702,786,805,652,631,651.755948298,0.400919204366,-0.00536300623848,0.0597971645689,0.999999908326,0.000249878451732,-0.000347523116663,1.17038679186e-05,1793243309151725056
+172,2.866666667,BASELINE,764.177194766,744.177194766,714,679.822805234,659,635,878.822805234,786,805,652,631,651.177194766,0.400918681679,-0.00536178679459,0.0597969727904,0.999999907792,0.000251625278844,-0.000347803769812,1.15491445673e-05,1793243309168391936
+173,2.883333333,BASELINE,764.797037343,744.398518672,714,679.601481328,659.398518672,634.601481328,878.601481328,786.398518672,805,652.398518672,631,651.398518672,0.400918953747,-0.00536240439565,0.0597966989582,0.999999907898,0.000250946243527,-0.000347985956307,1.16397557909e-05,1793243309185059072
+174,2.900000000,BASELINE,765.94578133,744.972890665,714,679.027109335,659.972890665,634.027109335,878.027109335,786.972890665,805,652.972890665,631,651.972890665,0.400919576513,-0.00536383262477,0.0597963889182,0.999999908285,0.000249196754211,-0.000348124692695,1.18386251656e-05,1793243309201725952
+175,2.916666667,BASELINE,765.440638193,745,713.440638193,679,659.440638193,634.559361807,878,787,805,652.440638193,631,652,0.400917633954,-0.00536314105087,0.0597948895295,0.99999990708,0.00025092500096,-0.000350344986858,1.15953372218e-05,1793243309218392320
+176,2.933333333,BASELINE,765,745,713.144911529,679,659.144911529,635,878.144911529,787,805,652,631,651.855088471,0.400916106049,-0.00536253670233,0.0597937379879,0.999999906193,0.000251982110773,-0.000352122881996,1.1340216878e-05,1793243309235058688
+177,2.950000000,BASELINE,765,745,713.725885156,679,659.725885156,635,878.725885156,787,805,652,631,651.274114844,0.400916208298,-0.00536251081187,0.0597938104608,0.999999906519,0.000250501261964,-0.000352259245622,1.11153999596e-05,1793243309251725312
+178,2.966666667,BASELINE,765,744.694689169,714,679,659.694689169,635,878.694689169,787,805,652,631,651.305310831,0.400917028148,-0.00536271020613,0.0597944280154,0.9999999071,0.000249680481044,-0.000351189971731,1.1191173901e-05,1793243309268391680
+179,2.983333333,BASELINE,765,744.116646303,714,679,659.116646303,635,878.116646303,787,805,652,631,651.883353697,0.400918489028,-0.00536311084567,0.0597955324878,0.999999907905,0.000249449334246,-0.000349043710255,1.15354635719e-05,1793243309285058304
+180,3.000000000,BASELINE,765,744.45398971,714,679.45398971,659,635,878,786.54601029,805.45398971,652.45398971,631,652,0.400918817448,-0.00536210519555,0.059796039349,0.999999907836,0.000250245455147,-0.000348677397754,1.13698232052e-05,1793243309301725184
+181,3.016666667,BASELINE,765,745,714,679.976182721,659,635,878,786.023817279,805.976182721,652.976182721,631,652,0.400918820546,-0.00536087543389,0.0597963182946,0.999999907555,0.000251179164203,-0.000348820619298,1.10948159144e-05,1793243309318391808
+182,3.033333333,BASELINE,765,745,714,679.380819836,659,635,878,786.619180164,805.380819836,652.380819836,631,652,0.400917887184,-0.0053627992383,0.0597947534812,0.999999907503,0.00024918242431,-0.000350392692501,1.12889324987e-05,1793243309335058688
+183,3.050000000,BASELINE,765,745,714,679.208378152,659,635,878.208378152,787,805.208378152,652,631,652,0.400917769355,-0.0053634975578,0.059794196078,0.99999990744,0.000248974906745,-0.000350715710349,1.1380090848e-05,1793243309351725568
+184,3.066666667,BASELINE,765,745,714,679.786633218,659,635,878.786633218,787,805.786633218,652,631,652,0.400919099122,-0.00536202060791,0.0597954268557,0.99999990736,0.000251943307905,-0.000348821620653,1.12884954963e-05,1793243309368391936
+185,3.083333333,BASELINE,765,745,714,679.636386804,659,635,878.636386804,787,805.636386804,652,631,652,0.400918681928,-0.0053620902214,0.0597954842088,0.99999990725,0.000251618379308,-0.000349377255553,1.11340992084e-05,1793243309385058560
+186,3.100000000,BASELINE,765,745,714,679.060152373,659,635,878.060152373,787,805.060152373,652,631,652,0.400917243208,-0.00536306418097,0.059794855407,0.999999907119,0.000249367690743,-0.000351365356073,1.09429803372e-05,1793243309401725184
+187,3.116666667,BASELINE,765,745,714,679,659,635,878.52610796,787,805,652,631,652,0.400917257937,-0.00536408930992,0.0597948675875,0.999999907321,0.000248225790262,-0.000351585491559,1.13823122888e-05,1793243309418392064
+188,3.133333333,BASELINE,764.887590989,745,714,679.112409011,659,635,878.887590989,787,805,652,631,652,0.400917702478,-0.00536443385893,0.0597950027994,0.999999907466,0.000248141927099,-0.000351221665843,1.17123506412e-05,1793243309435058432
+189,3.150000000,BASELINE,764.305997339,745,714,679.694002661,659,635,878.305997339,787,805,652,631,652,0.400919233926,-0.00536191283806,0.0597953396994,0.999999907202,0.000251934794146,-0.000349280543739,1.12794979877e-05,1793243309451725056
+190,3.166666667,BASELINE,764.545583884,744.727208058,714,680,659,635,878,787,805.272791942,652,631.272791942,652,0.400919807409,-0.00536103893021,0.0597955690267,0.999999907188,0.000253142205099,-0.000348450092927,1.11723492165e-05,1793243309468391936
+191,3.183333333,BASELINE,765.696934939,744.151532531,714,680,659,635,878,787,805.848467469,652,631.848467469,652,0.400919317255,-0.00536199382835,0.0597956789152,0.999999907465,0.000251478958412,-0.000348852831531,1.14268327061e-05,1793243309485058560
+192,3.200000000,BASELINE,765.575229088,744.424770912,714,679.575229088,659,634.575229088,878,786.575229088,805.575229088,652,631.575229088,652,0.400918350908,-0.00536116318623,0.0597954271084,0.999999906991,0.00025244886029,-0.000349509672369,1.14253910473e-05,1793243309501725184
+193,3.216666667,BASELINE,765.001331104,745,714,678.998668896,659,634.001331104,878.001331104,786.001331104,805,652,631,652,0.40091721777,-0.00535970082706,0.0597950458981,0.999999906249,0.000254351545165,-0.000350255697118,1.13326037374e-05,1793243309518391808
+194,3.233333333,BASELINE,765.592255176,745,714,678.407744824,659,634.592255176,878.592255176,786.592255176,805,652,631,652,0.400917563599,-0.0053609840101,0.0597945842166,0.999999906647,0.000252730453762,-0.000350293664788,1.12788383721e-05,1793243309535058176
+195,3.250000000,BASELINE,765.820953516,745,714.179046484,678.179046484,659,635,878.820953516,787,805,652,631,652,0.400917863086,-0.00536235066407,0.0597944878021,0.999999907172,0.000250776848062,-0.000350199541392,1.13063741549e-05,1793243309551724544
+196,3.266666667,BASELINE,765.243361545,745,714.756638455,678.756638455,659,635,878.243361545,787,805,652,631,652,0.400918059418,-0.00536390311854,0.0597952044472,0.999999907977,0.00024808308801,-0.000349811392119,1.15148808582e-05,1793243309568391424
+197,3.283333333,BASELINE,765,745,714.667644352,679,659,635,878.332355648,787,805,652,631,652,0.400918028393,-0.0053638494427,0.0597953430602,0.999999907835,0.000248664766421,-0.000349796503466,1.17787668425e-05,1793243309585058048
+198,3.300000000,BASELINE,765,745,714.093292172,679,659,635,878.906707828,787,805,652,631,652,0.400917831822,-0.00536262630302,0.0597950607934,0.999999906999,0.000251631373927,-0.000350053395244,1.20829758999e-05,1793243309601724416
+199,3.316666667,BASELINE,765,745,714,679.491384428,659,635,878.508615572,787,805,652.491384428,631,652,0.40091814173,-0.00536290750006,0.0597952921512,0.999999907337,0.000250887378111,-0.000349626137505,1.1922562397e-05,1793243309618391040
+200,3.333333333,BASELINE,765,745,714,679.922430843,659,635,878,787,805,652.922430843,631,651.922430843,0.400918375781,-0.00536340703083,0.0597955475,0.999999907772,0.000249718686786,-0.000349226232446,1.17008325877e-05,1793243309635057920
+201,3.350000000,BASELINE,765,745,714,679.339465061,659,635,878,787,805,652.339465061,631,651.339465061,0.400917475631,-0.00536342830995,0.0597953101747,0.99999990736,0.00025047141789,-0.000349868992409,1.16666698829e-05,1793243309651724544
+202,3.366666667,BASELINE,765.240344779,745,714,679,658.759655221,635,878.240344779,787,805,652,631,651.240344779,0.400917401873,-0.00536343898654,0.059795193446,0.999999907211,0.000250866365426,-0.00035001358896,1.16031941193e-05,1793243309668391424
+203,3.383333333,BASELINE,765.815754876,745,714,679,658.184245124,635,878.815754876,787,805,652,631,651.815754876,0.400918480191,-0.00536343488208,0.0597952448414,0.999999907431,0.000250762525864,-0.000349463694489,1.1498852942e-05,1793243309685058816
+204,3.400000000,BASELINE,765.60881942,745,714,679,658.39118058,634.60881942,879,787,805.39118058,652,631,651.60881942,0.400917604312,-0.00536320790794,0.0597945040171,0.999999906906,0.000251330783387,-0.00035055680993,1.13981739246e-05,1793243309701725440
+205,3.416666667,BASELINE,765.033386383,745,714,679,658.966613617,634.033386383,879,787,805.966613617,652,631,651.033386383,0.400915807974,-0.00536287595852,0.0597933900442,0.999999906029,0.000252215609643,-0.000352423809954,1.12992198473e-05,1793243309718391552
+206,3.433333333,BASELINE,765,745,714,679.553563633,659,634.553563633,878.446436367,786.446436367,805.446436367,652,631,651,0.400915565794,-0.00536196331511,0.0597935801898,0.999999905643,0.000252850259488,-0.000353067030581,1.11095234763e-05,1793243309735058432
+207,3.450000000,BASELINE,765,745,714,679.86070133,659.13929867,635,878.13929867,786,805,652,631,651.13929867,0.400916053824,-0.00536129173428,0.0597939990676,0.999999905559,0.000253500653685,-0.000352844345088,1.10109107359e-05,1793243309751725312
+208,3.466666667,BASELINE,765,745,714,679.281049683,659.718950317,635,878.718950317,786,805,652,631,651.718950317,0.400918547596,-0.00536149527068,0.059794887093,0.999999906323,0.0002542495307,-0.000350122625697,1.12179012973e-05,1793243309768391936
+209,3.483333333,BASELINE,765.296807042,745.296807042,714,679.296807042,659.703192958,635,879,786.296807042,805,652,631,652,0.400919531634,-0.00536234236206,0.0597951823213,0.999999906936,0.000253219759265,-0.000349107176953,1.14953076989e-05,1793243309785058560
+210,3.500000000,BASELINE,765.87297442,745.87297442,714,679.87297442,659.12702558,635,879,786.87297442,805,652,631,652,0.400919094683,-0.00536379517944,0.059794919598,0.999999907407,0.000250515890741,-0.000349697701728,1.18389908299e-05,1793243309801725440
+211,3.516666667,BASELINE,765.553857299,745.553857299,714,679.553857299,659,635,878.553857299,787,805,652,631,652,0.400918116968,-0.00536339865141,0.0597949993159,0.999999907335,0.000250380679488,-0.0003500011238,1.17639594808e-05,1793243309818392064
+212,3.533333333,BASELINE,765.019152379,745,714,679,659,635,878,787,805,652,631,651.980847621,0.400917028447,-0.00536251851684,0.0597951523617,0.999999907125,0.000250914933007,-0.000350225425338,1.15681777685e-05,1793243309835057920
+213,3.550000000,BASELINE,765.612850095,745,714,679,659,635,878,787,805,652,631,651.387149905,0.400917203802,-0.00536282100018,0.0597945998199,0.999999907322,0.000249739299507,-0.000350512046543,1.13024931635e-05,1793243309851724800
+214,3.566666667,BASELINE,765.798460094,745,714,679,659,634.798460094,878.201539906,787,805,652,631,651.201539906,0.400916918209,-0.00536271987579,0.0597941674406,0.999999907286,0.000249202129364,-0.000351003718721,1.10967592507e-05,1793243309868391680
+215,3.583333333,BASELINE,765.219157056,745,714,679,659,634.219157056,878.780842944,787,805,652,631,651.780842944,0.400915768623,-0.0053618622356,0.0597939602918,0.999999906814,0.000249861684657,-0.000351879735103,1.10033959597e-05,1793243309885058304
+216,3.600000000,BASELINE,765,745,714,679,659,634.356362666,879,787,805,652,631,652,0.400915448376,-0.00536156941768,0.0597936461408,0.999999906402,0.000250934143058,-0.000352284442365,1.11014831675e-05,1793243309901724928
+217,3.616666667,BASELINE,765,745,714,679,659,634.929580132,879,787,805,652,631,652,0.400915632802,-0.005361620307,0.0597932668763,0.999999906025,0.000252257862381,-0.000352402347257,1.13160723692e-05,1793243309918391808
+218,3.633333333,BASELINE,765,745,714,679,659,635,878.483078351,787,805,652,631,652,0.400917911627,-0.00536160880937,0.0597945319344,0.999999906624,0.000253015301439,-0.000350149801072,1.1442593352e-05,1793243309935058176
+219,3.650000000,BASELINE,765,745,714,679.104496423,659,635,878.104496423,787,805,652,631,651.895503577,0.400919842995,-0.00536155120618,0.0597956687759,0.999999907227,0.00025328639886,-0.000348222121724,1.15116926155e-05,1793243309951724544
+220,3.666666667,BASELINE,765,745,714,679.684136963,659,635,878.684136963,787,805,652,631,651.315863037,0.400918860696,-0.00536132369168,0.0597951754572,0.999999907258,0.000251706732147,-0.000349281191996,1.13757806994e-05,1793243309968391168
+221,3.683333333,BASELINE,765,745,714,680,659,635,878.737871529,787,805,652,631,651.262128471,0.400917605131,-0.00536247192341,0.0597944580749,0.999999907301,0.000249685871764,-0.000350603798356,1.1454453054e-05,1793243309985058048
+222,3.700000000,BASELINE,765,745,714,680,659,635,878.161854592,787,805,652,631,651.838145408,0.40091602234,-0.00536526755677,0.0597934723851,0.999999907355,0.00024713669922,-0.000352241978889,1.17900815582e-05,1793243310001724672
+223,3.716666667,BASELINE,765,745,714,680,659,635,877.586211326,786.586211326,805,652,631,652,0.400915531015,-0.00536355765851,0.0597931749979,0.99999990633,0.000250337746955,-0.00035289547166,1.1637204485e-05,1793243310018391040
+224,3.733333333,BASELINE,765,745,714,680,659,635,877.010714124,786.010714124,805,652,631,652,0.400915466236,-0.00536008699927,0.0597931465994,0.999999904861,0.000255785979727,-0.000353164148551,1.12934195135e-05,1793243310035057920
+225,3.750000000,BASELINE,765,745,714,679.420759529,659,635,877.579240471,786,805,652,631,652,0.400917408674,-0.00536094415377,0.0597943476339,0.99999990607,0.000254100807653,-0.000350947726102,1.13130419185e-05,1793243310051725056
+226,3.766666667,BASELINE,765,745,714,679,659,634.834027571,878.165972429,786.165972429,805,652,630.834027571,652,0.400918328135,-0.00536145136023,0.0597949038227,0.999999906726,0.000253078878718,-0.000349816705649,1.12924260528e-05,1793243310068391936
+227,3.783333333,BASELINE,765,745,714,679,659,634.255977769,878.744022231,786.744022231,805,652,630.255977769,652,0.400916613204,-0.00536088587492,0.0597938010786,0.999999905894,0.00025403963503,-0.000351497575463,1.11547899931e-05,1793243310085058304
+228,3.800000000,BASELINE,765,745,714,679.319649401,659,634.319649401,879,787,805,652,630.319649401,652,0.400916961269,-0.00536125688526,0.0597939663677,0.999999906176,0.000253340037509,-0.000351196228709,1.12710977773e-05,1793243310101724928
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+230,3.833333333,BASELINE,765.480644477,745,714,679.519355523,659,635,878.519355523,786.519355523,805,652,631,652,0.400917837798,-0.00536228405305,0.0597947862107,0.999999907089,0.000250951045936,-0.000350305644517,1.15038195217e-05,1793243310135058176
+231,3.850000000,BASELINE,765.932846929,745,714,679,659,635,878,786.067153071,805,652,631,652,0.400916261969,-0.00536220491925,0.059794203466,0.999999906633,0.000250837737047,-0.000351687460689,1.14001331223e-05,1793243310151724800
+232,3.866666667,BASELINE,765.374765187,745,714,679,659,635,878,786.625234813,805,652,631,652,0.400916462308,-0.0053642007358,0.0597944910491,0.999999907054,0.000249845837989,-0.000351182221992,1.18365513332e-05,1793243310168391680
+233,3.883333333,BASELINE,765.197106688,745,714,679.197106688,659,635,878,787,805,652.197106688,631,651.802893312,0.400916951011,-0.00536489926652,0.0597948436676,0.999999907368,0.000249561106965,-0.000350485505995,1.19587597592e-05,1793243310185058304
+234,3.900000000,BASELINE,765.797170682,745,714,679.797170682,659,635,878,787,805,652.797170682,631,651.202829318,0.400918029233,-0.00536294567651,0.0597953292422,0.999999907465,0.000250722082792,-0.000349397341106,1.14386099094e-05,1793243310201724416
+235,3.916666667,BASELINE,765.619197865,745,714,679.619197865,659,635,878.380802135,787,805,653,631,651.380802135,0.400917884744,-0.00536214151064,0.0597945708031,0.999999906929,0.000251713356019,-0.000350215070946,1.1439907985e-05,1793243310218391296
+236,3.933333333,BASELINE,765.043956955,745,714,679.043956955,659,635,878.956043045,787,805,653,631,651.956043045,0.400917115933,-0.00536192424449,0.0597931771665,0.999999906069,0.000252617978492,-0.000352005956734,1.17074590532e-05,1793243310235057920
+237,3.950000000,BASELINE,765,745,714,679,659,635,879,787,805.54495762,652.45504238,631,651.45504238,0.400916324866,-0.0053620081825,0.0597932749701,0.999999905743,0.000253508996775,-0.000352295286577,1.162349634e-05,1793243310251724544
+238,3.966666667,BASELINE,765,745,714,679.132548103,659.132548103,635,878.867451897,787,805.867451897,652,631,651.132548103,0.400915943213,-0.00536224403844,0.0597935983097,0.999999905761,0.000253565741327,-0.000352206371249,1.15408658293e-05,1793243310268391168
+239,3.983333333,BASELINE,765,745,714,679.711862357,659.711862357,635,878.288137643,787,805.288137643,652,631,651.711862357,0.400916947735,-0.00536290795052,0.0597942659166,0.999999906787,0.000250814279714,-0.00035126128867,1.15607536094e-05,1793243310285057792
+240,4.000000000,BASELINE,765,745,714,679.710747196,659.710747196,635,878.289252804,786.710747196,805,652,631,652,0.40091720419,-0.00536393479032,0.0597946265463,0.999999907366,0.000249141984434,-0.00035080108511,1.16478919082e-05,1793243310301724416
+241,4.016666667,BASELINE,765,745,714,679.135260512,659.135260512,635,878.864739488,786.135260512,805,652,631,652,0.400916720386,-0.00536532076994,0.0597946834027,0.999999907507,0.000248537592427,-0.000350820699961,1.18015788331e-05,1793243310318391040
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,630,652,0.400915989598,-0.00536142198884,0.0597938428576,0.999999906326,0.000251729014096,-0.000351925625624,1.13286800894e-05,1793243310350700032
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.579558866,787,805,652,630,652,0.400916048059,-0.00536277462557,0.0597941863356,0.999999906526,0.000251755162675,-0.000351325545308,1.17126289482e-05,1793243310367366912
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.158760875,745,714,679,659.158760875,635,878.841239125,787,805,652,630.158760875,652,0.400916147935,-0.00536345769054,0.0597942097857,0.999999906619,0.000251805221187,-0.000351019963188,1.18694105197e-05,1793243310384033536
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.737020073,745,714,679,659.737020073,635,878.262979927,787,805,652,630.737020073,652,0.400916357241,-0.00536237152749,0.0597933876172,0.99999990643,0.000251918457586,-0.000351492541798,1.14259416632e-05,1793243310400700160
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659.114456397,635,878,787,805,652.885543603,631,652,0.400914485286,-0.00536309779956,0.0597926408961,0.999999905883,0.000250142951377,-0.000354304008994,1.14831971653e-05,1793243310434033152
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.52981193,745.47018807,714,679,659,635,878,787,805,652.52981193,631,652,0.40091596103,-0.0053623556129,0.0597931766952,0.999999905903,0.000251972408643,-0.000352948902331,1.14389268207e-05,1793243310450700032
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.942729634,714,679.057270366,659,635,878,786.942729634,805,652,631,651.942729634,0.400917617979,-0.00536122724396,0.0597936393839,0.999999905848,0.000254212514131,-0.000351500726736,1.12971434124e-05,1793243310467366656
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.359749695,714,679.640250305,659,635,878,786.359749695,805,652,631,651.359749695,0.400914641249,-0.00536006320832,0.0597916508186,0.999999904434,0.000253322555341,-0.000356152027201,1.07455417106e-05,1793243310484033536
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.220156464,786,805,652,631,651.220156464,0.400912777628,-0.0053599651134,0.0597890122737,0.999999902526,0.000252389937149,-0.000362128923734,1.04489634775e-05,1793243310500700160
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.795108973,786,805,652,631,651.795108973,0.400912707853,-0.00536158484938,0.0597853262457,0.999999899806,0.00025138857072,-0.00037024210159,1.05633717238e-05,1793243310517366784
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.369057181,745,714,679.630942819,659,634.630942819,879,786.369057181,805,652,631,652,0.400921155029,-0.00536234283511,0.059781087222,0.999999896246,0.000250771687298,-0.000380151488696,1.03512555233e-05,1793243310534033408
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.942449393,745,714,679.057550607,659,634.057550607,879,786.942449393,805,652,631,652,0.400934317766,-0.00536262369772,0.0597765420221,0.999999892146,0.000250367679581,-0.000391055379528,9.95835330225e-06,1793243310550700032
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.468834483,745,714,679,659,634.531165517,878.468834483,786.468834483,805,652,631,651.468834483,0.400964637725,-0.00536358709932,0.0597740424898,0.99999989064,0.000249279721126,-0.000395583004674,9.64234535215e-06,1793243310567366912
+256,4.266666667,POSE1_TO_POSE2_PRESS,765.119684076,745,714,679.119684076,659,635,878.119684076,786.119684076,805,652,631,651,0.401001161103,-0.00536433055201,0.0597723177989,0.999999889801,0.000248754970202,-0.000398036158272,9.24432903158e-06,1793243310584033280
+257,4.283333333,POSE1_TO_POSE2_PRESS,765.700848984,745,714,679.700848984,659,635,878.700848984,786.700848984,805,652,631,651,0.401054223077,-0.00536393230548,0.0597727007531,0.999999890435,0.00025069607087,-0.000395233459969,8.49702428534e-06,1793243310600699904
+258,4.300000000,POSE1_TO_POSE2_PRESS,765.721589173,745,714,679.721589173,659.278410827,635,879,786.721589173,804.721589173,652,631,651.278410827,0.401118695221,-0.00536497335127,0.0597751531565,0.999999892887,0.000250666885931,-0.000389006414089,8.11506109334e-06,1793243310617366784
+259,4.316666667,POSE1_TO_POSE2_PRESS,765.147849378,745,714,679.147849378,659.852150622,635,879,786.147849378,804.147849378,652,631,651.852150622,0.401195270891,-0.00536754115063,0.0597798007631,0.999999897203,0.000248547687255,-0.000379146934051,8.12064014537e-06,1793243310634033920
+260,4.333333333,POSE1_TO_POSE2_PRESS,765.435270982,745,714,679.435270982,659.564729018,634.564729018,878.564729018,786.435270982,804.870541963,652,631,652,0.401285145369,-0.00536984096109,0.0597844267837,0.999999900976,0.000246445151862,-0.000370481836791,7.44351421856e-06,1793243310650701056
+261,4.350000000,POSE1_TO_POSE2_PRESS,765.978470247,745,714,679.978470247,659.021529753,634.021529753,878.021529753,787,805.978470247,652,631,652,0.401380839532,-0.00537213966463,0.0597890206651,0.999999904577,0.000244232435551,-0.00036215049159,6.53279229432e-06,1793243310667367680
+262,4.366666667,POSE1_TO_POSE2_PRESS,765.395291663,745,714,679.395291663,659.604708337,634.604708337,878.604708337,787,805.395291663,652,631,652,0.401507915376,-0.00537683646194,0.0597929716189,0.999999909575,0.000238994511202,-0.000351709161102,5.71096097497e-06,1793243310684034304
+263,4.383333333,POSE1_TO_POSE2_PRESS,765.18509123,745,714,679,659.81490877,635,879,787,805,652,631,652,0.401639153713,-0.00538033110498,0.0597959192709,0.999999913162,0.000235978765124,-0.000343464009201,4.65925050351e-06,1793243310700700672
+264,4.400000000,POSE1_TO_POSE2_PRESS,765.759592251,745,714,679,659.240407749,635,879,787,805,652,631,652,0.401779149421,-0.00538129655874,0.0597967560955,0.999999914014,0.00023763821683,-0.000339839355547,3.12390191967e-06,1793243310717367296
+265,4.416666667,POSE1_TO_POSE2_PRESS,765.665256919,745,714,679.334743081,659,635,879,787,805,652,631,652,0.401937451944,-0.00538472780903,0.059796228637,0.999999915812,0.000234319845495,-0.00033684924288,1.50123379744e-06,1793243310734033920
+266,4.433333333,POSE1_TO_POSE2_PRESS,765.089638439,745,714,679.910361561,659,635,879,787,805,652,631,652,0.402108927754,-0.00538993340448,0.0597947194637,0.999999918257,0.000227419517939,-0.000334315734675,-1.84268130718e-07,1793243310750700544
+267,4.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.500773573,787.499226427,805,652,631,652,0.402305098009,-0.00539274337709,0.0597936241146,0.999999919419,0.000223483954272,-0.000333484514687,-2.00608595888e-06,1793243310767367424
+268,4.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,787.9113215,805,652,631,652,0.402513275337,-0.00539544899523,0.0597931232114,0.999999920661,0.000220469271446,-0.000331748677209,-3.82254623798e-06,1793243310784034560
+269,4.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,787.332135693,805,652,631,652,0.402762673166,-0.00540002151237,0.0597954881642,0.999999923637,0.000219523479436,-0.000323272384499,-5.47029789286e-06,1793243310800701184
+270,4.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.754978962,659,635,878,787,805,652,630.754978962,651.754978962,0.403024127742,-0.00540488907949,0.059797326454,0.999999926368,0.000216787843807,-0.000316563567308,-7.39231797139e-06,1793243310817367552
+271,4.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.180550169,659,635,878,787,805,652,630.180550169,651.180550169,0.403301791467,-0.0054101533133,0.0597984566946,0.999999928812,0.000211645931728,-0.000312230955348,-9.68306606845e-06,1793243310834033664
+272,4.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.383382766,659,634.616617234,878.383382766,787,805,652.383382766,630.383382766,651.383382766,0.403587092128,-0.00541360598758,0.0597923139665,0.999999926377,0.000208538363979,-0.000321876508003,-1.24141638213e-05,1793243310850700288
+273,4.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.942504486,659,634.057495514,878.942504486,787,805,652.942504486,630.942504486,651.942504486,0.403875893479,-0.00541622826034,0.05978283738,0.999999921491,0.000206363320096,-0.000337929516211,-1.53471135329e-05,1793243310867366912
+274,4.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.548992149,879,787,805,652.451007851,631,652,0.404208588574,-0.00541719938229,0.059772981236,0.999999914037,0.00020982141954,-0.000357196656098,-1.7663827613e-05,1793243310884033792
+275,4.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.848882233,805,652,631,652,0.404560766692,-0.00541069027549,0.0597648609955,0.999999905229,0.000222986943559,-0.00037336244144,-2.0463692521e-05,1793243310900700416
+276,4.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.274199838,805,652,631,652,0.404953451935,-0.00538374545194,0.0597617282193,0.999999893362,0.000261551482416,-0.000379802930473,-2.48157421437e-05,1793243310917367296
+277,4.616666667,POSE1_TO_POSE2_PRESS,765.300658036,745,714,680,659.300658036,635,879,786.300658036,805,652,631,652,0.405375501529,-0.00537386511213,0.0597678948957,0.999999892475,0.000276651600343,-0.000371121106381,-2.79733297666e-05,1793243310934034176
+278,4.633333333,POSE1_TO_POSE2_PRESS,765.875676105,745,714,680,659.875676105,635,879,786.875676105,805,652,631,652,0.405824347073,-0.00537955665413,0.0597825476184,0.999999902232,0.000270339691436,-0.000348639690905,-3.00409332867e-05,1793243310950701056
+279,4.650000000,POSE1_TO_POSE2_PRESS,765.537838905,745,713.537838905,680,659.537838905,635,879,787,805,652,631,652,0.406316156535,-0.0053951400204,0.0598100127892,0.999999943777,0.000147245362419,-0.000299714499635,-3.05947168918e-05,1793243310967367680
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+281,4.683333333,POSE1_TO_POSE2_PRESS,765,745,713,680,659,635,878.368354481,787,805.631645519,652,631,652,0.407360925266,-0.00541450758032,0.0598602623642,0.999999974859,1.55491518753e-05,-0.000221229969075,-3.31173138914e-05,1793243311000700672
+282,4.700000000,POSE1_TO_POSE2_PRESS,765,745,713.419677175,679.790161413,659,635,878.209838587,787,805.790161413,652,631,651.790161413,0.407897784335,-0.00541533124027,0.0598685865821,0.999999974199,6.32076181854e-05,-0.000216649041451,-2.58699610349e-05,1793243311017367296
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+295,4.916666667,POSE1_TO_POSE2_PRESS,765,745.749549106,714,679.749549106,660,635,879,786,805.749549106,652.250450894,631,652,0.416742004193,-0.00542872261246,0.0599051701482,0.999999975679,0.000146176785063,-0.00016343164049,-2.37617457328e-05,1793243311234033920
+296,4.933333333,POSE1_TO_POSE2_PRESS,765.331224361,745.668775639,714,680,659.668775639,634.668775639,879,786.331224361,805.668775639,652,631,651.668775639,0.41754707128,-0.00543438972071,0.0599065854568,0.999999977566,0.000135118029507,-0.000161307553187,-2.43232335151e-05,1793243311250700800
+297,4.950000000,POSE1_TO_POSE2_PRESS,765.918011642,745.081988358,714,680,659.081988358,634.081988358,879,786.918011642,805.081988358,652,631,651.081988358,0.418345070115,-0.00543991479295,0.0598883840244,0.999999971536,0.000140610995134,-0.000191015401682,-2.58923154736e-05,1793243311267367424
+298,4.966666667,POSE1_TO_POSE2_PRESS,765.500645545,745,714,679.500645545,659.499354455,634.499354455,879,787,805,652,631,651.499354455,0.419165797763,-0.00544380173474,0.0598672287617,0.999999965618,0.000129057163888,-0.000226369707862,-2.94132282541e-05,1793243311284033792
+299,4.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.079448855,660,634.920551145,879,787,805,652,631,651.920551145,0.419989137204,-0.00544690776992,0.0598459389419,0.99999995859,0.000116883477698,-0.000260895118944,-3.30435952478e-05,1793243311300700160
+300,5.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.657258891,660,634.342741109,879,787,805,652,631,651.342741109,0.42080570317,-0.00544678432024,0.0598268144641,0.999999951929,0.00011818894883,-0.000284468451494,-3.53720058202e-05,1793243311317366784
+301,5.016666667,POSE1_TO_POSE2_PRESS,765.233992768,745,714,680,660.233992768,634.233992768,879,787,805,652,631,651.233992768,0.421633877408,-0.0054473396045,0.0598100969387,0.999999943969,0.000113951842178,-0.000312574686481,-3.70733462813e-05,1793243311334033408
+302,5.033333333,POSE1_TO_POSE2_PRESS,765.809157641,745,714,680,660.809157641,634.809157641,879,787,805,652,631,651.809157641,0.422478977153,-0.0054488845137,0.0597968888567,0.999999933813,0.000101633405007,-0.000347290102912,-3.78603903108e-05,1793243311350700288
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+304,5.066666667,POSE1_TO_POSE2_PRESS,765.016724408,745,714,680,660.016724408,635,879,787,805.983275592,652,631,651.016724408,0.424397211078,-0.00545910499063,0.0599059000929,0.999999983081,9.20902900481e-05,-0.000155086461527,-3.61288096973e-05,1793243311384033792
+305,5.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,806,652,631,651,0.425319888441,-0.00546634342364,0.0599408391082,0.999999990499,8.62289334605e-05,-0.00010196624067,-3.42030942615e-05,1793243311400700416
+306,5.100000000,POSE1_TO_POSE2_PRESS,765.141491695,745,714,680,660,635,879.141491695,787,806,652,631,651.141491695,0.426231172781,-0.00547250885457,0.0599612318236,0.999999993923,7.97129005627e-05,-6.83649683931e-05,-3.35653220665e-05,1793243311417367040
+307,5.116666667,POSE1_TO_POSE2_PRESS,765.717015884,745,714,680,660,635,879.717015884,787,806,652,631,651.717015884,0.427112804231,-0.00547525568079,0.0599399623602,0.999999992855,7.14207103869e-05,-8.8457823638e-05,-3.69438764923e-05,1793243311434033664
+308,5.133333333,POSE1_TO_POSE2_PRESS,765.707914182,745,714,680,660,635,880,787,806,651.707914182,631.292085818,652,0.427988417787,-0.00547843549639,0.0599192717852,0.999999990834,6.27839168043e-05,-0.000113200086628,-3.96867897081e-05,1793243311450700032
+309,5.150000000,POSE1_TO_POSE2_PRESS,765.133283699,745,714,680,660,635,880,787,806,651.133283699,631.866716301,652,0.428858209974,-0.00548203415736,0.0598991411903,0.999999987533,5.38137769447e-05,-0.000142439880551,-4.18148250922e-05,1793243311467366656
+310,5.166666667,POSE1_TO_POSE2_PRESS,765.454763894,745,714,680,660,634.545236106,879.545236106,786.545236106,806,651,631.545236106,651.545236106,0.429703504986,-0.00547858699787,0.0598731896222,0.999999978927,5.73181530779e-05,-0.000192239732887,-4.36466827127e-05,1793243311484033536
+311,5.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879.045779076,786.045779076,806,651.045779076,631.045779076,651.045779076,0.430549852378,-0.00547405063082,0.059849967373,0.999999968511,6.23475674371e-05,-0.000238816996517,-4.53583250306e-05,1793243311500700416
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+313,5.216666667,POSE1_TO_POSE2_PRESS,765.798402468,745,714,680,660,634.201597532,880,787,806,652,632,652,0.432423529919,-0.00548830895332,0.0599106784194,0.99999999185,2.86970475976e-05,-0.000115207811083,-4.69513051164e-05,1793243311534033408
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+322,5.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.58292401,660.41707599,634,880,787,806,651.58292401,631,652,0.439853652439,-0.00551234966657,0.0599043737699,0.999999985524,-1.56801739727e-06,-0.000162508293611,-5.04015205777e-05,1793243311684033536
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+328,5.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.106851061,661,634,880.893148939,787,806,651.106851061,631,652,0.444195517179,-0.00553337707746,0.0599216161794,0.999999989242,-5.80016382599e-05,-0.000120731286318,-5.98057300348e-05,1793243311784033536
+329,5.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.479586413,661,634,881,787.479586413,806,651.479586413,631,652,0.444849419988,-0.00553695856878,0.0599325453661,0.9999999907,-6.23090922975e-05,-0.000105005381198,-6.07533683666e-05,1793243311800700160
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+334,5.566666667,POSE1_TO_POSE2_PRESS,765.618188885,745,714,680.76362223,660,633.618188885,880,787,806,651.618188885,631.618188885,651.618188885,0.447601866757,-0.00553954229099,0.0598477838556,0.999999963384,-8.54460510818e-05,-0.000246346009992,-7.24216736199e-05,1793243311884033536
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+353,5.883333333,POSE1_TO_POSE2_PRESS,765.59070304,745.40929696,714,681.40929696,658,631,880.59070304,785,806.40929696,652,631,652,0.453210390753,-0.00556095265585,0.0596878540093,0.999999876242,-0.000101632882476,-0.000482600991147,-6.54403671651e-05,1793243312200700672
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+355,5.916666667,POSE1_TO_POSE2_PRESS,765,746,714,681.421116317,657.421116317,631,880,785,807,652,631,652,0.453407451765,-0.00555915611025,0.0596794247706,0.999999869095,-9.73383074117e-05,-0.00049814851656,-6.46827309928e-05,1793243312234034176
+356,5.933333333,POSE1_TO_POSE2_PRESS,765,746,714,681,657.156771719,631,880,785,807,652,631,651.843228281,0.453492567171,-0.00556329792685,0.0596759654231,0.999999865807,-0.000101026467719,-0.000504065977021,-6.40079664809e-05,1793243312250700800
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+359,5.983333333,POSE1_TO_POSE2_PRESS,765.87759032,746,714.87759032,681.87759032,657.12240968,630.12240968,880,785.87759032,806.12240968,652,630.12240968,651.87759032,0.453677414379,-0.00556150300656,0.0596681178488,0.999999859199,-9.74114567601e-05,-0.000517655118379,-6.43930224374e-05,1793243312300700928
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+382,6.366666667,POSE1_TO_POSE2_PRESS,765.239664264,745.239664264,714,682,657.760335736,630,880,785,806.239664264,652,630,652,0.45386152552,-0.00555863742963,0.059654324334,0.999999848899,-9.85992058872e-05,-0.000537100213182,-6.32774490708e-05,1793243312684034304
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+384,6.400000000,HOLD_POSE2,765,746,715,682,657,630,880,785,807,652,631,652,0.453862382438,-0.00555696361245,0.0596546182847,0.999999849453,-9.60818226285e-05,-0.0005364816953,-6.36296532042e-05,1793243312734424320
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+390,6.500000000,HOLD_POSE2,765.470645994,746,714.470645994,682,657,630,879.529354006,785,807,651.470645994,630.470645994,652,0.453860038062,-0.00555840703852,0.0596521913707,0.99999984682,-9.92989397272e-05,-0.00054087081168,-6.29191120386e-05,1793243312834423808
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+392,6.533333333,HOLD_POSE2,765.358751526,746,715,682,657,630,879.641248474,785,806.358751526,652,630.358751526,652,0.453862514561,-0.0055581242288,0.0596529354645,0.999999847417,-0.000100622740319,-0.000539492484961,-6.31618778404e-05,1793243312867757312
+393,6.550000000,HOLD_POSE2,765,745.781144344,714.781144344,682,657,630,880,785,806,652,630,652,0.453862991729,-0.00555869591483,0.0596528030099,0.999999847311,-0.000100649048558,-0.000539691579461,-6.30854468295e-05,1793243312884423936
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+482,8.033333333,POSE2_TO_POSE3_RETREAT,765.636213247,745,714,680,659.363786753,634,879,787,804,652,630.636213247,651.636213247,0.412125821395,-0.00539046268218,0.0597761803229,0.999999905219,0.000202072350403,-0.000384387099708,3.12151834498e-05,1793243314389946624
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+500,8.333333333,POSE2_TO_POSE3_RETREAT,765.813422887,745,713.906711444,679,659,635,879,787,805,652.093288556,631,651.093288556,0.403210750474,-0.00537935195581,0.0598009525085,0.999999922923,0.000236800098627,-0.00031159287123,3.14442282862e-05,1793243314689947136
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+507,8.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.154335214,659,634.154335214,878,787,805.154335214,652.154335214,631,652,0.401770496561,-0.00537671907205,0.0598290038942,0.999999930203,0.000238937011891,-0.000284384788574,4.03484984457e-05,1793243314806614016
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+525,8.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.595382656,787,805,652,631,652,0.400966470049,-0.00537310124502,0.0598375889614,0.999999933769,0.000236866070263,-0.000273110935737,4.20385907188e-05,1793243315106614016
+526,8.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,786.818447697,805,652,631,652,0.400966789637,-0.00537306443176,0.05983879805,0.999999934262,0.000236868734827,-0.000271302548522,4.20063173526e-05,1793243315123280128
+527,8.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,786.239122595,805,652,631,652,0.400967344505,-0.00537239667323,0.059840411466,0.999999934374,0.000239369575333,-0.000268651871322,4.21886170157e-05,1793243315139946752
+528,8.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.337453565,659,635,879,786.337453565,804.662546435,652,631,652,0.400966781317,-0.00537283448512,0.0598408616797,0.99999993458,0.000238917657766,-0.000268283794601,4.22150052592e-05,1793243315156613632
+529,8.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.9120976,659,635,879,786.9120976,804.0879024,652,631,652,0.400965432265,-0.00537404938389,0.0598404942983,0.999999934852,0.000236390296172,-0.00026952011932,4.21318059914e-05,1793243315173280256
+530,8.833333333,POSE2_TO_POSE3_RETREAT,765.485202489,745,714.485202489,679.514797511,659,635,879,787,804.485202489,652.485202489,631,652,0.400965800233,-0.00537378130133,0.0598405209549,0.999999935434,0.000234777044445,-0.000268829946704,4.17403792282e-05,1793243315189946624
+531,8.850000000,POSE2_TO_POSE3_RETREAT,765.939742449,745,714.939742449,679.060257551,659,635,879,787,805.060257551,652.939742449,631,652,0.40096648145,-0.00537334552178,0.0598407155919,0.999999936022,0.000233556925761,-0.000267763852814,4.13519577541e-05,1793243315206613504
+532,8.866666667,POSE2_TO_POSE3_RETREAT,765.344920547,745,714.344920547,679.655079453,659,635,879,787,805.655079453,652.344920547,631,652,0.40096719076,-0.00537379793789,0.0598417691467,0.99999993618,0.000234359918187,-0.000266449287746,4.14840094671e-05,1793243315223280128
+533,8.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.756825892,659,635,878.756825892,787,805.756825892,652,631,651.756825892,0.400967200058,-0.0053743406563,0.0598423428104,0.999999936334,0.000234478415335,-0.000265754749655,4.15496855835e-05,1793243315239946752
+534,8.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.178016398,659,635,878.178016398,787,805.178016398,652,631,651.178016398,0.400966243181,-0.00537500801231,0.0598422541153,0.999999936486,0.000233652153808,-0.000265915989405,4.15237483241e-05,1793243315256613376
+535,8.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.396935071,659,635,878.793870143,787,805.396935071,652.396935071,631,651.396935071,0.400966213096,-0.00537445159901,0.0598421960419,0.999999936581,0.000233174143729,-0.00026598848932,4.14363788905e-05,1793243315273280000
+536,8.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.970172944,659,635,879.940345887,787,805.970172944,652.970172944,631,651.970172944,0.400966594656,-0.00537335163595,0.0598421515695,0.999999936653,0.000232850813139,-0.00026602157452,4.13217237247e-05,1793243315289946624
+537,8.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.440579237,787,805.440579237,652.440579237,631,652,0.400965731176,-0.00537454129549,0.059841435034,0.999999936934,0.00023063163598,-0.000266941054475,4.10232691667e-05,1793243315306613248
+538,8.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.146872249,679.853127751,659,635,879,786.853127751,805,652,631,652,0.400965445585,-0.00537528591522,0.0598413034658,0.999999937246,0.000229252915277,-0.000267001454411,4.07524327519e-05,1793243315323279872
+539,8.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.726442562,679.273557438,659,635,879,786.273557438,805,652,631,652,0.400967063831,-0.00537434916302,0.0598430039381,0.999999937624,0.000230656821414,-0.000264387596044,4.05926833265e-05,1793243315339946496
+540,9.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.695377206,679,659,634.695377206,879,786,804.695377206,652,631,651.695377206,0.400966365694,-0.00537458013196,0.0598431844068,0.999999937578,0.000230762687252,-0.00026448625095,4.04931140765e-05,1793243315356613120
+541,9.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.118439561,679,659,634.118439561,879,786,804.118439561,652,631,651.118439561,0.400963596845,-0.00537585497475,0.0598420060819,0.999999937152,0.000229708181609,-0.000267009732805,4.04473423439e-05,1793243315373279744
+542,9.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.455550755,659,634,878.544449245,786.455550755,804.455550755,652,631,651.455550755,0.400963015737,-0.00537575968985,0.0598411228153,0.999999938552,0.000223061748826,-0.00026765543017,3.87421448984e-05,1793243315389946368
+543,9.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,787,805,652,631,652,0.400963128096,-0.00537571492862,0.0598405054463,0.99999994109,0.000212021695317,-0.000267531032033,3.59820160259e-05,1793243315406612992
+544,9.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,787,805,652,631,652,0.400965668125,-0.00538332159994,0.0598434763733,0.999999954906,0.000145190854299,-0.000262014580786,2.13742617519e-05,1793243315423279616
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e45b3590401d64027bb3a456196fa7a2346bdfc5
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,546 @@
+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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+540,9.000000000,pose2_to_pose3_retreat,0.580743979046,1.86672819842e-06,1.05004105111,0.551315736155,0.00867668790693,1.04967884557
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+544,9.066666667,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315250946,0.00867671988332,1.04967862518
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68db910cb1f4b8ce5b8966cce21aafd19c7b997d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8351f7607fcefefd5d5f3d8b2982b606d46668da5a03075ee6d61e3e653c778a
+size 26032894
diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..641ac4241cd66a5da19efd6c7752302a9800df38
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+54,0.900000000,BASELINE,765,745,714,679.340261103,659,635,878.340261103,786.340261103,805,652.340261103,631,652,0.400966428988,-0.00538906404764,0.0598472766991,0.999999961308,0.000101986442138,-0.00025855487415,1.15205717781e-05,1793243316448838656
+55,0.916666667,BASELINE,765,745,714,679.916161383,659,635,878.916161383,786.916161383,805,652.916161383,631,652,0.400966861977,-0.00538826646179,0.0598474025974,0.99999996115,0.000104651440262,-0.000258096909136,1.15895471778e-05,1793243316465505536
+56,0.933333333,BASELINE,765.49489128,745,714,679.50510872,659,635,879,786.50510872,805,652.50510872,631,651.50510872,0.400965860832,-0.00538924352681,0.0598470255155,0.999999960985,0.000103629301497,-0.00025914718164,1.15855885946e-05,1793243316482172160
+57,0.950000000,BASELINE,765.926593853,745,714.073406147,679.073406147,659,635,879,786.073406147,805.073406147,652.073406147,631,651.073406147,0.400964827271,-0.00539046468427,0.0598465944944,0.999999960873,0.000101932302216,-0.000260249738189,1.16032373485e-05,1793243316498838784
+58,0.966666667,BASELINE,765.35283121,745,714.64716879,679.64716879,659,635,879,786.64716879,805.64716879,652.64716879,631,651.64716879,0.40096523832,-0.00539128861093,0.0598463799563,0.999999961149,9.99174096245e-05,-0.000259957050369,1.18528712179e-05,1793243316515505408
+59,0.983333333,BASELINE,765,745,714.771709873,679.771709873,659,635,878.771709873,787,805.771709873,652.771709873,631,651.771709873,0.400965696304,-0.00539115126731,0.0598463283205,0.999999961275,9.99433983835e-05,-0.000259458322372,1.1927571922e-05,1793243316532172032
+60,1.000000000,BASELINE,765,745,714.178836484,679.178836484,659,635,878.178836484,787,805.178836484,652.178836484,631,651.178836484,0.400966229248,-0.00538947875862,0.0598465368421,0.999999961158,0.000103228709473,-0.00025863054462,1.17229013887e-05,1793243316548838400
+61,1.016666667,BASELINE,765,745,714,679,659,635,878.403342735,787,805,652,631,651.403342735,0.400966484055,-0.0053887148112,0.0598467121955,0.999999961174,0.000103898507281,-0.00025829937519,1.18034992009e-05,1793243316565505280
+62,1.033333333,BASELINE,765,745,714,679,659,635,878.980902746,787,805,652,631,651.980902746,0.400966618725,-0.00538834330201,0.0598468732223,0.999999961249,0.000103438576844,-0.000258182707627,1.20073140068e-05,1793243316582171648
+63,1.050000000,BASELINE,765,745,714,679,659,635,878.444187201,787,805.555812799,652,631,652,0.400967245471,-0.00538770301598,0.0598473123707,0.999999961175,0.000105528961961,-0.000257628979232,1.1869999946e-05,1793243316598838528
+64,1.066666667,BASELINE,765,745,714,679.13016815,659,634.86983185,878,787,805.86983185,652.13016815,631,652,0.400967561984,-0.00538738444271,0.0598475794861,0.999999961105,0.000106728916305,-0.000257410423252,1.1768220944e-05,1793243316615505152
+65,1.083333333,BASELINE,765,745,714,679.702945455,659,634.297054545,878,787,805.297054545,652.702945455,631,652,0.400966766397,-0.00538819103787,0.0598472293008,0.999999961078,0.000104604607708,-0.000258382369887,1.18269366802e-05,1793243316632171776
+66,1.100000000,BASELINE,765,745,714.285367115,679.714632885,659,634.285367115,878,787,805,652.714632885,631,652,0.400966738917,-0.00538893002078,0.0598470789686,0.999999961238,0.000103225552801,-0.000258317160048,1.18704632881e-05,1793243316648838400
+67,1.116666667,BASELINE,765,745,714.878179244,679.121820756,659,634.878179244,878,787,805,652.121820756,631,652,0.400967538968,-0.00538959616045,0.0598471439515,0.999999961602,0.000102649409508,-0.000257134552341,1.18976256315e-05,1793243316665505024
+68,1.133333333,BASELINE,765,745,714.541280007,679.458719993,659,635,878,787,805,652.458719993,631,652,0.400965648067,-0.00539062191228,0.0598460253153,0.999999961171,0.000101244788389,-0.000259361698969,1.17876507671e-05,1793243316682171904
+69,1.150000000,BASELINE,765.035959162,745,714,679.964040838,659,635,878,787,805,652.964040838,631,652,0.400963357879,-0.00539172954617,0.0598447681621,0.999999960597,9.97573059768e-05,-0.00026214035107,1.16718798499e-05,1793243316698838272
+70,1.166666667,BASELINE,765.611283486,745,714,679.388716514,659,635,878,787,805,652.388716514,631,652,0.400965518321,-0.00539267022478,0.0598460252531,0.999999961113,0.000100241080815,-0.000259962918263,1.20012029406e-05,1793243316715504896
+71,1.183333333,BASELINE,765.808869391,745,714.191130609,679.191130609,659,635,878.191130609,787,805,652,631,651.808869391,0.400967015994,-0.00539329683951,0.0598468853695,0.999999961517,0.000100571905518,-0.000258269317974,1.22139930975e-05,1793243316732171520
+72,1.200000000,BASELINE,765.219600869,745,714.780399131,679.780399131,659,635,878.780399131,787,805,652,631,651.219600869,0.400967133073,-0.00539326923823,0.0598469185612,0.999999961693,0.000100584124895,-0.000257583572967,1.21840373756e-05,1793243316748838400
+73,1.216666667,BASELINE,765,745,714.635474305,679.635474305,658.635474305,635,878.635474305,787,805,652,631,651.364525695,0.400966818198,-0.00539203058759,0.0598468042514,0.999999961397,0.000101771438285,-0.000258272166603,1.20430221354e-05,1793243316765505024
+74,1.233333333,BASELINE,765,745,714.054402352,679.054402352,658.054402352,635,878.054402352,787,805,652,631,651.945597648,0.400966246721,-0.00539007251387,0.0598466023186,0.999999960815,0.000103656815522,-0.000259777185272,1.18360320605e-05,1793243316782171648
+75,1.250000000,BASELINE,765,745,714,679.519787197,658.519787197,635,878.519787197,787,805,652,631,652,0.40096582653,-0.0053907783669,0.059845846504,0.999999960727,0.000102707209725,-0.000260491809859,1.19107857407e-05,1793243316798838528
+76,1.266666667,BASELINE,765,745,714.093754781,680,659,635,879,787,805,652.093754781,631,652,0.400965653568,-0.00539157713427,0.0598453714543,0.999999960782,0.000101489709207,-0.000260754852924,1.19878244846e-05,1793243316815505152
+77,1.283333333,BASELINE,765,745,714.670239894,680,659,635,879,787,805,652.670239894,631,652,0.400966673102,-0.0053914374905,0.059846636607,0.999999961319,0.000100400646747,-0.000259113137967,1.19267827912e-05,1793243316832172032
+78,1.300000000,BASELINE,765,744.747116831,714.747116831,679.747116831,659,635,879,787,805,653,631,652,0.400967511523,-0.00539096674697,0.059847407387,0.99999996159,0.000100717612219,-0.000257939569985,1.19637824688e-05,1793243316848838656
+79,1.316666667,BASELINE,765,744.156242918,714.156242918,679.156242918,659,635,879,787,805,653,631,652,0.400968107878,-0.00539005347238,0.0598475174136,0.999999961506,0.000102913802985,-0.000257391703501,1.2131819246e-05,1793243316865505024
+80,1.333333333,BASELINE,765,744.426532754,714,679.426532754,659,635,879.426532754,787,805,653,631,652,0.400967755724,-0.00538942813746,0.0598473181064,0.999999961168,0.000105358679202,-0.000257708050273,1.22871502797e-05,1793243316882171648
+81,1.350000000,BASELINE,765,745,714,680,659,635,879.987335619,787,805,653,631,652,0.400967047818,-0.00538893667027,0.0598469971886,0.999999960739,0.000107802442864,-0.000258354124704,1.24367095504e-05,1793243316898838528
+82,1.366666667,BASELINE,765,745,714,680,659,635,878.839407326,787,805,653,631,652,0.400965015254,-0.00539116656715,0.0598457430953,0.999999960722,0.00010213257508,-0.000260708485939,1.24783159605e-05,1793243316915504896
+83,1.383333333,BASELINE,765,745,714.15818013,680,659,635,878,787,805,652.84181987,631,652,0.400963611788,-0.00539231103033,0.0598448662445,0.999999960645,9.88975030252e-05,-0.000262248443085,1.24738521381e-05,1793243316932171520
+84,1.400000000,BASELINE,765,745,714.746728419,680,659,635,878,787,805,652.253271581,631,652,0.40096391994,-0.0053905023032,0.0598450157749,0.999999960482,0.00010228689357,-0.000261572613066,1.23440428665e-05,1793243316948838144
+85,1.416666667,BASELINE,765,745,714.66912941,679.66912941,659,635,878.33087059,787.33087059,805,652,631,652,0.400965112993,-0.0053905340099,0.059845927419,0.999999960771,0.000103258968065,-0.000260083911749,1.23206496019e-05,1793243316965505024
+86,1.433333333,BASELINE,765,745,714.088315702,679.088315702,659,635,878.911684298,787.911684298,805,652,631,652,0.40096697451,-0.00539195599974,0.0598474147719,0.999999961403,0.000102404976431,-0.00025798115896,1.23776441141e-05,1793243316982171648
+87,1.450000000,BASELINE,765,745,714,679,659,635,879,787.512001115,805,652,631,652,0.400967553926,-0.00539146826167,0.0598475476205,0.999999961584,0.000101903274126,-0.000257497250793,1.19539157439e-05,1793243316998838528
+88,1.466666667,BASELINE,765,745,714,679.063654325,659,634.936345675,878.936345675,787,805,652,631,651.936345675,0.400967797819,-0.00539062394316,0.0598474798036,0.999999961654,0.000101696242913,-0.000257328088472,1.15257193105e-05,1793243317015505152
+89,1.483333333,BASELINE,765,745,714,679.640500121,659,634.359499879,878.359499879,787,805,652,631,651.359499879,0.400967190238,-0.00538966575207,0.0598477524262,0.999999961474,0.000103355585122,-0.000257356057914,1.17564925383e-05,1793243317032171776
+90,1.500000000,BASELINE,765,745,714,679.778315203,659,634.221684797,878.221684797,787,805,652,631,651.221684797,0.400966499802,-0.00538965675332,0.0598475285173,0.999999961295,0.000103596157223,-0.000257942709551,1.20065590884e-05,1793243317048838144
+91,1.516666667,BASELINE,765,745,714,679.189953884,659,634.810046116,878.810046116,787,805,652,631,651.810046116,0.400965672318,-0.00539121776104,0.059846483323,0.999999961116,0.000101490020254,-0.0002594534464,1.22885376294e-05,1793243317065504768
+92,1.533333333,BASELINE,765,745,714,679,659,635,879,787,805,652.392017997,631,652,0.400965040696,-0.0053922593925,0.0598460575439,0.999999961095,9.98297325081e-05,-0.000260178804888,1.2316591522e-05,1793243317082171904
+93,1.550000000,BASELINE,765,745,714,679,659,635,879,787,805,652.970943553,631,652,0.400964502457,-0.00539305339426,0.0598459270913,0.999999961148,9.83820179548e-05,-0.000260529708374,1.22235784561e-05,1793243317098839296
+94,1.566666667,BASELINE,765,745,714,679.546187891,659,635,879,787,805,652.453812109,631,652,0.400964898258,-0.00539178425915,0.0598460063331,0.999999960906,0.000101064193286,-0.000260434548467,1.21867796123e-05,1793243317115506176
+95,1.583333333,BASELINE,765,745,714,679.878778212,659,635,879,787,805,652,631,652,0.400965346337,-0.00539071954664,0.0598461892739,0.99999996077,0.00010310675229,-0.000260156704439,1.2135130815e-05,1793243317132172800
+96,1.600000000,BASELINE,765,745,714,679.303803725,659,635,879,787,805,652,631,652,0.40096580535,-0.00539082810462,0.0598467188992,0.999999961118,0.000101938241456,-0.000259283274679,1.2016777182e-05,1793243317148839168
+97,1.616666667,BASELINE,765,745,714,679,659.279518916,635,878.720481084,787,805,652,631,652,0.400965634815,-0.00539067774223,0.0598467698393,0.999999961093,0.000102174764354,-0.000259291999041,1.19356417689e-05,1793243317165505536
+98,1.633333333,BASELINE,765,745,714,679,659.872194301,635,878.127805699,787,805,652,631,652,0.400964758972,-0.00539023730073,0.0598462844885,0.999999960648,0.000103985404055,-0.000260289036785,1.1896203456e-05,1793243317182172160
+99,1.650000000,BASELINE,765,745,714,679.451113389,659.548886611,635,878,787,805,652,631,652,0.40096519595,-0.00538978812269,0.0598464867822,0.9999999607,0.000104672881002,-0.000259809409629,1.19114871227e-05,1793243317198838528
+100,1.666666667,BASELINE,765.026332731,745,714,679.973667269,659,635,878,787,805,652.026332731,631,652,0.400966019069,-0.00538941247987,0.0598469201769,0.99999996091,0.00010498340495,-0.000258873957456,1.19522700168e-05,1793243317215505408
+101,1.683333333,BASELINE,765.603271959,745,714,679.396728041,659,635,878,787,805,652.603271959,631,652,0.400967369293,-0.00539062465126,0.0598482327819,0.999999961533,0.000103868645941,-0.0002568961941,1.22116547496e-05,1793243317232172032
+102,1.700000000,BASELINE,765.815758807,745,714,679.184241193,659,635,878.184241193,787.184241193,805,653,631,652,0.40096775419,-0.00539126957617,0.0598485841727,0.99999996175,0.000103119942305,-0.000256347683297,1.22945786286e-05,1793243317248838400
+103,1.716666667,BASELINE,765.225917745,745,714,679.774082255,659,635,878.774082255,787.774082255,805,653,631,652,0.400966013958,-0.00539066572974,0.0598468194877,0.999999961079,0.000103177095581,-0.000258945617033,1.19890307218e-05,1793243317265505536
+104,1.733333333,BASELINE,765,745,714,679.642380851,659,635,878.642380851,787.642380851,805,653,631,652,0.400965008402,-0.00538999133129,0.0598456123671,0.999999960632,0.000103417220432,-0.000260581566391,1.17587168369e-05,1793243317282172416
+105,1.750000000,BASELINE,765,745,714,679.062757427,659,635,878.062757427,787.062757427,805,653,631,652,0.400964458921,-0.00538927313521,0.0598447513735,0.999999960326,0.000103770931131,-0.000261620331409,1.15751070057e-05,1793243317298838784
+106,1.766666667,BASELINE,765,745,714,679.513374928,659,635,878,787,805,652.486625072,631,652,0.400966324758,-0.00539000959211,0.0598464283709,0.999999961138,0.000101823431079,-0.000259257246194,1.19000756234e-05,1793243317315505152
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,879,788,805,653,631,652,0.400966124041,-0.0053890460965,0.0598462227623,0.999999961256,0.000103219932083,-0.000258249818143,1.18386808124e-05,1793243317358632704
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.40753522,878.40753522,787.40753522,805,652.40753522,631,652,0.400965300667,-0.00539083885917,0.0598457599466,0.999999960997,0.000101436893624,-0.000259948670051,1.19535669014e-05,1793243317375299584
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.819185813,745,714,679.819185813,659,634.180814187,878,787,805,652,631,652,0.400964644879,-0.00539209068749,0.0598454762596,0.999999960813,0.000100277567809,-0.000261100139081,1.20571294675e-05,1793243317391966208
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.239905473,745,714,679.239905473,659,634.760094527,878,787,805,652,631,652,0.400964358403,-0.00539215044139,0.0598455873243,0.999999960805,0.000100492737661,-0.000261045322843,1.21357380375e-05,1793243317408632832
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,786.664238145,805,652,631,652,0.400964673445,-0.00539245189166,0.0598460605751,0.999999960969,0.000100539261306,-0.000260389605536,1.22633828425e-05,1793243317425299456
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,786.091124906,805,652,631,652,0.400965413701,-0.00539292419804,0.0598467898567,0.999999961255,0.000100466568269,-0.000259309108888,1.24256915515e-05,1793243317441966080
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,786.482646576,805,652.482646576,631,652,0.400965857585,-0.00539196150218,0.0598469772018,0.999999961254,0.000101190794106,-0.000259040849794,1.22597149123e-05,1793243317458632448
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.941276663,745,714,679,659,635,878.058723337,787,804.941276663,652.941276663,631,652,0.40096628928,-0.00539080198916,0.0598470445872,0.999999961197,0.000102057823184,-0.000258928385671,1.20568616183e-05,1793243317475299072
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.345245657,745,714,679,659,635,878.654754343,787,804.345245657,652.345245657,631,652,0.400967122143,-0.00539032399945,0.0598469518414,0.999999961139,0.00010285291135,-0.000258836353224,1.20844839482e-05,1793243317491965696
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.24257788,745,714,679.24257788,659,635,879.24257788,787,804.24257788,652.24257788,631,652,0.40097321648,-0.00539078977016,0.0598497029271,0.999999962431,0.000102052489556,-0.000254111684046,1.23012126929e-05,1793243317508632064
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.819102492,745,714,679.819102492,659,635,879.819102492,787,804.819102492,652.819102492,631,652,0.400986554066,-0.00539255477604,0.0598563689956,0.999999965486,9.90555964425e-05,-0.000243009459323,1.27782762567e-05,1793243317525298944
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.211713762,787,805.394143119,652.605856881,631,651.605856881,0.40101503937,-0.00539337641491,0.0598682118955,0.999999970194,9.94423996959e-05,-0.000222577641292,1.34800757369e-05,1793243317541965568
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.06298949,787,805.968505255,652.031494745,631,651.031494745,0.401050450857,-0.00539376670639,0.0598824218636,0.999999975181,0.000101376372697,-0.000197879934867,1.42846340826e-05,1793243317558631936
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.444420959,659,635,878,787,805.444420959,652.555579041,631,651.555579041,0.401107642505,-0.00539539107424,0.0599004026793,0.999999981144,0.00010126525096,-0.000165023464898,1.49710753619e-05,1793243317575298560
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.142008245,659.142008245,635,878,787,805,652.857991755,631,652,0.401168396574,-0.00539720436839,0.059916608259,0.999999985458,0.000100672230238,-0.000136765760667,1.56549294535e-05,1793243317591964928
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.724154079,659.724154079,635,878,787,805,652.275845921,631,652,0.401236275621,-0.00539938131539,0.0599266336668,0.999999987254,9.89533544519e-05,-0.000124228419273,1.63520039691e-05,1793243317608631552
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.697871372,659.697871372,635,878.302128628,787,805,652.302128628,630.697871372,652,0.401310667224,-0.00540074109248,0.0599320486683,0.999999988341,9.82631233473e-05,-0.000115762036665,1.61412527376e-05,1793243317625298688
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.12365341,659.12365341,635,878.87634659,787,805,652.87634659,630.12365341,652,0.401390923865,-0.00540136494708,0.0599333116547,0.999999988878,9.84992635062e-05,-0.000110961856424,1.5112936763e-05,1793243317641965824
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.449353027,659,635,879,787,805,652.550646973,630.449353027,652,0.401493298709,-0.00540467581604,0.0599376048813,0.999999990018,9.60530270696e-05,-0.000102597600499,1.45423878242e-05,1793243317658632448
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805.022786677,652,631,652,0.401602384342,-0.00540868457547,0.0599426209939,0.999999991222,9.29075945732e-05,-9.34146735726e-05,1.40666232594e-05,1793243317675299072
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805.615212187,652,631,652,0.401727485393,-0.00541170497073,0.0599449188341,0.999999991915,9.06860705518e-05,-8.82179891236e-05,1.28197542496e-05,1793243317691966208
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.796566106,659,635,878.796566106,787,805.796566106,652,631,652,0.401862199256,-0.00541555365693,0.0599464568143,0.999999992629,8.75226246219e-05,-8.33681524481e-05,1.15031204649e-05,1793243317708633088
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.216134822,659,635,878.216134822,787,805.216134822,652,631,652,0.402014727273,-0.0054209373059,0.0599465866452,0.999999993404,8.26136384404e-05,-7.9161083901e-05,1.00572008999e-05,1793243317725299456
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.360959017,714,679,659,635,878,787,805,652.360959017,631,652,0.402185160803,-0.00542369335111,0.0599454221854,0.999999993683,8.14654099226e-05,-7.7018249592e-05,8.08303485648e-06,1793243317741966080
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.936072823,714,679,659,635,878,787,805,652.936072823,631,652,0.402366217581,-0.0054248904555,0.0599434898307,0.99999999368,8.25484155992e-05,-7.61001125081e-05,5.79546325016e-06,1793243317758632704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.478176275,714,679,659,635,878.521823725,787,805.521823725,652.478176275,631,652,0.402584786641,-0.00543121618305,0.0599443309776,0.999999994437,7.82359710067e-05,-7.06560405336e-05,3.6157221103e-06,1793243317775299072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.107490211,714,679.107490211,659,634.892509789,879,787,805.892509789,652.107490211,631,652,0.40281513539,-0.00543817474537,0.0599462224277,0.999999995344,7.26238737334e-05,-6.35179380419e-05,1.50222144725e-06,1793243317791965440
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.686945468,714,679.686945468,659,634.313054532,879,787,805.313054532,652.686945468,631,652,0.403076608373,-0.00544509584552,0.0599512026066,0.999999996612,6.42679069461e-05,-5.14268964517e-05,-3.7964216011e-07,1793243317808632064
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.265169716,745.734830284,714,680,659,634.265169716,879,787,805,653,631,652,0.403347097938,-0.00545176046095,0.0599530684036,0.99999999724,5.79365145815e-05,-4.64343480348e-05,-2.59953707148e-06,1793243317825298944
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.84194734,745.15805266,714,680,659,634.84194734,879,787,805,653,631,652,0.403628183111,-0.00545812367403,0.0599512744081,0.99999999729,5.39842533774e-05,-4.9783426361e-05,-5.21666134513e-06,1793243317841965824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.582924084,745,714,680,659,635,879,787,805,652.582924084,631,652,0.403931660789,-0.00546621504195,0.0599409216072,0.999999996886,4.43919489871e-05,-6.46506890934e-05,-8.86123888143e-06,1793243317858632960
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.008417974,745,714,680,659,635,879,787,805,652.008417974,631,652,0.404243590773,-0.00547495872202,0.0599273381848,0.999999995866,3.26707442434e-05,-8.38656254621e-05,-1.28936406342e-05,1793243317875300096
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.582646818,635,878.417353182,786.417353182,805,652,631,651.417353182,0.404588700474,-0.00548309331054,0.0599151789784,0.999999993818,2.33897476753e-05,-0.000107411874565,-1.6700721448e-05,1793243317891966464
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.829493813,659.829493813,635,878,786.170506187,805,652,631,651.170506187,0.404951533555,-0.00549056984909,0.0599059843405,0.999999991739,1.57472052468e-05,-0.000125913550593,-2.04729463882e-05,1793243317908632832
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.249915619,659.249915619,635,878,786.750084381,805,652,631,651.750084381,0.405355704112,-0.00549648934816,0.0599038513742,0.999999990904,1.19485232649e-05,-0.000132157947598,-2.41695845765e-05,1793243317925299200
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.326881181,659,635,878.326881181,787,805,652,631,652,0.405798241499,-0.00550356459636,0.0599154841536,0.99999999301,7.97406354695e-06,-0.000114861394567,-2.69073505762e-05,1793243317941965824
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.901569482,659,635,878.901569482,787,805,652,631,652,0.406269864646,-0.00551151601328,0.0599375526813,0.999999996397,3.86634712775e-06,-7.97185562388e-05,-2.89182003489e-05,1793243317958632448
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,630.513318976,652,0.406793083195,-0.00551693945119,0.05996571388,0.999999999077,1.87100284313e-07,-3.01462971085e-05,-3.06252903288e-05,1793243317975299072
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,630.073027318,652,0.407325863052,-0.00551990165582,0.059992204436,0.999999999344,-1.26694872455e-06,1.58417110219e-05,-3.25397349859e-05,1793243317991966208
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,630.652991166,652,0.407850992213,-0.00550940547366,0.0599983567892,0.999999999135,1.21110236098e-05,1.62471679817e-05,-3.63293817785e-05,1793243318008632320
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805.231718787,652,631,652,0.408384834105,-0.00550096560032,0.059997580192,0.999999999089,-1.26054122121e-05,5.28068747684e-06,-4.04346706756e-05,1793243318025298432
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805.808604896,652,631,652,0.408931654413,-0.00549558879651,0.0599864822592,0.999999994307,-9.40671175819e-05,-2.26253828961e-05,-4.50101382899e-05,1793243318041965056
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.383938235,680,659,634.616061765,879,786.616061765,805.616061765,652,631,652,0.409511245331,-0.00549309756416,0.0599795543158,0.999999991635,-0.000112293924441,-3.99223630876e-05,-5.02670051065e-05,1793243318058632448
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.958500613,680,659,634.041499387,879,786.041499387,805.041499387,652,631,652,0.410107106741,-0.00549203900923,0.0599746967597,0.999999992177,-9.91247983609e-05,-5.19519621816e-05,-5.58621844757e-05,1793243318075300352
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.467770793,680,659,634.532229207,879,786.532229207,805,652,631.532229207,652,0.410773307894,-0.00550427424547,0.0599844022015,0.999999991938,-0.000108978839633,-2.53999386572e-05,-6.00138035037e-05,1793243318091966720
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110101108,745,714,680,659.110101108,635,879,787,805,652,631.889898892,652,0.411447409743,-0.00551701862793,0.0599921491275,0.999999990531,-0.000122095464483,-3.70637549042e-06,-6.33787719256e-05,1793243318108633344
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.706562194,745,714,680,659.706562194,635,879,787,805,652,631.293437806,652,0.41213222221,-0.0055274404017,0.0599862363325,0.999999987786,-0.000141706588988,-1.67426867911e-05,-6.37652307982e-05,1793243318125299712
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.291789603,787,805,652,631,652,0.412798155217,-0.00552478486934,0.059964076502,0.999999992644,-9.28112936421e-05,-5.98427204484e-05,-5.0159292473e-05,1793243318141966592
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.866138755,787,805,652,631,652,0.41344580605,-0.00550946570087,0.0599261835707,0.999999990765,2.24233868352e-05,-0.000132055484601,-2.30035716775e-05,1793243318158633984
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.558403642,745,714,680,660.441596358,635,879.558403642,787,805,652,631,652,0.414173270766,-0.00549621234803,0.0599175990251,0.999999987356,6.06901959027e-05,-0.000145312346711,-2.21107684206e-05,1793243318175300352
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.017897992,714,679.982102008,660.982102008,635,879,787,805,652,631,652,0.41492852096,-0.00548438213064,0.0599196719522,0.999999987366,7.40113304047e-05,-0.000137647297493,-2.90305809761e-05,1793243318191966464
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.610485919,714,679.389514081,660.389514081,635,879,787,805,652,631,652,0.415797137014,-0.00549808987386,0.0599779634345,0.999999998275,3.73812598334e-05,-3.34742698206e-05,-3.05398740919e-05,1793243318208633088
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.197393697,745.802606303,714,679.197393697,660,635,879.197393697,787,805,652,631,651.802606303,0.416638906854,-0.0055108891454,0.0600166184533,0.999999998942,4.16916293089e-06,3.26869444911e-05,-3.20935052714e-05,1793243318225299456
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.773406398,745.226593602,714,679.773406398,660,635,879.773406398,787,805,652,631,651.226593602,0.417429183172,-0.00552194588508,0.0600176089515,0.999999998842,-2.2486947738e-05,2.59380481047e-05,-3.37321813627e-05,1793243318241965824
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.650801998,745,714,680,660,635,879.650801998,787,805.349198002,652,631,651.349198002,0.418233450351,-0.00552503861434,0.060005207202,0.999999998923,-2.81318986827e-05,7.0152997859e-06,-3.62452169752e-05,1793243318258632448
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.075153796,745,714,680,660,635,879.075153796,787,805.924846204,652,631,651.924846204,0.419046790384,-0.00552296678967,0.0599841207602,0.999999998828,-2.01513944978e-05,-1.98020272791e-05,-3.93252628857e-05,1793243318275299072
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.510270019,745,714,680,660,635,879.510270019,787,805.489729981,652,631,652,0.41984752246,-0.005517490872,0.0599584603366,0.99999999705,-1.82127925778e-05,-6.18349047449e-05,-4.17816567146e-05,1793243318291965696
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.903655433,745,714.096344567,680,660,635,880,787,805,652,631,652,0.420651882742,-0.005512057275,0.0599311947814,0.999999992963,-1.69991914913e-05,-0.000108790354846,-4.41476380613e-05,1793243318308632320
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.321699879,745,714.678300121,680,660,635,880,787,805,652,631,652,0.421484072605,-0.00550941339783,0.0598993006425,0.999999984519,-1.48670068079e-05,-0.000169041339091,-4.65299221741e-05,1793243318325298944
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.742747352,679.742747352,660,635,879.742747352,787,805.257252648,652,631,651.742747352,0.422352785401,-0.00551115711247,0.0598904039378,0.999999981833,-2.03020858933e-05,-0.000183335450913,-4.80528199882e-05,1793243318341965312
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.167506765,679.167506765,660,635,879.167506765,787,805.832493235,652,631,651.167506765,0.423266644015,-0.00551832429388,0.0599099341734,0.999999988292,-3.50909989262e-05,-0.000140822648813,-4.85134376875e-05,1793243318358631936
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.408403161,660,635,879,787,806,652,631,651.408403161,0.424212429394,-0.00552471307699,0.0599612992615,0.999999996513,-3.76864621081e-05,-5.8503653439e-05,-4.61551272094e-05,1793243318375298560
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.984588034,660,635,879,787,806,652,631,651.984588034,0.425171330992,-0.00553078207517,0.0600257428613,0.999999997662,-3.52725655259e-05,4.01686687402e-05,-4.26387337477e-05,1793243318391965184
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.573363431,660,635,879.573363431,787,806,652,631,652,0.42606008437,-0.00553039383561,0.0600328790968,0.999999996982,-3.6423277762e-05,5.31757725144e-05,-4.33782594516e-05,1793243318408632064
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.159549532,745,714,680.840450468,660.159549532,634.840450468,880.159549532,787,806,652,631,652,0.42695564129,-0.00553061279946,0.0600304142564,0.999999996728,-4.0240270925e-05,5.41253066077e-05,-4.46687430672e-05,1793243318425298688
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.738028309,745,714,680.261971691,660.738028309,634.261971691,880.738028309,787,806,652,631,652,0.427874124349,-0.0055328920728,0.0600068753551,0.999999997162,-5.08008846587e-05,2.95971583232e-05,-4.70987559093e-05,1793243318441966336
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.684845984,745,714,680,660.684845984,634.315154016,880.684845984,787,806,652,631,652,0.428750359129,-0.00553352985473,0.0599810505679,0.999999997614,-4.86197698114e-05,-5.43539455055e-06,-4.87697410336e-05,1793243318458633472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.108840235,745,714,680,660.108840235,634.891159765,880.108840235,787,806,652,631,652,0.429591625129,-0.00553280898059,0.0599533337629,0.999999996907,-3.58923760586e-05,-4.91624003094e-05,-4.98124817417e-05,1793243318475299840
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.476387742,745,714.476387742,680,660.476387742,635,880,787,806,652,631.476387742,652,0.430430402005,-0.00553270784433,0.0599303019264,0.999999993364,-4.90627485676e-05,-9.05104786935e-05,-5.17062631544e-05,1793243318491966208
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.937187068,680,661,635,880,787,805.937187068,652,631.937187068,652,0.431283605407,-0.00553288117211,0.0599165101061,0.999999989682,-6.54846439671e-05,-0.000116094799278,-5.35703222337e-05,1793243318508632576
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.358574685,680,661,635,880,787,805.358574685,652,631.358574685,652,0.432260036347,-0.00553412265402,0.0599696312414,0.999999996681,-5.90604999114e-05,-1.67834837411e-05,-5.35621361147e-05,1793243318525298944
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.781307184,745,714.218692816,680.218692816,661,634.781307184,879.781307184,787,805.218692816,651.781307184,631,651.781307184,0.433203520608,-0.00553555811282,0.0600046835028,0.999999996121,-5.45035432058e-05,4.44290156683e-05,-5.30350090954e-05,1793243318541965568
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.206231219,745,714.793768781,680.793768781,661,634.206231219,879.206231219,787,805.793768781,651.206231219,631,651.206231219,0.434093314913,-0.00553730967772,0.0600102906252,0.999999996313,-5.29893661512e-05,4.35554673745e-05,-5.16622135164e-05,1793243318558632192
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.629149773,680.629149773,661,634.370850227,879.370850227,787,806,651.370850227,631,651.370850227,0.434944033359,-0.00553895724276,0.0599889407561,0.999999996764,-6.02938340128e-05,5.05110373929e-06,-5.30132422388e-05,1793243318575298816
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714.050947041,680.050947041,661,634.949052959,879.949052959,787,806,651.949052959,631,651.949052959,0.43577290337,-0.00554054665854,0.0599525184955,0.999999994323,-7.25290473492e-05,-5.44936779406e-05,-5.58872355472e-05,1793243318591965440
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.538092793,745,714,680,660.461907207,634.461907207,880,787,806,652,631.538092793,651.461907207,0.436571503689,-0.00554145015189,0.059934243375,0.999999991592,-7.6322590284e-05,-8.75524217948e-05,-5.76725956476e-05,1793243318608632064
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.125829514,714,680,660.125829514,634.125829514,880,787,806,651.874170486,631.874170486,651.125829514,0.437364321887,-0.0055411580833,0.0599177358881,0.999999988084,-7.71000283813e-05,-0.000119999149161,-5.90581019058e-05,1793243318625298688
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.705096813,714,680,660.705096813,634.705096813,880,787,806,651.294903187,631.294903187,651.705096813,0.438146843671,-0.00553679654192,0.0599012793318,0.999999983076,-6.99480832439e-05,-0.000159462945473,-5.9381765136e-05,1793243318641965312
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.716612276,714,680,661,634.716612276,880,787,806,651.283387724,631,651.716612276,0.438970541822,-0.005537071538,0.0599078905155,0.999999984381,-6.55817691112e-05,-0.000153105612595,-5.91268474316e-05,1793243318658631936
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.139333977,714,680,661,634.139333977,880,787,806,651.860666023,631,651.139333977,0.439836942359,-0.00554215491012,0.0599384243717,0.999999991324,-6.41043267915e-05,-9.92289357015e-05,-5.82719054847e-05,1793243318675298304
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.564772202,745,714,680,660.564772202,634.435227798,880,787,806,651.564772202,631,651.435227798,0.440660703065,-0.00554543848752,0.0599826392807,0.999999995397,-7.13038429693e-05,-3.20930302793e-05,-5.56000665588e-05,1793243318691965184
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.009203859,660,635,880,787,806.009203859,651.009203859,631,651.990796141,0.441469076248,-0.00554804886114,0.0600300785708,0.999999994627,-8.11407916541e-05,3.76152062135e-05,-5.24200747759e-05,1793243318708631808
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.600803522,660,635,880,787,806.600803522,651.600803522,631,651.399196478,0.442162187714,-0.00554429409489,0.0600061212788,0.999999995095,-8.31831228918e-05,3.1588933148e-06,-5.36632744013e-05,1793243318725298432
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.188195065,635,880,787,806.811804935,651.811804935,631,651.188195065,0.442855907821,-0.00554245202876,0.0599822533575,0.999999994446,-8.44664123779e-05,-2.93982907879e-05,-5.5757732635e-05,1793243318741965568
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.766855743,635,880,787,806.233144257,651.233144257,631,651.766855743,0.443550890861,-0.00554457841681,0.0599585708573,0.999999992997,-8.41748486306e-05,-5.80151840435e-05,-5.96183757096e-05,1793243318758632192
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.657286907,880,787,806.342713093,651,631,651.657286907,0.444242285741,-0.00554724493638,0.0599546380739,0.999999992411,-8.59406322612e-05,-6.25549985754e-05,-6.22750946319e-05,1793243318775299072
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.083321194,880,787,806.916678806,651,631,651.083321194,0.444931259394,-0.00555027592054,0.0599640318143,0.999999992683,-8.90946528622e-05,-5.08483135079e-05,-6.41194410643e-05,1793243318791965696
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.508117208,660.508117208,634,880,787,807,651,631,651,0.445541400695,-0.00554903430179,0.0599572023209,0.999999990967,-9.08269266827e-05,-7.37572043636e-05,-6.61595894183e-05,1793243318808632320
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.069393677,745.069393677,714,680,660,634,880,787,806.930606323,651.069393677,631.069393677,651,0.446130610281,-0.00554740358369,0.0599443560986,0.9999999878,-9.2834397321e-05,-0.000105414245438,-6.83273547776e-05,1793243318825298688
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.662734773,745.662734773,714,680,660,634,880,787,806.337265227,651.662734773,631.662734773,651,0.446662856813,-0.00554831336301,0.0599068828487,0.999999979991,-9.87426701874e-05,-0.000158738843853,-7.12076175302e-05,1793243318841965312
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.752852162,745.752852162,714,680.247147838,660,634,880,787,806,652,631.752852162,651.247147838,0.447198539688,-0.0055488638117,0.0598815309621,0.999999973288,-0.0001040224531,-0.000192883280215,-7.34750197291e-05,1793243318858631936
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.180197824,745.180197824,714,680.819802176,660,634,880,787,806,652,631.180197824,651.819802176,0.44773874836,-0.00554894100328,0.0598721435414,0.999999970954,-0.000108474482021,-0.000201766446241,-7.49352528241e-05,1793243318875298560
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.393795799,745,714,681,660,634,880,786.606204201,806.393795799,651.606204201,631,652,0.44826146288,-0.00554748276481,0.059865711161,0.999999972127,-8.23208386001e-05,-0.000210574881064,-6.80219825671e-05,1793243318891965440
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.968404411,745,714,681,660,634,880,786.031595589,806.968404411,651.031595589,631,652,0.448776144943,-0.0055453195279,0.0598606355976,0.999999973417,-4.21144866704e-05,-0.000219349003241,-5.72639869949e-05,1793243318908632320
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.85104005,745.85104005,714,681.14895995,659,633,880,786,806.14895995,652,631,652,0.449576463796,-0.00554434589512,0.0597815336472,0.999999936509,-2.75198702244e-05,-0.000350773085029,-5.64141564457e-05,1793243318941965312
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.270283461,745.270283461,714,681.729716539,659,633,880,786,806.729716539,652,631,652,0.44995994081,-0.00554755007152,0.0597407077716,0.999999913155,-3.40553240983e-05,-0.000410929518351,-6.0551908681e-05,1793243318958631936
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.306987722,745.306987722,714,681.693012278,659,632.693012278,879.693012278,786,806.693012278,652,630.693012278,652,0.450339848459,-0.00555178443227,0.0597155892473,0.99999989811,-3.84877011408e-05,-0.000445274087196,-6.34723916852e-05,1793243318975298560
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.534285007,746,714.465714993,681.465714993,659,632,879.465714993,786,806.465714993,651.534285007,630.465714993,652,0.451076353923,-0.0055639189944,0.0597089296581,0.999999897153,-4.40491560073e-05,-0.000446784640612,-6.43215016832e-05,1793243319008631808
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.052211454,745.947788546,714.947788546,682,658.947788546,632,880,786,806.947788546,651.052211454,630.947788546,651.947788546,0.451428235519,-0.0055712419538,0.0597177686542,0.999999904008,-4.71109233721e-05,-0.000431124969467,-6.24168649868e-05,1793243319025298688
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.631960696,745.368039304,714.368039304,682,658.368039304,632,880,786,806.368039304,651.631960696,630.368039304,651.368039304,0.451746112659,-0.00557686100428,0.0597248079079,0.999999908564,-5.02574577733e-05,-0.000420545543738,-5.90584748507e-05,1793243319041965312
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.789235985,745,714,681.789235985,658,632,880,785.789235985,806.210764015,651.789235985,630.210764015,651.210764015,0.452047940666,-0.00558099642216,0.0597299947591,0.99999991057,-7.54093771675e-05,-0.000412143776798,-5.75487625836e-05,1793243319058631936
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.212077132,745,714,681.212077132,658,632,880,785.212077132,806.787922868,651.212077132,630.787922868,651.787922868,0.452321868624,-0.00558255267369,0.0597319613695,0.99999990557,-0.000138815736718,-0.000407527679581,-5.92528155962e-05,1793243319075298560
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631.637054128,880,785,806.637054128,651.362945872,631,651.637054128,0.452561646682,-0.00558365018811,0.0597252113783,0.999999898418,-0.000158873472982,-0.000417465088279,-6.03782058188e-05,1793243319091965440
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631.063271792,880,785,806.063271792,651.936728208,631,651.063271792,0.452781586975,-0.00558448122076,0.0597133978844,0.999999891324,-0.00015374985599,-0.000435856677074,-6.11674491414e-05,1793243319108632320
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.114903518,745,714,681.114903518,657.885096482,630.885096482,879.885096482,785,807,652,631,652,0.45315616631,-0.00556250351765,0.0596949894344,0.999999881679,-0.000121005956317,-0.00046704834943,-6.21702681752e-05,1793243319141965312
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.690691308,745,714,681.690691308,657.309308692,630.309308692,879.309308692,785,807,652,631,652,0.453315740559,-0.00554619771457,0.0596893629888,0.999999878644,-0.000102371377107,-0.00047748444198,-6.51136924021e-05,1793243319158631936
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.138900177,745,714.138900177,681.861099823,657,630,880,785,807,652,630,651.861099823,0.454347481191,-0.00556007645014,0.0596570681553,0.999999852762,-0.000102869687991,-0.000528628214352,-6.66740198031e-05,1793243319458632192
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.713847649,745,714.713847649,681.286152351,657,630,880,785,807,652,630,651.286152351,0.454351835847,-0.00555717312646,0.0596576664151,0.999999854022,-9.85889823892e-05,-0.000527046976547,-6.67590478622e-05,1793243319475299072
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.711544933,745.288455067,714.711544933,681.288455067,657,630,880,785,806.711544933,652,630,651.288455067,0.454353262777,-0.00555668572996,0.0596566232887,0.999999853462,-9.75468354684e-05,-0.000528321052404,-6.66092103735e-05,1793243319491965696
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.137274387,745.862725613,714.137274387,681.862725613,657,630,880,785,806.137274387,652,630,651.862725613,0.454351788772,-0.00555859215269,0.0596539537959,0.999999851098,-9.97136113823e-05,-0.000532424313391,-6.622665655e-05,1793243319508632064
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.548473941,714.451526059,682,657,630,880,785,806.451526059,652,630,652,0.454351327579,-0.00555855807603,0.0596530775798,0.999999850415,-9.82187697514e-05,-0.000533991537858,-6.61572834306e-05,1793243319525298688
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.043825513,745.043825513,714.956174487,682,657,630,880,785,806.956174487,652,630,652,0.454351285096,-0.00555813073495,0.0596528500682,0.999999850304,-9.59477804093e-05,-0.00053461197443,-6.61497789073e-05,1793243319541965312
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.623109699,745.623109699,714.376890301,682,657,630,880,785,806.376890301,652,630,652,0.454352471156,-0.00556034623903,0.0596536657179,0.999999850759,-9.82473199703e-05,-0.000533398028019,-6.56961790807e-05,1793243319558632192
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.798509871,746,714.201490129,682,657,630,880,784.798509871,806,652,630,651.798509871,0.454352999227,-0.00556119720724,0.0596539484198,0.999999850832,-9.9085283537e-05,-0.000533136206703,-6.54504954085e-05,1793243319575298816
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.221812417,746,714.778187583,682,657,630,880,784.221812417,806,652,630,651.221812417,0.454352302018,-0.00555950718804,0.0596532386864,0.999999850201,-9.72015552201e-05,-0.000534647396935,-6.55919853923e-05,1793243319591965696
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.647417363,714.647417363,681.647417363,657,630,880.352582637,784.352582637,806,651.647417363,630.352582637,651.352582637,0.454352570002,-0.00555933498161,0.0596530140325,0.999999849717,-9.84136786067e-05,-0.00053531364851,-6.5729442293e-05,1793243319608632320
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.074461391,714.074461391,681.074461391,657,630,880.925538609,784.925538609,806,651.074461391,630.925538609,651.925538609,0.454353441256,-0.00556011144777,0.059653092566,0.999999849319,-0.000101560790048,-0.000535451791345,-6.58643784061e-05,1793243319625298944
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.516262576,657,630,880.483737424,785,806.516262576,651.516262576,630.483737424,651.483737424,0.454354557233,-0.00555890813591,0.0596539052629,0.999999850175,-9.99894534333e-05,-0.000534146689107,-6.58791945517e-05,1793243319641965568
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.107062144,745,714,682,657,630,880,785,807,652,630,651,0.454355290872,-0.00555787710487,0.059654462139,0.999999850812,-9.84375791694e-05,-0.00053324710928,-6.58337331303e-05,1793243319658632192
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.68648535,745,714,682,657,630,880,785,807,652,630,651,0.454354176349,-0.00555891092601,0.0596534064866,0.999999849681,-0.000100081199122,-0.000535087855566,-6.56014887954e-05,1793243319675298816
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,714,682,657,630,880,785,806.736831214,652,630.263168786,651.263168786,0.454353487974,-0.00555890573275,0.0596529055404,0.999999849282,-9.96617268648e-05,-0.000535938301584,-6.5378862211e-05,1793243319691965440
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745,714,682,657,630,880,785,806.163377981,652,630.836622019,651.836622019,0.454353302042,-0.0055576755083,0.0596530586107,0.999999849746,-9.68098028648e-05,-0.00053562115203,-6.51675752328e-05,1793243319708632320
+249,4.150000000,HOLD_POSE2,765,745,714,682,656,630,879,785,806,651,630,651,0.454354989155,-0.00555780096453,0.0596521841048,0.999999849551,-9.75423843942e-05,-0.000535760435437,-6.5910768882e-05,1793243319742440448
+250,4.166666667,HOLD_POSE2,765,745,714.595849385,682,656.595849385,630,879.595849385,785,806,651.595849385,630,651.595849385,0.454353619249,-0.00555742081559,0.059651016943,0.999999848275,-9.71741713417e-05,-0.000538231940493,-6.56792072959e-05,1793243319759107072
+251,4.183333333,HOLD_POSE2,765,745,714.814838218,682,657,630,880,785,806.185161782,652,630,652,0.454353578864,-0.00555733045591,0.059650678866,0.999999847794,-9.77239268195e-05,-0.000539026384638,-6.56692895215e-05,1793243319775773952
+252,4.200000000,HOLD_POSE2,765,745,714.239307377,682,657,630,880,785,806.760692623,652,630,652,0.454356341451,-0.00555785104709,0.0596520887144,0.999999848992,-0.00010020899798,-0.000536285149871,-6.61266543461e-05,1793243319792440576
+253,4.216666667,HOLD_POSE2,765.335924113,745,714.335924113,682,657,630,880,785,806.664075887,652,630.335924113,651.664075887,0.454356439454,-0.00555790587473,0.0596519360501,0.999999848995,-9.97061299905e-05,-0.000536380391625,-6.60686096566e-05,1793243319809107456
+254,4.233333333,HOLD_POSE2,765.910942505,745,714.910942505,682,657,630,880,785,806.089057495,652,630.910942505,651.089057495,0.454354640936,-0.00555762919472,0.059650671266,0.999999848145,-9.70765935744e-05,-0.000538494498162,-6.56437217717e-05,1793243319825773824
+255,4.250000000,HOLD_POSE2,766,745,714.502687763,681.502687763,657,630,880,785,806,652,630.502687763,651,0.454354913136,-0.00555790243913,0.059650570923,0.999999848097,-9.70537882181e-05,-0.000538621085774,-6.53695408646e-05,1793243319842440448
+256,4.266666667,HOLD_POSE2,765.915516946,745,714,681.084483054,657,630,880,785,806.084483054,651.915516946,630,651.084483054,0.454355493747,-0.00555814655435,0.0596506784232,0.999999848205,-9.75473592884e-05,-0.000538356582943,-6.51709093546e-05,1793243319859106816
+257,4.283333333,HOLD_POSE2,765.335843863,745,714,681.664156137,657,630,880,785,806.664156137,651.335843863,630,651.664156137,0.454355657787,-0.00555762922118,0.0596507533757,0.999999848356,-9.82675635006e-05,-0.000537934663115,-6.52532196998e-05,1793243319875773696
+258,4.300000000,HOLD_POSE2,765.241425425,745,714,682,657,630,880,784.758574575,807,651.241425425,630.241425425,652,0.454355835934,-0.005557403848,0.0596509736885,0.999999848499,-9.84895708186e-05,-0.000537623503136,-6.52839569649e-05,1793243319892440320
+259,4.316666667,HOLD_POSE2,765.81538374,745,714,682,657,630,880,784.18461626,807,651.81538374,630.81538374,652,0.454356033514,-0.0055575806127,0.0596513942166,0.999999848633,-9.80253750651e-05,-0.000537464900833,-6.52436588489e-05,1793243319909106944
+260,4.333333333,HOLD_POSE2,765.609506311,745.390493689,714,681.609506311,657,630,879.609506311,784,806.609506311,651.609506311,630.609506311,651.609506311,0.454354823315,-0.00555796660126,0.0596504413085,0.999999847843,-9.80217684379e-05,-0.000538919581981,-6.53510506646e-05,1793243319925773824
+261,4.350000000,HOLD_POSE2,765.033850234,745.966149766,714,681.033850234,657,630,879.033850234,784,806.033850234,651.033850234,630.033850234,651.033850234,0.454352945583,-0.00555845179857,0.0596488371512,0.999999846612,-9.8236561667e-05,-0.000541139241965,-6.55284733658e-05,1793243319942440704
+262,4.366666667,HOLD_POSE2,765,746,714,681.558378389,656.441621611,630,880.116756778,784.558378389,807.116756778,651.558378389,630.558378389,651.558378389,0.454355655614,-0.00555644893548,0.0596503171151,0.999999848255,-9.69161197799e-05,-0.000538319956086,-6.56398484826e-05,1793243319959107072
+263,4.383333333,HOLD_POSE2,765.14804831,745.85195169,714,682,656.14804831,629.85195169,880.85195169,785,807.85195169,651.85195169,630.85195169,652,0.454357704021,-0.00555518608788,0.059651449512,0.999999849449,-9.61057416492e-05,-0.000536244471655,-6.5638147806e-05,1793243319975773696
+264,4.400000000,HOLD_POSE2,765.727251427,745.272748573,714,682,656.727251427,629.272748573,880.272748573,785,807.272748573,651.272748573,630.272748573,652,0.45435699087,-0.00555653105358,0.0596510085544,0.999999848837,-9.70601334799e-05,-0.000537251955033,-6.53191585653e-05,1793243319992440320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,657,629,880,785,807,652,630,652,0.454356559807,-0.00555863760895,0.059650564298,0.999999848027,-0.000101565619117,-0.00053798142975,-6.48579627266e-05,1793243320030405376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.611727618,714.388272382,680.776544763,657,629.611727618,880.611727618,785,807,652,630.611727618,652,0.454357763573,-0.00555731674919,0.0596510330779,0.999999848744,-9.94341077857e-05,-0.000536999931428,-6.52340517406e-05,1793243320047072256
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.211956965,746,714,680.423913931,657,630,880.788043035,785,807,651.788043035,631,652,0.45435785687,-0.00555669883137,0.0596508609734,0.999999848721,-9.822732761e-05,-0.000537243184538,-6.54111598573e-05,1793243320063739136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.792207189,746,714,681.584414377,657,630,880.207792811,785,807,651.207792811,631,652,0.454356020634,-0.00555730233476,0.0596495752777,0.999999847416,-9.862734613e-05,-0.000539614547284,-6.52425218004e-05,1793243320080405760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.628979317,746,714,681.628979317,657,630,880,785,807,651,630.628979317,652,0.454356915964,-0.00555796126329,0.0596500887428,0.999999847979,-9.86156408121e-05,-0.000538631326606,-6.47508359727e-05,1793243320097072128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.050967405,746,714,681.050967405,657,630,880,785,807,651,630.050967405,652,0.454359335224,-0.00555865111328,0.059651605954,0.99999984958,-9.83742360819e-05,-0.000535776594621,-6.40789228557e-05,1793243320113738752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.47809681,714,681.52190319,657,630,880,785,807,651.52190319,630,652,0.454357837104,-0.00555718936277,0.0596509158131,0.999999848887,-9.67313998602e-05,-0.000537326950929,-6.4408515968e-05,1793243320130405120
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.094941614,714,682,656.905058386,630,880,784.905058386,806.905058386,652,630,652,0.454356064189,-0.00555599123581,0.059650128684,0.999999848001,-9.5756943628e-05,-0.000539103845718,-6.4776064475e-05,1793243320147072000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.67135246,714,682,656.32864754,630,880,784.32864754,806.32864754,652,630,652,0.454354818843,-0.00555718516146,0.0596499322091,0.999999847282,-9.88592579325e-05,-0.000539869276941,-6.48449466693e-05,1793243320163738880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.255514377,746,714.255514377,682,656,630,880,784.255514377,806.255514377,652,630,652,0.454350694423,-0.00555799123594,0.0596480834395,0.999999845456,-9.95321973155e-05,-0.000543116110383,-6.48535830846e-05,1793243320180405760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.849957714,746,714.849957714,682,656,630,880,784.849957714,806.849957714,652,630,652,0.454342751034,-0.00555828284225,0.0596440429712,0.999999842139,-9.69826738927e-05,-0.000549654418302,-6.47823060278e-05,1793243320197072640
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.570758298,745.570758298,714.570758298,682,656.429241702,630,880,785,807,652,630.429241702,652,0.454320944642,-0.00555756396671,0.0596337725405,0.999999833251,-9.62369807721e-05,-0.000565679866136,-6.51431748427e-05,1793243320213739008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630,880,785,807,652,630.996583714,652,0.454294301387,-0.00555650174994,0.0596213536329,0.999999822123,-9.61017854786e-05,-0.000584985580756,-6.56511833577e-05,1793243320230405632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630,880,785,807,652,630.420939667,652,0.454241474295,-0.0055550753748,0.0596013862955,0.999999802694,-9.62134940401e-05,-0.000617212292264,-6.6366068677e-05,1793243320247072000
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.84140134,657,630,880,785,806.84140134,651.84140134,630.15859866,651.84140134,0.454186343118,-0.00555317154065,0.0595832916399,0.999999785412,-9.5674503661e-05,-0.000644603804794,-6.71429891931e-05,1793243320263738624
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.251266821,657,630,880,785,806.251266821,651.251266821,630.748733179,651.251266821,0.454124942679,-0.0055499685736,0.0595702924161,0.999999776289,-9.33650072409e-05,-0.000658839087846,-6.80887034515e-05,1793243320280405248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.332035056,656.667964944,630,880,785,806,651.332035056,630.667964944,651,0.454053917555,-0.005547200085,0.0595614123301,0.99999976842,-9.12961607812e-05,-0.000670924205799,-6.84570532667e-05,1793243320297071872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.910270566,656.089729434,630,880,785,806,651.910270566,630.089729434,651,0.453975755833,-0.00554475375773,0.0595555865417,0.999999761501,-8.94057538425e-05,-0.000681414998409,-6.8397293446e-05,1793243320313738752
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.606157215,714,681.606157215,657,630,879.606157215,785,806.606157215,651.393842785,630,652,0.453163266278,-0.00552193144565,0.0594973161544,0.999999691142,-7.31401450664e-05,-0.000779757581116,-6.59175409204e-05,1793243320413738752
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.544952947,714,681,657,630,880.089905894,785,806,652,630,651.455047053,0.452769360208,-0.00550990903591,0.0594861320765,0.999999679474,-6.39046369497e-05,-0.000795554954014,-6.3713982189e-05,1793243320447072000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.123599445,746,714,681,657.123599445,630.123599445,880.876400555,785,806.123599445,652,630.123599445,651.123599445,0.452552870672,-0.0055046289328,0.0594874061206,0.999999682355,-6.04838306262e-05,-0.000792301797099,-6.23631522296e-05,1793243320463738880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.714650148,746,714,681,657.714650148,630.714650148,880.285349852,785,806.714650148,652,630.714650148,651.714650148,0.452322529369,-0.00549873548958,0.0595017012907,0.999999700825,-5.28476346293e-05,-0.000769417034734,-5.96143686441e-05,1793243320480405760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.702279358,745.702279358,714,681,658,631,880,785,807,651.702279358,630.702279358,652,0.452070780674,-0.00549171987726,0.0595155181892,0.999999717393,-4.49965820334e-05,-0.000748303947797,-5.683636486e-05,1793243320497072384
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.12665785,745.12665785,714,681,658,631,880,785,807,651.12665785,630.12665785,652,0.451799049725,-0.00548365680094,0.0595288886546,0.999999732251,-3.69449766767e-05,-0.000728844594222,-5.40310862856e-05,1793243320513739008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.451805564,657.548194436,631,880,785,806.548194436,651,630,651.548194436,0.451490137415,-0.00547389021228,0.0595418298633,0.99999974535,-2.58224943768e-05,-0.000711330082747,-5.1403614221e-05,1793243320530405632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.968461954,657,631.031538046,880,785.031538046,806,651.031538046,630.031538046,651.031538046,0.451168158275,-0.00546366854896,0.0595541454058,0.999999757262,-1.39301447049e-05,-0.000694908712503,-4.88260531847e-05,1793243320547072512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.380483983,657,631.619516017,880,785.619516017,806,651.619516017,630.619516017,651.619516017,0.45080070241,-0.00545389689557,0.0595575586322,0.999999762187,-3.7397253391e-06,-0.000688093825067,-4.62440765504e-05,1793243320563739136
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.203954736,745,714,681.203954736,657.203954736,632,880,786,806.203954736,652,631,652,0.450417752684,-0.0054434702967,0.0595597775342,0.999999766042,6.66833173181e-06,-0.000682597224219,-4.39642590807e-05,1793243320580405504
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.781903426,745,714,681.781903426,657.781903426,632,880,786,806.781903426,652,631,652,0.45000639174,-0.00543184271848,0.0595598063909,0.999999768083,1.74754722381e-05,-0.000679517980257,-4.2238514352e-05,1793243320597072128
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.0641138,745,714,681.0641138,658,632,880,786,807,651.0641138,630.0641138,651.0641138,0.449124972095,-0.00541329625939,0.059569840958,0.999999782992,3.95264815642e-05,-0.000656678863309,-3.50262278867e-05,1793243320630405888
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.511662712,745,714,681,658,632.511662712,880,786,806.488337288,651,630.511662712,651,0.448659769726,-0.00540278094561,0.0595922619851,0.999999804424,4.92336662085e-05,-0.000622679522009,-3.1592379951e-05,1793243320647072256
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,681.089242992,658.089242992,633,880,786,806,651.089242992,630.910757008,651,0.448188693912,-0.00539602649163,0.0596191789052,0.999999829371,5.43881807858e-05,-0.000580955044414,-2.81257610349e-05,1793243320663739136
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,681.677605682,658.677605682,633,880,786,806,651.677605682,630.322394318,651,0.447697126075,-0.0054115575801,0.0596598789296,0.999999868811,3.50380701308e-05,-0.000510462040876,-2.40494709377e-05,1793243320680406272
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.737917503,745,714,681.737917503,659,633,879.737917503,786,806,651.737917503,630.262082497,651.262082497,0.447187126202,-0.00542890468844,0.0597065492134,0.99999990368,1.63603946147e-05,-0.000438269995706,-1.709013391e-05,1793243320697072896
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.148290191,660,634,880.148290191,787,806,651,631,651.148290191,0.444083637381,-0.00540415636719,0.0597632138844,0.999999936161,4.27292205986e-05,-0.000354671898386,7.74492483411e-06,1793243320780405760
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.739329135,660,634,880.739329135,787,806,651,631,651.739329135,0.443397539761,-0.00540488432239,0.0597833070233,0.999999948087,5.24990514641e-05,-0.000317665182111,1.26070048161e-05,1793243320797072384
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.228910181,744.771089819,714,681,660,634,879.228910181,787,806,651.771089819,631,651.228910181,0.438748067393,-0.00540627026095,0.0598018226615,0.99999991207,0.000264024341188,-0.000323108720226,4.18647379949e-05,1793243320897071872
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.61404452,744.38595548,714,681,660,634,880.38595548,786.61404452,806,651,631,651.61404452,0.437019977439,-0.0054001593694,0.0598001863466,0.999999926964,0.00019053248586,-0.000330025295289,2.91953083639e-05,1793243320930405376
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.037060318,744.962939682,714,681,660,634,880.962939682,786.037060318,806,651,631,651.037060318,0.436099423071,-0.00540164506521,0.0597472980576,0.99999990737,8.63150424251e-05,-0.000421675269138,-5.63942613394e-07,1793243320947072000
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.538032548,745,714,680.461967452,660,634,880.461967452,786.538032548,806,651,631.538032548,651,0.435243281109,-0.00541371728833,0.0597447386532,0.999999916224,9.19451001218e-05,-0.000398864640282,2.12284828984e-06,1793243320963738880
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.116012652,660,634,880,787,805.883987348,651.116012652,631.883987348,651.116012652,0.434389238331,-0.00542325445422,0.0597495066008,0.999999926577,0.000107343880413,-0.000367792427768,7.16756575087e-06,1793243320980405504
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.019144149,745,714,680,659.980855851,634,880,786,805.980855851,651,631.980855851,651,0.42992784238,-0.00541115790289,0.0598438191151,0.999999959359,0.000171226684576,-0.000225964377834,3.00465239806e-05,1793243321063738880
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.589450245,745,714,680,659.410549755,634,880,786,805.410549755,651,631.410549755,651,0.428945847938,-0.00540819218937,0.0598063272347,0.999999936427,0.00017333931401,-0.000310320124363,2.83018703201e-05,1793243321080406272
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.669124266,634,879,787,805,652,631,651,0.422578840089,-0.00540406563691,0.0598481329367,0.999999953909,0.000176187718729,-0.000245288603323,3.11903520244e-05,1793243321197072128
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.202787023,659,634,879,787,805,652,631,652,0.411132756537,-0.00538011209502,0.0597415981393,0.999999886936,0.000208041409863,-0.000426712903043,2.7623069796e-05,1793243321430405632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.373806546,659,634.373806546,879,787,805,652,631,652,0.410494050803,-0.00538256751909,0.059760889586,0.999999899408,0.000214289778112,-0.000392996418309,2.85910970566e-05,1793243321447072000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.949037271,659,634.949037271,879,787,805,652,631,652,0.409885208106,-0.00538932086564,0.0598030595656,0.999999920463,0.000222276909887,-0.000329682174667,3.12613987283e-05,1793243321463738880
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.476790221,659,634.476790221,878.476790221,787,804.476790221,652,631,652,0.40928825911,-0.00539461246245,0.059836730433,0.999999940697,0.000204413495449,-0.000275159200683,3.32999563449e-05,1793243321480405504
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.100623372,878.100623372,787,804.100623372,652,631,652,0.408695549031,-0.00539782259112,0.0598622091984,0.999999954485,0.000187746517049,-0.000233614570011,3.4725014572e-05,1793243321497072128
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.694426476,878.694426476,787,804.694426476,652,631,652,0.408117948337,-0.00539152736771,0.0598515857629,0.999999949907,0.000189259729649,-0.000251491487973,3.34441491466e-05,1793243321513739008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.279317318,659,635,879.279317318,787,805,652,631,652,0.407558904939,-0.00538469272318,0.059839686763,0.999999940619,0.000210350966114,-0.000271030772734,3.24936676691e-05,1793243321530405888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.854759574,659,635,879.854759574,787,805,652,631,652,0.407019535542,-0.00537728619884,0.0598264354437,0.99999992496,0.000252198312701,-0.000292332453933,3.18934506769e-05,1793243321547072512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.43148843,745,714,679.56851157,659,635,879.56851157,787,805,652,631,652,0.406526176742,-0.00537207859651,0.0598250786268,0.999999924673,0.000256265546008,-0.000289835541939,3.12691089439e-05,1793243321563739136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.991369823,745,714,679,659,634.991369823,879,786.991369823,805,652,631,652,0.40604878911,-0.0053676829992,0.0598277705175,0.999999929858,0.000247613621625,-0.000279341562902,3.06516137307e-05,1793243321580405504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.415642419,745,714,679,659,634.415642419,879,786.415642419,805,652,631,652,0.405600154509,-0.0053678626849,0.0598326311815,0.999999933596,0.000241313210299,-0.000271316736343,3.1019212198e-05,1793243321597072128
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.165103139,658.834896861,634.165103139,878.834896861,786.165103139,805,652,631,652,0.405159928637,-0.00537033176224,0.0598313640228,0.999999935671,0.000231206852326,-0.000272457236006,3.11328951109e-05,1793243321613738752
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.758877888,658.241122112,634.758877888,878.241122112,786.758877888,805,652,631,652,0.404741534976,-0.0053787449859,0.0598141866672,0.999999933004,0.000211218783275,-0.000297394465816,3.0587315097e-05,1793243321630405376
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.657843728,658.342156272,635,878,787,805,652,631,652,0.40434191601,-0.00538161585248,0.0597928818134,0.999999923855,0.000200984415647,-0.000333193394679,2.96358632993e-05,1793243321647072256
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.081742146,658.918257854,635,878,787,805,652,631,652,0.403955134044,-0.00538069719736,0.0597687548327,0.999999909264,0.000197419027175,-0.000376418880154,2.84069014659e-05,1793243321663738880
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.506571033,878.493428967,787,804.506571033,652,631,652,0.403648537008,-0.00537846291004,0.0597748731438,0.99999991487,0.000201678900943,-0.000358786858077,2.92913609991e-05,1793243321680405504
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.070346453,745,714,679,659.070346453,634.070346453,879,787,804.070346453,652,631,652,0.403360025367,-0.00537641921603,0.0597871674935,0.999999922271,0.000212598243658,-0.000330634670155,3.06835301208e-05,1793243321697072128
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.661327519,745,714,679,659.661327519,634.661327519,879,787,804.661327519,652,631,652,0.403107237263,-0.00537739611426,0.0598081579595,0.999999920073,0.000263228171052,-0.00029909726256,3.32469543235e-05,1793243321713738752
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.752582297,745,714,679,660,635,879,787,805,652.247417703,630.752582297,651.752582297,0.402865958109,-0.00537946075615,0.0598257434173,0.999999921345,0.000286554467915,-0.000271923062173,3.54198211481e-05,1793243321730405120
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.173057166,745,714,679,660,635,879,787,805,652.826942834,630.173057166,651.173057166,0.402640127378,-0.00538298547032,0.0598387583496,0.999999930584,0.000273231247656,-0.000250605574479,3.70684448443e-05,1793243321747072000
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.402310889,745,714,679.402310889,659.597689111,635,878.597689111,787,805,652.597689111,630.402310889,651,0.402426265547,-0.00538464292939,0.0598418473055,0.999999933108,0.00026518482013,-0.000248958852531,3.84759364229e-05,1793243321763738880
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.975909083,745,714,679.975909083,659.024090917,635,878.024090917,787,805,652.024090917,630.975909083,651,0.402217499559,-0.00538550538893,0.0598407101931,0.99999993288,0.000259385031157,-0.000255687125636,3.97807640836e-05,1793243321780405504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.448642198,745,714,679.448642198,659,635,878,786.448642198,805,652,631,651.551357802,0.40203484682,-0.00538221156481,0.0598358583432,0.999999929547,0.000260856567326,-0.000266894346611,4.03420097966e-05,1793243321797072128
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.130805792,659,635,878.130805792,786.130805792,805,652,631,652,0.401861594156,-0.00537907691423,0.0598316454635,0.999999926513,0.000261925529263,-0.000276947046071,4.0860255988e-05,1793243321813739008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.72410749,659,635,878.72410749,786.72410749,805,652,631,652,0.401717529887,-0.00537714932689,0.0598302676407,0.999999925405,0.000260443961095,-0.0002822233718,4.13417299287e-05,1793243321830405632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.694807284,659,635,878.694807284,787,805.305192716,652,631,652,0.40159141772,-0.00537507436099,0.0598303712538,0.999999925133,0.000260146607926,-0.000283412076442,4.16491886986e-05,1793243321847072512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.124340666,659,635,878.124340666,787,805.875659334,652,631,652,0.401480909552,-0.00537287129357,0.059831762533,0.999999925603,0.00026087857605,-0.000281047815255,4.18053932293e-05,1793243321863738880
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.452712998,659,635,878.452712998,787,805.547287002,652,631,652,0.401395960869,-0.00537140767292,0.0598374717261,0.999999928577,0.000260941308523,-0.000270123029486,4.22966702801e-05,1793243321880405504
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.031313428,745,714,680,659,635,878.968686572,787,805,652,631,651.968686572,0.401318441679,-0.00537032873408,0.0598438593175,0.999999931858,0.000260629767234,-0.000257907823913,4.28847674331e-05,1793243321897071872
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.604907027,745,714,680,659,635,878.395092973,787,805,652,631,651.395092973,0.401246217548,-0.00537234256818,0.0598411540825,0.999999930987,0.00025706681124,-0.00026466430565,4.35322885335e-05,1793243321913738752
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.814353331,659,634.814353331,878,787,805,652,631,651,0.401179449413,-0.00537300828066,0.0598379217393,0.999999929733,0.000255111456034,-0.000271159936202,4.38578082768e-05,1793243321930405376
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.217796727,659,634.217796727,878,787,805,652,631,651,0.401124757578,-0.00537069006343,0.0598335226962,0.999999927718,0.000256714361406,-0.000277078198438,4.34706108346e-05,1793243321947072256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,634.365760992,878.365760992,787,805.365760992,652,631,651.365760992,0.401082639593,-0.00537024195965,0.0598319783144,0.99999992704,0.000256824119022,-0.000279415883053,4.3461744796e-05,1793243321963739136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,634.941844069,878.941844069,787,805.941844069,652,631,651.941844069,0.401047751894,-0.00537086921955,0.0598320754367,0.999999927145,0.000256075277987,-0.000279694642946,4.36704291211e-05,1793243321980406016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.497148637,745,714,679.502851363,658.497148637,635,879.502851363,787,805.497148637,652,631,651.497148637,0.401024719786,-0.00537009290084,0.0598311169548,0.999999926615,0.000256429926396,-0.00028129905375,4.34055135946e-05,1793243321997072384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.135426213,635,879.864573787,787,805,652,631,651.067713107,0.401004354012,-0.00536937688689,0.0598304705008,0.999999926294,0.000256615109609,-0.000282309427286,4.3150061637e-05,1793243322013738752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.353874519,635,878.646125481,787,805,652,631,651.67693726,0.400994665346,-0.00537040350392,0.0598332672729,0.999999928215,0.000254454160489,-0.000277378814334,4.33955675644e-05,1793243322030405376
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.728107299,659.728107299,635,878,787,805.271892701,652.271892701,631,652,0.400986198975,-0.00537139867481,0.0598355667097,0.999999929373,0.000253606538773,-0.000273891764245,4.3819060337e-05,1793243322047072000
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.149260595,659.149260595,635,878,787,805.850739405,652.850739405,631,652,0.400979112518,-0.00537235834444,0.0598373046781,0.999999929692,0.000254241601732,-0.000272034428671,4.44434918283e-05,1793243322063738624
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.421528652,659,635,878.421528652,787,805.578471348,652.578471348,631,652,0.400975798803,-0.0053706307867,0.0598377522289,0.999999929042,0.000257397651341,-0.000271480499871,4.42713985371e-05,1793243322080405248
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.989518308,659,635,878.989518308,787,805.010481692,652.010481692,631,652,0.400973795935,-0.00536796954621,0.0598377514213,0.999999928044,0.000261429622966,-0.000271379442488,4.38225510474e-05,1793243322097072128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,652,0.400973972392,-0.00537091277916,0.0598392919836,0.999999929689,0.000257467471788,-0.000269046552634,4.41167504409e-05,1793243322113739008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.824488563,658.824488563,635,879,787,805,652,631,652,0.400973331127,-0.00537284271097,0.0598401309236,0.99999993073,0.000254820689331,-0.000267668083881,4.42724258942e-05,1793243322130405888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.244831271,658.244831271,635,879,787,805,652,631,652,0.400970712564,-0.00537219670697,0.0598392875255,0.999999930307,0.000255548860419,-0.000268583959084,4.4076957262e-05,1793243322147072512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.332173267,635,878.667826733,787,805,652,631,652,0.400969941611,-0.00537192203405,0.0598394632472,0.999999930564,0.000255312450125,-0.000267867975228,4.39776330555e-05,1793243322163739136
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.907238119,635,878.092761881,787,805,652,631,652,0.400970521665,-0.00537191888561,0.0598403841692,0.999999931315,0.000254370719142,-0.000265958744221,4.39486115124e-05,1793243322180405504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.480535854,659.480535854,635,878.480535854,787,805,652,631,652,0.400970373908,-0.00537248360558,0.0598404266631,0.999999931517,0.000253565715919,-0.000265944044009,4.40881508582e-05,1793243322197071872
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.946122852,659.946122852,635,879,787,805,652,631,652,0.400970127783,-0.00537290102264,0.0598404194486,0.999999931581,0.000253156212066,-0.000266070282272,4.42220523604e-05,1793243322213738496
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.369057781,659.369057781,635,879,787,805,652,631,652,0.400970285748,-0.00537082742011,0.0598415701515,0.999999931324,0.000256331942356,-0.000264026760807,4.39863882601e-05,1793243322230405376
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.214110005,745,714,679,659,635,878.785889995,787,805,652,631,652,0.400970509915,-0.00536947598452,0.0598422386034,0.999999931157,0.000258357166896,-0.00026273370291,4.36838326491e-05,1793243322247072512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.808105523,745,714,679,659,635,878.191894477,787,805,652,631,652,0.400970851543,-0.00536940585656,0.0598420514191,0.99999993117,0.00025834110194,-0.000262772158056,4.32625945295e-05,1793243322263739392
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.610567747,745,714,679,659,635,878,786.610567747,805,652,630.610567747,652,0.40097056511,-0.00537091505535,0.0598419048488,0.999999931369,0.000256827250027,-0.000263438908966,4.35973608611e-05,1793243322280406016
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.035286952,745,714,679,659,635,878,786.035286952,805,652,630.035286952,652,0.400969978948,-0.00537317795538,0.0598417776607,0.999999931654,0.000254598610062,-0.000264405501116,4.42929147961e-05,1793243322297072384
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.539734032,659,635,878,786.539734032,805,652,630.539734032,652,0.400970516199,-0.00537279826236,0.0598416747822,0.999999932023,0.000253545857991,-0.000264074214976,4.39688338999e-05,1793243322313738752
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.882055228,659,635,878.117944772,787,805,652,631,652,0.40097092262,-0.00537237102339,0.0598416583506,0.999999932362,0.00025255384951,-0.000263794249631,4.36445072845e-05,1793243322330405376
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.290980985,659,635,878.709019015,787,805,652,631,652,0.400970509737,-0.00537244577516,0.0598419823242,0.999999932561,0.00025149726857,-0.000264060375761,4.35864780613e-05,1793243322347072000
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.293577467,714,679.293577467,659,635,878.706422533,787,805.293577467,652,631,652,0.400969855615,-0.00537270453716,0.0598421071917,0.999999932574,0.000251502537866,-0.000264034921775,4.34144630911e-05,1793243322363739136
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9810063432aa65ea4d1d0f9564ca5d569f72f6aa
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.581116647,1.88780509646e-06,1.05004080221,0.551688403078,0.00867670619514,1.04967859171
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+383,6.383333333,pose2_to_pose3_retreat,0.580792073867,1.89203071987e-06,1.0500410547,0.551363829674,0.00867670810764,1.04967883146
+384,6.400000000,pose2_to_pose3_retreat,0.580776005301,1.83261351609e-06,1.0500409853,0.551347762258,0.00867665307873,1.04967877416
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+389,6.483333333,pose2_to_pose3_retreat,0.580747353582,1.74745787909e-06,1.05004085746,0.551319110639,0.0086765683533,1.04967864861
+390,6.500000000,pose2_to_pose3_retreat,0.580746153901,1.85107203706e-06,1.0500408523,0.551317909766,0.00867666792428,1.0496786434
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+394,6.566666667,pose2_to_pose3_retreat,0.580744145161,1.93012421511e-06,1.05004091702,0.551315902129,0.00867675106431,1.04967871648
+395,6.583333333,pose2_to_pose3_retreat,0.580744098482,1.92910229137e-06,1.05004092074,0.55131585557,0.00867675046607,1.04967872066
+396,6.600000000,pose2_to_pose3_retreat,0.58074403633,1.92774160351e-06,1.0500409257,0.551315793577,0.00867674966952,1.04967872622
+397,6.616666667,pose2_to_pose3_retreat,0.580744000253,1.92695177801e-06,1.05004092858,0.551315757592,0.00867674920715,1.04967872944
+398,6.633333333,pose2_to_pose3_retreat,0.580743979342,1.92649398388e-06,1.05004093025,0.551315736735,0.00867674893915,1.04967873132
+399,6.650000000,pose2_to_pose3_retreat,0.580743963065,1.92613762887e-06,1.05004093155,0.5513157205,0.00867674873054,1.04967873277
+400,6.666666667,pose2_to_pose3_retreat,0.580743938537,1.92549522043e-06,1.05004093295,0.551315696026,0.00867674828135,1.04967873436
+401,6.683333333,pose2_to_pose3_retreat,0.580743906433,1.92275747562e-06,1.05004092474,0.551315663849,0.0086767452671,1.04967872547
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+404,6.733333333,pose2_to_pose3_retreat,0.580743745979,1.90907442999e-06,1.05004088371,0.551315503028,0.00867673020213,1.04967868103
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+408,6.800000000,pose2_to_pose3_retreat,0.580743536657,1.89651064796e-06,1.0500408355,0.551315293715,0.00867671757138,1.04967863045
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e478933f3cf36c763336632f3adf8e6288c7ce51
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57e750232449fbadd2ecdb981ba883d1ec402672b2eb87154c8276c80b18094
+size 25693022
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb5aad37c91441e365cdcc327fab744bd597a4d0
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+16,0.266666667,BASELINE,765,746,714,679,661,635,878.264452371,787,806,653,631,652,0.400934961699,-0.00543591302084,0.0499263134349,0.999999973905,6.79749237257e-05,-0.000216370782658,-2.74523569233e-05,1793243323971749120
+17,0.283333333,BASELINE,765,746,714,679,661,635,878.818314195,787,806,653,631,652,0.40093612847,-0.00543555127685,0.049926747385,0.999999974265,6.69998615761e-05,-0.000214952410206,-2.7870959925e-05,1793243323988416000
+18,0.300000000,BASELINE,765,746,714,679,661,635,879,787,805.586494368,653,631,652,0.400935046145,-0.00543533529987,0.049926313494,0.999999973975,6.71646892104e-05,-0.000216266215535,-2.77163482833e-05,1793243324005082624
+19,0.316666667,BASELINE,765,745.97299742,714,679,661,635,879,787,805,653,631,652,0.400933051443,-0.00543517958417,0.0499255441195,0.999999973407,6.79028205942e-05,-0.000218700199459,-2.73058431623e-05,1793243324021749248
+20,0.333333333,BASELINE,765,745.397494157,714,679,661,635,879,787,805,653,631,652,0.400934826208,-0.0054348024974,0.0499265657744,0.999999973746,6.89830581768e-05,-0.00021679548536,-2.7381500546e-05,1793243324038415872
+21,0.350000000,BASELINE,765,745,714,679,661.355199119,634.822400441,879,787,805,653,631,651.822400441,0.400936169923,-0.00543457500093,0.0499272269878,0.999999973997,7.00155833448e-05,-0.000215295634629,-2.74237202209e-05,1793243324055082240
+22,0.366666667,BASELINE,765,745,714,679,662.503557367,634.248221317,879,787,805,653,631,651.248221317,0.400936551105,-0.00543468153943,0.0499270833355,0.99999997406,7.09415666145e-05,-0.00021469984348,-2.73912735296e-05,1793243324071748864
+23,0.383333333,BASELINE,765,745,714,679,662.326080538,634.336959731,879,787.336959731,805.336959731,653,631,651.336959731,0.400936735784,-0.0054345536229,0.0499273730503,0.999999974181,7.04255562492e-05,-0.00021432088459,-2.73054490639e-05,1793243324088415488
+24,0.400000000,BASELINE,765,745,714,679,661.138962089,634.930518956,879,787.930518956,805.930518956,653,631,651.930518956,0.400936770824,-0.00543424716564,0.04992799278,0.999999974342,6.88114478907e-05,-0.000214107046399,-2.71789766815e-05,1793243324105082368
+25,0.416666667,BASELINE,765,745,713.491345979,679,661.508654021,634.491345979,878.491345979,788,805.491345979,653.508654021,631,652,0.400937368962,-0.00543559217382,0.0499283243865,0.999999974602,6.74064104957e-05,-0.000213362420784,-2.6996593531e-05,1793243324121748992
+26,0.433333333,BASELINE,765,745.084873199,713.084873199,679,661.915126801,634.084873199,878.084873199,787.915126801,805,653.915126801,631,652,0.400937838696,-0.00543691896428,0.0499284853543,0.999999974792,6.63648367601e-05,-0.000212812233753,-2.68843165702e-05,1793243324138415616
+27,0.450000000,BASELINE,765,745.661840623,713.661840623,679,661.338159377,634.661840623,878.661840623,787.338159377,805,653.338159377,631,652,0.400937131104,-0.00543687067375,0.0499278784356,0.999999974512,6.72699127233e-05,-0.00021379740788,-2.72214924633e-05,1793243324155082496
+28,0.466666667,BASELINE,765,745.756223935,714,679.243776065,661,635,879,787,805.243776065,653,631,652,0.40093616561,-0.00543637416391,0.0499268554497,0.999999974095,6.85831669968e-05,-0.000215289966477,-2.75130586554e-05,1793243324171749120
+29,0.483333333,BASELINE,765,745.167253664,714,679.832746336,661,635,879,787,805.832746336,653,631,652,0.400934834922,-0.00543524296209,0.0499252433002,0.999999973479,7.04744139216e-05,-0.000217500996611,-2.77400401253e-05,1793243324188415744
+30,0.500000000,BASELINE,765,745.414452225,714,679.585547775,661,635,879,787,805.585547775,653,631.414452225,652,0.400935461843,-0.00543632100303,0.0499260860573,0.99999997382,6.9654289463e-05,-0.000216237880346,-2.73623335172e-05,1793243324205082624
+31,0.516666667,BASELINE,765,745.993277031,714,679.006722969,661,635,879,787,805.006722969,653,631.993277031,652,0.400936865156,-0.0054382752341,0.0499279024353,0.999999974535,6.77588296446e-05,-0.000213596910616,-2.67448064021e-05,1793243324221748992
+32,0.533333333,BASELINE,765,745.43382604,714,679,661.56617396,635,878.43382604,787,805,653,631.43382604,652,0.400936682041,-0.00543775133252,0.049927092721,0.999999974335,6.79033013626e-05,-0.000214454227812,-2.70034359639e-05,1793243324238415616
+33,0.550000000,BASELINE,765,745,713.859815637,679,661.859815637,635,878,787,805,653,631,652,0.400936514381,-0.00543712909435,0.0499266496558,0.999999974237,6.80603606984e-05,-0.000214838816496,-2.71816364254e-05,1793243324255082240
+34,0.566666667,BASELINE,765,745,713.282112752,679,661.282112752,635,878,787,805,653,631,652,0.40093645314,-0.00543629083415,0.0499274472258,0.999999974492,6.81818892485e-05,-0.000213619704824,-2.70766816995e-05,1793243324271749120
+35,0.583333333,BASELINE,765,745,713.303249052,679,661,635,878.303249052,787,805.303249052,653,631,652,0.400936391805,-0.00543572484031,0.049927141329,0.999999974468,6.83439773763e-05,-0.00021367620124,-2.71313605966e-05,1793243324288416000
+36,0.600000000,BASELINE,765,745,713.895920637,679,661,635,878.895920637,787,805.895920637,653,631,652,0.40093633038,-0.00543541869887,0.0499257822776,0.999999974175,6.85447757985e-05,-0.000214950144768,-2.73383946738e-05,1793243324305082624
+37,0.616666667,BASELINE,765,745,714,679,661,635,878.522380247,787,806,653,631,652,0.400936264081,-0.00543517110949,0.0499259074585,0.999999974118,7.0236352696e-05,-0.000214691946361,-2.71744781561e-05,1793243324321749248
+38,0.633333333,BASELINE,765,745,714,679,661,635,878.056402994,787.056402994,805.943597006,653,631,652,0.400936164312,-0.0054349493127,0.0499262542089,0.9999999741,7.18879527026e-05,-0.000214249777708,-2.70050189796e-05,1793243324338416128
+39,0.650000000,BASELINE,765,745,714,679,661,635,878.629882866,787.629882866,805.370117134,653,631,652,0.400935767225,-0.00543484962657,0.0499257337095,0.999999974016,7.02617829304e-05,-0.000215113111716,-2.75091615425e-05,1793243324355082752
+40,0.666666667,BASELINE,765,745,714,679,661,635,878.795476209,788,805,653,631,652,0.400936066936,-0.00543497337583,0.0499259601235,0.99999997414,6.91738340231e-05,-0.000214866575375,-2.77188471709e-05,1793243324371749376
+41,0.683333333,BASELINE,765,745,714,679,661,635,878.218722217,788,805,653,631,652,0.400937634806,-0.00543550377413,0.0499275459084,0.99999997464,6.90654390335e-05,-0.000212600091762,-2.73926256093e-05,1793243324388416000
+42,0.700000000,BASELINE,765,745,714,679.367882411,661,635,878,788,805,653,631,652,0.400937626961,-0.00543551352651,0.0499272845707,0.99999997451,6.84933805271e-05,-0.0002134043685,-2.73500454693e-05,1793243324405082368
+43,0.716666667,BASELINE,765,745,714,679.960504789,661,635,878,788,805,653,631,652,0.400936656507,-0.00543520521542,0.0499258948226,0.999999973989,6.76380692237e-05,-0.000216084577838,-2.74807423495e-05,1793243324421748992
+44,0.733333333,BASELINE,765,745,714,679.4589605,661,635,878.5410395,787.4589605,805,653,631,652,0.40093575402,-0.0054355524874,0.0499253509586,0.999999973951,6.70633179001e-05,-0.000216401130394,-2.77644984278e-05,1793243324438415616
+45,0.750000000,BASELINE,765,745,714,679,661,635,879,787,805,653,631,652,0.400935023547,-0.00543604602871,0.0499251350188,0.999999974015,6.63970764761e-05,-0.000216294020422,-2.78920701268e-05,1793243324455082496
+46,0.766666667,BASELINE,765,745,714,679,661,635,879,787,805,653,631,652,0.400934928644,-0.00543691772452,0.0499259362469,0.999999974333,6.53068090534e-05,-0.000215217786428,-2.73842536798e-05,1793243324471749376
+47,0.783333333,BASELINE,765,745,714,679.261404293,661,635,879,787,805.261404293,653,631,652,0.400934734925,-0.00543676757715,0.0499260619944,0.999999974271,6.63668269099e-05,-0.000215221791117,-2.70917648885e-05,1793243324488416256
+48,0.800000000,BASELINE,765,745,714,679.836096517,661,635,879,787,805.836096517,653,631,652,0.400934422778,-0.00543539277084,0.0499253781918,0.999999973743,7.00039194629e-05,-0.000216520440589,-2.70573420129e-05,1793243324505082880
+49,0.816666667,BASELINE,765,745,714,679.574120065,661,635,879,787,805.574120065,653,631,652,0.400935277922,-0.00543607305858,0.0499255841075,0.999999974004,6.87347623907e-05,-0.000215724854049,-2.7032057766e-05,1793243324521749248
+50,0.833333333,BASELINE,765,745,714,679.021028847,661,635,879,787,805,653,631,652,0.400936535459,-0.00543749089724,0.0499261182849,0.999999974541,6.56972721939e-05,-0.000214178141312,-2.70101670714e-05,1793243324538415872
+51,0.850000000,BASELINE,765,745,714,679.598814606,661,635,879,787,805,653,631,652,0.40093611571,-0.00543672645284,0.0499259446754,0.999999974262,6.76702242659e-05,-0.000214867782113,-2.69815850153e-05,1793243324555082496
+52,0.866666667,BASELINE,765,745,714,680,661,635,878.826397912,787,805.173602088,653,631,652,0.400935812578,-0.00543646522057,0.0499258177141,0.999999974163,6.82484145474e-05,-0.000215141289041,-2.70119473652e-05,1793243324571749120
+53,0.883333333,BASELINE,765,745,714,680,661,635,878.258421685,787,805.741578315,653,631,652,0.400935774365,-0.00543734714197,0.0499257967243,0.999999974477,6.5658106078e-05,-0.000214469459155,-2.71762144963e-05,1793243324588415744
+54,0.900000000,BASELINE,765,745,714,679.675708457,661,635,878.324291543,787,806,653,631,652,0.400936346815,-0.00543630922004,0.0499260212558,0.999999974509,6.70076271191e-05,-0.000213903431344,-2.71528445916e-05,1793243324605082624
+55,0.916666667,BASELINE,765,745,714,679.080692546,661,635,878.919307454,787,806,653,631,652,0.400937429056,-0.00543366857861,0.0499264507529,0.999999974294,7.16461882818e-05,-0.000213425729024,-2.6972831932e-05,1793243324621749504
+56,0.933333333,BASELINE,765,745,714,679,661,635,879.500925063,787,806,653,631,652,0.400936431278,-0.0054335511645,0.0499257578955,0.999999974091,7.19159641288e-05,-0.000214227695711,-2.74330476913e-05,1793243324638416384
+57,0.950000000,BASELINE,765,745,714,679.079914118,661,635,879.920085882,787,805.920085882,653,631,652,0.400935369677,-0.00543390474897,0.0499250821371,0.999999973956,7.12585153739e-05,-0.000215022092715,-2.78343852497e-05,1793243324655083264
+58,0.966666667,BASELINE,765,745,714,679.655636471,661,635,879.344363529,787,805.344363529,653,631,652,0.400935936775,-0.00543472444552,0.0499256049549,0.999999974231,6.91008580744e-05,-0.000214523906509,-2.72472340381e-05,1793243324671749376
+59,0.983333333,BASELINE,765,745.236018845,714,679.763981155,661,635,879,787,805.236018845,653,631,652,0.40093616232,-0.00543530639134,0.0499258958045,0.999999974283,6.86073870954e-05,-0.000214487987239,-2.68578899961e-05,1793243324688416000
+60,1.000000000,BASELINE,765,745.823337464,714,679.176662536,661,635,879,787,805.823337464,653,631,652,0.400935879486,-0.00543553445971,0.0499258413835,0.999999974008,7.05909564605e-05,-0.000215140124267,-2.67629698726e-05,1793243324705082880
+61,1.016666667,BASELINE,765,746,714,679.405148488,661,635,879,787,806,653,631,652,0.400936946578,-0.00543554403571,0.0499263253513,0.999999974241,7.06002190666e-05,-0.000214035867037,-2.68798343711e-05,1793243324721749504
+62,1.033333333,BASELINE,765,746,714,679.984590131,661,635,879,787,806,653,631,652,0.400938594404,-0.0054354596172,0.0499270409317,0.999999974691,6.97601431828e-05,-0.00021217601643,-2.7087807719e-05,1793243324738416384
+63,1.050000000,BASELINE,765,745.443430927,714.556569073,679.443430927,661,635,879,787,806,653,631,652,0.400938289969,-0.00543661020253,0.0499274935556,0.999999974768,6.90068507903e-05,-0.000212106006307,-2.67203286874e-05,1793243324755082752
+64,1.066666667,BASELINE,765,745,714.869309521,679.130690479,661.130690479,635,879,787,806,653,631,652,0.400938248731,-0.00543749386922,0.0499278263436,0.999999974847,6.83642627419e-05,-0.000211969850768,-2.64616362214e-05,1793243324771749376
+65,1.083333333,BASELINE,765,745,714.28708146,679.71291854,661.71291854,635,879,787,806,653,631,652,0.400939301121,-0.00543733875071,0.0499277699186,0.999999974974,6.80959680587e-05,-0.000211436211258,-2.66331223739e-05,1793243324788416000
+66,1.100000000,BASELINE,765,745,714,680,661.701566682,635,878.701566682,787,806,653,631,652.298433318,0.400938435883,-0.00543688099828,0.0499270854554,0.999999974723,6.83704995796e-05,-0.00021251605591,-2.67495840799e-05,1793243324805082880
+67,1.116666667,BASELINE,765,745,714,680,661.112855032,635,878.112855032,787,806,653,631,652.887144968,0.40093570542,-0.00543612888172,0.0499257901157,0.9999999741,6.91730240553e-05,-0.000215165294697,-2.68125249269e-05,1793243324821749504
+68,1.133333333,BASELINE,765,745,714,680,661,635,878,787.466751709,805.533248291,653,631,652.533248291,0.400935895209,-0.00543689250798,0.0499258424157,0.999999974232,6.85094622094e-05,-0.000214760198554,-2.68506700789e-05,1793243324838416128
+69,1.150000000,BASELINE,764.955980002,745,714,679.955980002,661.044019998,635,878,787.955980002,805.044019998,653,631,652,0.400936569124,-0.00543789229317,0.0499260548908,0.999999974466,6.76546814623e-05,-0.000213931243849,-2.68979067248e-05,1793243324855082752
+70,1.166666667,BASELINE,764.380873181,745,714,679.380873181,661.619126819,635,878,787.380873181,805.619126819,653,631,652,0.400934728215,-0.00543740429309,0.0499243438502,0.999999973788,6.86877914749e-05,-0.000216727882484,-2.71257766507e-05,1793243324871749376
+71,1.183333333,BASELINE,764.194648485,745,714,679,661.805351515,635,878.194648485,787,805.805351515,653,631,652,0.400934569889,-0.00543685964354,0.049924076767,0.99999997361,6.94705686074e-05,-0.00021728185132,-2.72520990223e-05,1793243324888416000
+72,1.200000000,BASELINE,764.770983723,745,714,679,661.229016277,635,878.770983723,787,805.229016277,653,631,652,0.400937710945,-0.00543620390984,0.0499266411432,0.999999974419,6.97624674879e-05,-0.000213438163256,-2.71792965551e-05,1793243324905083136
+73,1.216666667,BASELINE,765,745.355273598,714,679.355273598,661,635,878.644726402,787,805,653,631,652,0.400937680819,-0.0054356855708,0.0499271127058,0.999999974523,6.95495269631e-05,-0.000213009790498,-2.72853689071e-05,1793243324921750016
+74,1.233333333,BASELINE,765,745.944808592,714,679.944808592,661,635,878.055191408,787,805,653,631,652,0.400935559668,-0.00543525782751,0.0499262043022,0.999999974164,6.90037038643e-05,-0.000214833419061,-2.7509388291e-05,1793243324938416640
+75,1.250000000,BASELINE,764.472695739,745.472695739,714,679.472695739,661.527304261,635,878.527304261,787,805,653,631,652,0.400936615018,-0.00543681215606,0.0499264007683,0.999999974461,6.7323127583e-05,-0.000214034296813,-2.71168743262e-05,1793243324955082752
+76,1.266666667,BASELINE,764.107502606,745,714,679,661.892497394,635.107502606,879,787,805.107502606,653,631,652,0.40093779218,-0.00543818200786,0.049926591558,0.99999997475,6.58024965577e-05,-0.000213194757221,-2.67923174814e-05,1793243324971749120
+77,1.283333333,BASELINE,764.680895868,745,714,679,661.319104132,635.680895868,879,787,805.680895868,653,631,652,0.400938075357,-0.00543786515326,0.0499262631788,0.99999997473,6.54829758902e-05,-0.000213354071545,-2.70382473279e-05,1793243324988416000
+78,1.300000000,BASELINE,764.739616879,745,714,679,661,635.739616879,878.739616879,787,805.739616879,653,631,651.739616879,0.400937810201,-0.0054376457137,0.0499259428015,0.999999974572,6.61274224575e-05,-0.000213896788117,-2.70407579761e-05,1793243325005082368
+79,1.316666667,BASELINE,764.152482402,745,714,679,661,635.152482402,878.152482402,787,805.152482402,653,631,651.152482402,0.400936856947,-0.00543754851902,0.0499256324655,0.999999974236,6.79815388635e-05,-0.00021492063112,-2.6737805053e-05,1793243325021748992
+80,1.333333333,BASELINE,764.428786955,745,714,679.428786955,661,635,878,787,805,653,630.571213045,651.428786955,0.400937006627,-0.00543652467035,0.0499259900928,0.999999974233,6.95087550341e-05,-0.000214445400579,-2.67427907733e-05,1793243325038415872
+81,1.350000000,BASELINE,765,745.007988425,714,679.984023149,661.007988425,634.992011575,878,787,805,653,630.007988425,652,0.400937550158,-0.0054352261745,0.0499265836831,0.99999997435,7.08643139555e-05,-0.000213442672603,-2.68516401427e-05,1793243325055082752
+82,1.366666667,BASELINE,765,745.58644989,714,678.82710022,661.58644989,634.41355011,878,787,805,653,630.58644989,652,0.40093858821,-0.00543752950273,0.0499272937916,0.999999974781,6.81510837061e-05,-0.000212325677919,-2.66629988768e-05,1793243325071749632
+83,1.383333333,BASELINE,764.836627656,745.836627656,714,678.163372344,661.836627656,634.163372344,878,787,805,653,631,652,0.400938795687,-0.0054388732959,0.0499273951445,0.999999974968,6.62703501334e-05,-0.000212043583753,-2.6656629697e-05,1793243325088416256
+84,1.400000000,BASELINE,764.263564474,745.263564474,714,678.736435526,661.263564474,634.736435526,878,787,805,653,631,652,0.400936920319,-0.00543781085167,0.0499259699136,0.999999974556,6.64772781478e-05,-0.000213855179657,-2.71073464302e-05,1793243325105082368
+85,1.416666667,BASELINE,764.319351978,745,714,679,660.680648022,635,878,787,805,653,631,652,0.400936920449,-0.00543725874021,0.0499257061049,0.999999974457,6.6475170779e-05,-0.000214303327931,-2.72087269218e-05,1793243325121748736
+86,1.433333333,BASELINE,764.910659292,745,714,679,660.089340708,635,878,787,805,653,631,652,0.400938517727,-0.00543714122053,0.049926431346,0.999999974627,6.62950520129e-05,-0.000213590384622,-2.7012617903e-05,1793243325138415616
+87,1.450000000,BASELINE,765,745,714,679,660.491358739,635,878.491358739,787,805,653,631,652,0.40093770637,-0.00543693816396,0.0499259761561,0.99999997435,6.79779223975e-05,-0.000214373269005,-2.68921947952e-05,1793243325155082752
+88,1.466666667,BASELINE,765,745,714,679.069633839,661,635,879,787,805.069633839,653,631,652,0.400936563877,-0.00543673439512,0.0499253773843,0.999999974044,6.95673869205e-05,-0.000215296170751,-2.68214333976e-05,1793243325171749888
+89,1.483333333,BASELINE,765,745,714,679.644021158,661,635,879,787,805.644021158,653,631,652,0.400936128529,-0.005436635817,0.0499252607415,0.99999997414,6.80762835892e-05,-0.000215304201202,-2.70130092084e-05,1793243325188417024
+90,1.500000000,BASELINE,765,745,714,679.776160995,661,635,879,787,805.776160995,653,631,652,0.400937247642,-0.00543578599542,0.0499258873625,0.999999974382,6.85967764002e-05,-0.000213989055725,-2.71997472712e-05,1793243325205083648
+91,1.516666667,BASELINE,765,745,714,679.187492117,661,635,879,787,805.187492117,653,631,652,0.400940900335,-0.00543371174,0.0499277254114,0.999999974846,7.2395922081e-05,-0.000210517297257,-2.73786003843e-05,1793243325221750272
+92,1.533333333,BASELINE,765,745,714,679,661,635,879,787.394773269,805,653,631,652,0.400939676905,-0.00543438287393,0.0499271405602,0.999999974738,7.07742293204e-05,-0.000211588395262,-2.72979958299e-05,1793243325238416128
+93,1.550000000,BASELINE,765,745,714,679,661,635,879,787.974045999,805,653,631,652,0.400936174594,-0.00543633708051,0.0499254233534,0.999999974348,6.66190781902e-05,-0.000214782621952,-2.70961323209e-05,1793243325255082240
+94,1.566666667,BASELINE,765,745,714,679.552956205,661.552956205,635,879,787.447043795,805.552956205,653,631,652,0.40093670567,-0.00543844080548,0.0499251941978,0.999999974497,6.44555173379e-05,-0.000214779841644,-2.68597714098e-05,1793243325271748864
+95,1.583333333,BASELINE,765,745,714,679.868798428,661.868798428,635,878.868798428,787,805.868798428,653,631,652,0.400936994165,-0.00543943775344,0.049924896588,0.999999974492,6.34893139612e-05,-0.00021509107369,-2.68435650374e-05,1793243325288415488
+96,1.600000000,BASELINE,765,745,714,679.292749439,661.292749439,635,878.292749439,787,805.292749439,653,631,652,0.400935818705,-0.00543665832382,0.0499241302226,0.999999973885,6.62660894286e-05,-0.000216975430588,-2.75792932073e-05,1793243325305082368
+97,1.616666667,BASELINE,764.711659135,745,714,679.288340865,661,635,878,787,805.288340865,653,631,652,0.40093613661,-0.00543545016599,0.0499244665096,0.999999973907,6.7660828459e-05,-0.000216410658286,-2.78280694422e-05,1793243325321748992
+98,1.633333333,BASELINE,764.125359391,745,714,679.874640609,661,635,878,787,805.874640609,653,631,652,0.400937997692,-0.00543586569207,0.0499259422298,0.999999974581,6.76274311259e-05,-0.000213315062538,-2.75736507346e-05,1793243325338415872
+99,1.650000000,BASELINE,764.456114285,745,714,679.543885715,661,635,877.543885715,787,806,653,631,652,0.400937594939,-0.00543604555812,0.0499254710019,0.999999974347,6.8313803276e-05,-0.000214219231863,-2.73858820964e-05,1793243325355082496
+100,1.666666667,BASELINE,765,745,714,679,661,634.963948169,877.036051831,787,805.963948169,653,631,652,0.40093676195,-0.00543609173501,0.0499246475732,0.999999973934,6.91180766043e-05,-0.000215901216996,-2.72223916732e-05,1793243325371749376
+101,1.683333333,BASELINE,765,745,714,679,661,634.387363178,877.612636822,787,805.387363178,653,631,652,0.400938709419,-0.00543509441337,0.0499264824383,0.999999974597,6.8755119608e-05,-0.000212935631305,-2.71511360068e-05,1793243325388416000
+102,1.700000000,BASELINE,765,745,713.811859029,679,661,634.188140971,878,787,805,653,631,652,0.40093956377,-0.00543508664064,0.0499273578652,0.999999975004,6.78613419769e-05,-0.000211303251268,-2.71692010405e-05,1793243325405082368
+103,1.716666667,BASELINE,765,745,713.238567583,679,661,634.761432417,878,787,805,653,631,652,0.400938180358,-0.00543710461092,0.0499262691897,0.999999974898,6.58809014601e-05,-0.000212400127149,-2.73701178554e-05,1793243325421748736
+104,1.733333333,BASELINE,765,745,713.345564567,679.345564567,661,635,878.345564567,787,805,653,631,652,0.400937737378,-0.0054370648323,0.0499258340335,0.999999974806,6.60353963375e-05,-0.000212779631404,-2.74159033509e-05,1793243325438415616
+105,1.750000000,BASELINE,765,745,713.937423266,679.937423266,661,635,878.937423266,787,805,653,631,652,0.400937964672,-0.0054355584351,0.0499258646599,0.999999974724,6.77115228941e-05,-0.0002126478437,-2.73511221672e-05,1793243325455082496
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,746,714,679,661,635,879,787,805,653,631,653,0.400939973544,-0.00543936671775,0.0499261670043,0.999999975036,6.71426562674e-05,-0.000211471111461,-2.64524723563e-05,1793243325486866944
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.401660442,746,714,679.598339558,661,635,878.401660442,787,805.598339558,653,631,652.401660442,0.400939155103,-0.00543608928151,0.0499261645652,0.999999974826,6.91113785055e-05,-0.000211742343081,-2.71556040281e-05,1793243325503534336
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.193154354,745.806845646,714,679.806845646,661,635,878,787,806,653,630.806845646,652,0.400938702856,-0.00543418608511,0.0499259990515,0.999999974687,7.02204948348e-05,-0.000211975393027,-2.75855156871e-05,1793243325520201472
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.780770948,745.219229052,714,679.219229052,661,635,878,787,806,653,630.219229052,652,0.400938998452,-0.00543508937795,0.0499255005046,0.999999974703,6.95741135723e-05,-0.00021213046793,-2.74574541432e-05,1793243325536867584
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805.635785244,653,630.364214756,652,0.400939593756,-0.00543604917696,0.0499259017045,0.999999974884,6.89867270074e-05,-0.000211507764757,-2.71627023454e-05,1793243325553533952
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805.054824713,653,630.945175287,652,0.400940367419,-0.00543704260297,0.0499268383476,0.999999975161,6.84344484806e-05,-0.000210422202484,-2.67687524653e-05,1793243325570199808
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,653,631,652,0.400941742108,-0.00543620884576,0.0499270306214,0.999999975321,6.84586196128e-05,-0.000209599778964,-2.71844347004e-05,1793243325586866688
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.899426248,745,714,679,661,635,878,786.899426248,805,653,631,652,0.400944262942,-0.00543536198541,0.0499275210524,0.999999975618,6.87846797492e-05,-0.000208019742202,-2.75834683556e-05,1793243325603533056
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.326129295,745,714,679,661,635,878,786.326129295,805,653,631,652,0.400951876586,-0.0054353484541,0.0499297774775,0.999999976601,7.02473646127e-05,-0.000202749843091,-2.75077079148e-05,1793243325620199936
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714.255031635,679,661,635,878.255031635,786.510063271,805,653,631,652,0.400965545385,-0.00543625106562,0.0499337380262,0.999999978558,6.96289209573e-05,-0.00019313260222,-2.71217105796e-05,1793243325636866816
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714.846568769,679,661,635,878.846568769,787.693137539,805,653,631,652,0.400987203755,-0.00543836249621,0.0499399471075,0.999999981655,6.62644994528e-05,-0.00017777919335,-2.63263663019e-05,1793243325653533440
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.429448277,745,714.570551723,679,661.429448277,635,879,788,805.429448277,653,631,652,0.401018304545,-0.00543873061455,0.0499456988965,0.999999984767,6.74249656153e-05,-0.000158847526764,-2.61981472563e-05,1793243325670200320
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.009208414,661.990791586,635,878.990791586,787.990791586,806,653,631,652,0.401052869137,-0.005438518905,0.0499512384407,0.999999987584,7.00814644322e-05,-0.000138665937359,-2.63145111456e-05,1793243325686866944
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.583604914,661.416395086,635,878.416395086,787.416395086,806,653,631,652,0.401097065161,-0.00544019185643,0.0499535805544,0.999999990325,6.72968125983e-05,-0.000118683097559,-2.7102693992e-05,1793243325703533568
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,878,787,806,653,631,652,0.401145295907,-0.00544202709878,0.04995649169,0.999999992494,6.48222467478e-05,-0.000100257784283,-2.75454040087e-05,1793243325720200192
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,878,787,806,653,631,652,0.40120415972,-0.00544429004127,0.0499609024206,0.999999993946,6.31648775826e-05,-8.5937155264e-05,-2.7077658868e-05,1793243325736866816
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,878.318809401,787,805.681190599,653,631,652,0.401270071249,-0.00544642470493,0.0499638521045,0.999999994635,6.15614695192e-05,-7.89514248207e-05,-2.6569336416e-05,1793243325753533440
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,878.873713681,787,805.126286319,653,631,652,0.401341201974,-0.00544846437133,0.0499657198074,0.999999994866,5.99980225532e-05,-7.73975676304e-05,-2.60309643938e-05,1793243325770199808
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.534650533,661,635,879,787,805,653,631,652,0.401429447874,-0.00545123631728,0.0499674613413,0.999999995099,5.94373830819e-05,-7.50326004203e-05,-2.52670796343e-05,1793243325786866944
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805.064998905,653,631,652,0.401525132816,-0.00545434672978,0.0499690393371,0.999999995327,5.89325297399e-05,-7.26421348784e-05,-2.44077390792e-05,1793243325803533824
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805.642501741,653,631,652,0.401639712086,-0.00545842469183,0.0499696209759,0.999999995543,5.65378679239e-05,-7.19349492436e-05,-2.33196475106e-05,1793243325820200192
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.775705178,787,805.775705178,653,631,652,0.401766102812,-0.00546258209159,0.0499701130851,0.999999995742,5.43883265552e-05,-7.10937651814e-05,-2.24199362129e-05,1793243325836867072
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.186940683,787,805.186940683,653,631,652,0.401911686643,-0.00546686857391,0.0499704597122,0.999999995924,5.26370958589e-05,-7.00348393693e-05,-2.18263350547e-05,1793243325853533952
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.395047702,787,805,653,630.604952298,652,0.402075494076,-0.00547220575846,0.0499712017302,0.999999996101,5.08808803881e-05,-6.91394926945e-05,-2.06946254122e-05,1793243325870200320
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.973883685,787,805,653,630.026116315,652,0.402247779698,-0.00547803176223,0.0499721276961,0.999999996273,4.91223456936e-05,-6.83202479481e-05,-1.93125711812e-05,1793243325886866688
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.451181664,635,879.548818336,787,805,653,630.548818336,652,0.402447192821,-0.00548333485788,0.0499691936905,0.99999999607,4.70094164509e-05,-7.28309190701e-05,-1.85909091529e-05,1793243325903533568
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.126492156,635,879.873507844,787,805.126492156,653,631,652,0.402655131539,-0.00548904490076,0.0499667936797,0.999999995953,4.43532643123e-05,-7.62436165056e-05,-1.76949279909e-05,1793243325920200192
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.71484064,635,879.28515936,787,805.71484064,653,631,652,0.402889519362,-0.00549633103147,0.049967009363,0.999999996288,3.97748027456e-05,-7.47277828443e-05,-1.60485276573e-05,1793243325936867072
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.29782747,661,635,878.70217253,787,806,653,631,652,0.403154919473,-0.00550448730875,0.0499699639078,0.999999996988,3.56445536642e-05,-6.73962345152e-05,-1.45005270232e-05,1793243325953533440
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.875771456,661,635,878.124228544,787,806,653,631,652,0.403449487647,-0.00551346198703,0.0499754944418,0.999999997915,3.19358634126e-05,-5.45948156672e-05,-1.30450746344e-05,1793243325970200064
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,878.453783894,787,806,653,631,652,0.40377385284,-0.00552087772508,0.0499838786729,0.999999998804,3.196348721e-05,-3.52188900971e-05,-1.13908030164e-05,1793243325986866688
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.968507172,661,635,879,787,805.968507172,653,630.968507172,652,0.404108165965,-0.00552752572746,0.0499929452835,0.999999999293,3.3305087259e-05,-1.44887795502e-05,-9.72029651522e-06,1793243326003533056
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.396330616,661,635,879,787,805.396330616,653,630.396330616,652,0.404473200876,-0.00552832111066,0.0500003127195,0.999999999175,3.96420798091e-05,-1.41465568112e-06,-8.70566606023e-06,1793243326020199936
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.817653051,635,879,787,805.182346949,653,630.182346949,652,0.404849122897,-0.00552956635047,0.0500067790216,0.999999998834,4.63966246481e-05,1.13186616875e-05,-7.15771824822e-06,1793243326036866304
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.224323262,635,879,787,805.775676738,653,630.775676738,652,0.405249582792,-0.00553182549988,0.0500112143015,0.999999998256,5.40922692564e-05,2.32838502382e-05,-4.40775275339e-06,1793243326053533184
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.360547717,660.360547717,635,879,787,806,653,631,652.360547717,0.405657782361,-0.00552905781715,0.0499989420789,0.999999997618,6.89823784142e-05,-3.85797515504e-07,-2.07168787428e-06,1793243326070200320
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.940276546,660.940276546,635,879,787,806,653,631,652.940276546,0.406070687007,-0.00552323426544,0.0499765131736,0.999999995061,8.82460860862e-05,-4.57182717191e-05,1.2762320777e-08,1793243326086867456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879,787,806,653,631,652.487921833,0.406516457442,-0.00551846632877,0.0499568940681,0.999999991729,0.000103456377851,-7.64060681946e-05,1.19034725283e-06,1793243326103533568
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.913932399,661,635,879,787,806,653,631,652,0.40697325677,-0.00551495063089,0.0499398611372,0.999999987891,0.000117205243314,-0.00010234451239,2.6368192347e-06,1793243326120200192
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.321722599,661,635,879,787,806,653,631,652,0.407472716449,-0.00551808605963,0.0499361390711,0.999999986079,0.000125097563093,-0.000110244424603,6.27705897136e-06,1793243326136867328
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.735404516,635,879,787,805.735404516,653,631,652,0.408019347555,-0.00552239142819,0.0499463227749,0.999999987142,0.00013278000155,-8.92854669018e-05,1.06245339146e-05,1793243326153533952
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.156094189,635,879,787,805.156094189,653,631,652,0.408622085214,-0.00552808834498,0.049973046263,0.999999989467,0.000140212802461,-3.40012260419e-05,1.58132074709e-05,1793243326170200064
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.420058301,635,879,787,805.420058301,653,631,652,0.409246749233,-0.00553059523707,0.0499945772946,0.999999989281,0.00014513063017,6.59260034519e-07,1.93694670547e-05,1793243326186866944
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.995046078,635,879,787,805.995046078,653,631,652,0.409879500306,-0.00553192555698,0.0500141931996,0.999999988248,0.000149120863917,2.77131162002e-05,2.23236457165e-05,1793243326203533568
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.571695865,661,635,879.571695865,787,805.428304135,652.428304135,631,652,0.410482178818,-0.00553188233209,0.0500020822811,0.999999990287,0.000137938400373,2.69927090113e-07,1.99674797882e-05,1793243326220200448
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.852143388,660.852143388,635,879.852143388,787,805,652.147856612,631,652,0.411088062119,-0.00553246534797,0.0499842253356,0.999999990679,0.000129735609439,-3.84197324951e-05,1.82662324004e-05,1793243326236867072
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.277436262,660.277436262,635,879.277436262,787,805,652.722563738,631,652,0.411703951782,-0.00553489073304,0.0499505760552,0.999999985455,0.000130515570977,-0.000108209793747,1.85889155069e-05,1793243326253534208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.692214952,879.307785048,787,805,653,631,652,0.412383683833,-0.00553676721503,0.0499435316641,0.999999984607,0.00013098779217,-0.000115103107062,1.94870332901e-05,1793243326270201088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.09718092,879.90281908,787,805,653,631,652,0.413122998646,-0.00553813141818,0.0499613170245,0.999999989175,0.000131172806364,-6.3296283663e-05,2.09221916025e-05,1793243326286866944
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.482821715,634,879.517178285,787,805.482821715,653,631,652,0.41388998033,-0.0055376823779,0.0499769156498,0.999999990182,0.000132761854819,-3.8862625158e-05,2.23640979231e-05,1793243326303533312
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.940564877,634.059435123,879.059435123,787,806,653,631,652,0.414656746446,-0.00553717716407,0.0499873009819,0.999999990383,0.000133996982344,-2.6893831804e-05,2.35692459971e-05,1793243326320199936
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.367881122,634.632118878,879.632118878,787,806,653,631,652,0.415375015142,-0.00553924333913,0.0499563532689,0.999999988396,0.000129809152605,-7.64234048079e-05,2.27185077837e-05,1793243326336866560
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.210685415,714,679,660,635,879.789314585,787,806,652.789314585,631,652,0.416111304939,-0.00554130548204,0.0499345086395,0.999999985828,0.000125637551767,-0.000109881461433,2.200785915e-05,1793243326353533440
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.79981899,714,679,660,635,879.20018101,787,806,652.20018101,631,652,0.416879965475,-0.00554336038201,0.0499290156197,0.999999985836,0.000121495103154,-0.000114470712199,2.15488495369e-05,1793243326370200576
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.383484962,745.616515038,714,679,660.383484962,635,879.383484962,787,806,652,631,652,0.417706201102,-0.00554446025766,0.0499473950806,0.999999989176,0.000120353355606,-8.14962917447e-05,2.28134446378e-05,1793243326386867712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.964336922,745.035663078,714,679,660.964336922,635,879.964336922,787,806,652,631,652,0.418562068695,-0.00554506861389,0.0499780609162,0.999999991971,0.000120755969288,-2.91890945399e-05,2.49651219139e-05,1793243326403534848
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.461070559,745,714,679,660.461070559,635,879.461070559,787,805.461070559,652,631,651.461070559,0.419390259049,-0.00554260299872,0.0499745421375,0.999999990727,0.000125617507413,-4.54493367391e-05,2.64526689856e-05,1793243326420201216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805.11294411,652,631,651.11294411,0.420224440157,-0.00554068426303,0.0499704362073,0.999999989708,0.000128609732746,-5.73606573208e-05,2.74510575886e-05,1793243326436867584
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805.686272217,652,631,651.686272217,0.421090420541,-0.0055418143738,0.0499730519774,0.999999991553,0.000122793307609,-3.32618959946e-05,2.66326177867e-05,1793243326453533952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.270399002,745,714,679,660.540798004,635,879.270399002,787,806,652,631,652,0.421964802044,-0.00554470777435,0.0499836908228,0.999999992811,0.000116827355188,-3.60112075089e-06,2.67488831426e-05,1793243326470200576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.8675761,745,714,679,661.735152201,635,879.8675761,787,806,652,631,652,0.422849336441,-0.00554973211663,0.0500040255819,0.999999992946,0.000110680697727,3.27813700687e-05,2.7994742683e-05,1793243326486866944
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.552476815,745,714,679.447523185,661.104953631,635,879.552476815,787,806,652,631,652,0.423706092723,-0.00555026730498,0.04999372082,0.999999993533,0.000109644533294,1.08078892065e-05,2.8199384263e-05,1793243326503534080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.022553274,745,714,679.977446726,660,635,879,787.022553274,806,652,631,652,0.424557801863,-0.00554958673517,0.0499758518825,0.99999999322,0.000110104694757,-2.53843016457e-05,2.81519295397e-05,1793243326520200960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.5973986,745,714,679.4026014,660,635,879,787.5973986,806,652,631,652,0.425479739495,-0.00555045758727,0.0499865377762,0.999999993349,0.000111548645319,-2.58711593074e-06,2.91962116619e-05,1793243326536867840
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.823660695,745,714,679,660.176339305,634.823660695,879,787.823660695,806,652,631,651.823660695,0.426381804309,-0.00555133308741,0.0499967216381,0.999999993139,0.000112412880356,1.19817920706e-05,3.06856897721e-05,1793243326553534208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.235147522,745,714,679,660.764852478,634.235147522,879,787.235147522,806,652,631,651.235147522,0.427237418525,-0.0055522194518,0.0500057320545,0.999999993158,0.00011192209368,7.31799807706e-06,3.32157648561e-05,1793243326570200832
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.349529252,745,714,679,661,634,879.349529252,787,806,652,631,651.349529252,0.428076398829,-0.00555110556361,0.0499860233521,0.999999992554,0.00011254355843,-3.36560634788e-05,3.30487964073e-05,1793243326586867456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.931653066,745,714,679,661,634,879.931653066,787,806,652,631,651.931653066,0.428904310046,-0.00554866060546,0.0499472034852,0.99999998815,0.000113905171555,-9.87928257445e-05,3.10870776425e-05,1793243326603533824
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.493123792,745,714,679.506876208,660.493123792,634,879.493123792,787,806,652,631,651.493123792,0.42981395922,-0.00554999531587,0.0499536490941,0.999999990706,0.000110497275542,-7.36473005361e-05,3.08879846455e-05,1793243326620200448
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.078177483,634.078177483,879.078177483,787,806,652,631,651.078177483,0.430722928485,-0.00555148999996,0.049962884621,0.999999992758,0.000107067918775,-4.54329382931e-05,3.09352301482e-05,1793243326636867072
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.631231917,634.631231917,879.631231917,787,806,652,631,651.631231917,0.431561718155,-0.00555090221763,0.0499524898216,0.999999991196,0.000107362256226,-7.15309707611e-05,3.10545123654e-05,1793243326653533440
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.205363662,745,714,679.794636338,660.794636338,635,880,787,806,652,631,652,0.432405756021,-0.00555075965961,0.0499417698956,0.999999989566,0.000106925986784,-9.2060740942e-05,3.0963577183e-05,1793243326670200064
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.821672487,745,714,679.178327513,660.178327513,635,880,787,806,652,631,652,0.433260295997,-0.00555150802239,0.0499303993697,0.999999988875,0.000105027728722,-0.000101448084767,3.0451984267e-05,1793243326686866432
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.588701703,745,714,679,660,635,880,787,806,652,631,652,0.434123344777,-0.0055529974919,0.0499489290779,0.9999999913,0.000105359577252,-7.25552958209e-05,3.21770359538e-05,1793243326703532800
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.009940126,745,714,679,660,635,880,787,806,652,631,652,0.43498985793,-0.0055547887087,0.0499796328982,0.999999993318,0.000106599430851,-2.80764543197e-05,3.48127547512e-05,1793243326720199680
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.565177122,634.434822878,880,787,806,652,631,651.434822878,0.435774571085,-0.00555244346298,0.0499708582792,0.999999991486,0.000109491210997,-6.15350462955e-05,3.53901075703e-05,1793243326736866560
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.14337917,745,714,679,660.85662083,634,880,787,806,652,631,651,0.436561298153,-0.00555023802786,0.0499610552614,0.999999989094,0.000111500464298,-9.00556708648e-05,3.56234987135e-05,1793243326753533696
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.731343908,745,714,679,660.268656092,634,880,787,806,652,631,651,0.437358702245,-0.00554869025052,0.0499502025873,0.999999988361,0.000110683695716,-9.90417017296e-05,3.49018786607e-05,1793243326770200832
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.68589071,745,714,679.31410929,660.31410929,634,880,787,806.31410929,651.68589071,631,651.31410929,0.438166318711,-0.00554893310985,0.0499597728727,0.999999990644,0.000109513586903,-7.42010003667e-05,3.48416184419e-05,1793243326786867712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.107499928,745,714,679.892500072,660.892500072,634,880,787,806.892500072,651.107499928,631,651.892500072,0.438982527501,-0.00555068255356,0.0499865263824,0.99999999332,0.000108046188745,-2.08995697465e-05,3.5337805158e-05,1793243326803534336
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.529894323,660.529894323,634.470105677,880,787,806.529894323,651.470105677,631,652,0.439711265096,-0.0055534058262,0.0499757551674,0.999999993162,0.00010519161597,-3.66184806974e-05,3.56339423999e-05,1793243326820201216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.047149923,660.047149923,634.952850077,880,787,806,652,631.047149923,651.952850077,0.440419030982,-0.00555605662975,0.0499569934424,0.999999991878,0.000102343493305,-6.69866935432e-05,3.58234954259e-05,1793243326836867584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.619933857,660.619933857,634.380066143,880,787,806,652,631.619933857,651.380066143,0.441115616232,-0.00555542112571,0.0499446533928,0.999999990448,0.000103097661082,-8.50095481096e-05,3.53339614802e-05,1793243326853534976
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806.199598108,652,632,651.199598108,0.441819878621,-0.00555588486223,0.0499459454126,0.999999990903,0.000102962790756,-7.95569986296e-05,3.55475847314e-05,1793243326870201856
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806.792831405,652,632,651.792831405,0.442539281517,-0.00555851645367,0.0499741217644,0.999999993815,0.000101074613833,-2.78076953425e-05,3.7147931493e-05,1793243326886867712
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806.623170056,652,632,651.623170056,0.443206803701,-0.00556008809989,0.0499890830538,0.99999999443,9.82758517602e-05,-4.43240450927e-06,3.82398530632e-05,1793243326903534080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806.044127073,652,632,651.044127073,0.443846485812,-0.00556109096219,0.0499969529254,0.999999994719,9.49884551793e-05,3.71692942111e-06,3.90589453942e-05,1793243326920200704
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806,652,631.46877317,651.53122683,0.444403040698,-0.00555722716878,0.0499645217789,0.999999992912,0.000100388444518,-5.21908616233e-05,3.70767054358e-05,1793243326936867072
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.097456998,745,714,679.902543002,661,634,880,787,806.097456998,651.902543002,631,652,0.44495692335,-0.00555495276621,0.0499359407032,0.999999989118,0.00010406129016,-9.84178615135e-05,3.5350262757e-05,1793243326953533440
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.624785732,745,714,679.375214268,661,634,880,787,806.624785732,651.375214268,631,652,0.445529266511,-0.00556145981284,0.0499390061578,0.999999991568,9.69548292187e-05,-7.86355673627e-05,3.57714323252e-05,1793243326970200064
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.811346869,745.188653131,714.188653131,679.188653131,660.811346869,634,880,787,807,651.188653131,631,652,0.446100790583,-0.00556658037737,0.049947633963,0.999999993918,9.04421313635e-05,-5.18023730396e-05,3.60718118006e-05,1793243326986866688
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.157351198,745.842648802,714.842648802,679.842648802,660.157351198,634,880,787,807,651.842648802,631,652,0.446670294155,-0.00556828096534,0.0499699821778,0.999999995675,8.53940443217e-05,-7.57703033469e-06,3.60742434902e-05,1793243327003533312
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.436442585,745.563557415,714.563557415,680,660.436442585,634,880.436442585,787,807,651.563557415,631.436442585,651.563557415,0.447139723153,-0.00556259800199,0.0499585995678,0.999999994813,9.07210728939e-05,-2.95679910574e-05,3.56325226924e-05,1793243327020199936
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.988834198,745,714,680,661,633.988834198,880.988834198,787,806.988834198,651.011165802,631.988834198,651.011165802,0.447576354241,-0.00555464111913,0.0499360962085,0.999999991803,9.92284084133e-05,-7.2952474558e-05,3.49987263959e-05,1793243327036866560
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.413955998,745,714,680,661,633.413955998,880.413955998,787,806.413955998,651.586044002,631.413955998,651.586044002,0.447957882684,-0.00554998608238,0.0498916893769,0.999999984839,0.000102342491344,-0.000137253015485,3.17722323021e-05,1793243327053533184
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.164988292,714.164988292,680,660.835011708,633.164988292,880,787,806,652,631,652,0.448338032638,-0.00554930961917,0.0498545889677,0.99999997613,0.000101279802167,-0.000191333097489,2.95660633129e-05,1793243327070199808
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.754392309,714.754392309,680,660.245607691,633.754392309,880,787,806,652,631,652,0.448714636652,-0.0055588676338,0.0498362835835,0.999999971541,8.94727898956e-05,-0.000219122095519,2.99845772459e-05,1793243327086866432
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714.661899283,680,660,633.661899283,880,787,806.338100717,652,631,652,0.449082886299,-0.0055648273066,0.0498326019039,0.999999970839,8.13987722859e-05,-0.000225386141937,2.99694442972e-05,1793243327103533056
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714.082259847,680,660,633.082259847,880,787,806.917740153,652,631,652,0.449445167573,-0.00556821632805,0.0498393673813,0.999999973286,7.59916020165e-05,-0.000216272788944,2.96445145586e-05,1793243327120199680
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.504998264,745.504998264,714,680,660,633,880,787,807,651.504998264,631,652,0.449772782137,-0.00557104787573,0.0498444948005,0.999999974673,7.22337487326e-05,-0.000210996119602,3.02952391984e-05,1793243327136866304
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.071644588,745,714,680.071644588,660,632.928355412,880.071644588,787,806.928355412,651.071644588,631,651.928355412,0.450088873394,-0.00557293198832,0.0498486195959,0.999999975574,6.98409007743e-05,-0.000207390568555,3.10394846821e-05,1793243327153532928
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.646703196,745,714,680.646703196,660,632.353296804,880.646703196,787,806.353296804,651.646703196,631,651.353296804,0.450364281628,-0.00556880674216,0.0498476029883,0.999999974413,7.51226619942e-05,-0.000211068614509,3.13070550717e-05,1793243327170199552
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,632,880.772479528,787,806.227520472,652,631,651.227520472,0.450619446561,-0.00556454934273,0.049841320395,0.999999970993,8.02376166447e-05,-0.000224938903387,3.12775990946e-05,1793243327186866176
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,632,880.182487963,787,806.817512037,652,631,651.817512037,0.450842361131,-0.00556008140555,0.0498266483697,0.999999963382,8.50868251657e-05,-0.000255046822596,3.07749396263e-05,1793243327203533056
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.400377417,714.400377417,680.599622583,660,632,880,787,807,652,631,652,0.451045297712,-0.00556239407429,0.0498146408073,0.99999995761,8.17680182792e-05,-0.000277777147356,3.0560410074e-05,1793243327220199936
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.980051603,714.980051603,680.019948397,660,632,880,787,807,652,631,652,0.451239287781,-0.00556774322945,0.0498038264419,0.999999952574,7.47914161423e-05,-0.000297203644868,3.04749106383e-05,1793243327236866560
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.554942042,745.445057958,714.445057958,680,660,632,880,787,807,652,631,652,0.451403539163,-0.00556960929781,0.0497955091694,0.999999947868,7.14493713562e-05,-0.000313436172261,3.0269470829e-05,1793243327253533184
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.870421798,745,714.129578202,680.129578202,660,632,880.129578202,786.870421798,806.870421798,652.129578202,631,651.870421798,0.451559293696,-0.00557079859536,0.0497873564348,0.999999942812,6.89927554923e-05,-0.000329722189635,2.99782561401e-05,1793243327270200064
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.296073081,745,714.703926919,680.703926919,660,632,880.703926919,786.296073081,806.296073081,652.703926919,631,651.296073081,0.45168952124,-0.00557009100207,0.0497794629936,0.999999937118,6.91307088068e-05,-0.000346582534824,2.94072959853e-05,1793243327286867456
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.28726837,745,714.71273163,680.71273163,660,632,880.71273163,786,806.28726837,652.71273163,631,651,0.451812779553,-0.00557049878623,0.0497725690246,0.99999993276,6.76450068268e-05,-0.000359263113385,2.88804422161e-05,1793243327303534080
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.880177664,745,714.119822336,680.119822336,660,632,880.119822336,786,806.880177664,652.119822336,631,651,0.451928622901,-0.00557209328304,0.0497667384505,0.999999929994,6.44318069662e-05,-0.000367496602975,2.84005157426e-05,1793243327320200448
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.539240475,745.460759525,714,680,660,632,880,786.460759525,807,652,631,651,0.452027763422,-0.00557342775726,0.0497649372326,0.999999928931,6.25791883959e-05,-0.000370707961177,2.82435202071e-05,1793243327336867072
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.962131598,714,680,660,631.962131598,880,787,807,652,631,651.037868402,0.45212128473,-0.00557454037529,0.0497642506742,0.999999928347,6.12292497833e-05,-0.000372510277204,2.81631538248e-05,1793243327353533696
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.389971051,714,680,660,631.389971051,880,787,807,652,631,651.610028949,0.452195211777,-0.00557345198539,0.049764891985,0.999999928346,6.21096222121e-05,-0.000372378948351,2.80099554848e-05,1793243327370200832
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,631,880,786.811326558,806.811326558,652,631,652,0.452262459713,-0.00557348306507,0.0497646304844,0.9999999282,6.17384591355e-05,-0.000372843491288,2.78688100709e-05,1793243327386867712
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,631,880,786.218803455,806.218803455,652,631,652,0.45231541121,-0.00557591033487,0.0497624365434,0.999999927736,5.86884229542e-05,-0.000374583479352,2.77534635919e-05,1793243327403534336
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.365502266,680,659.634497734,631,880,786,806.365502266,652,630.634497734,651.634497734,0.452359308085,-0.00557810601194,0.0497593474902,0.999999926308,5.47756774079e-05,-0.00037896149906,2.77810911574e-05,1793243327420200960
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.944996971,680,659.055003029,631,880,786,806.944996971,652,630.055003029,651.055003029,0.452397903709,-0.00558016609748,0.0497557343709,0.999999924275,5.03578368031e-05,-0.0003848840205,2.78924264395e-05,1793243327436867840
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.516579347,715,680,659,631,880,786.516579347,807,652,630.516579347,651.516579347,0.452423532763,-0.00557856101472,0.0497536926959,0.999999922966,5.31944098977e-05,-0.000387919264577,2.75120650309e-05,1793243327453534464
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.909356456,715,680.090643544,659,631,880,786.909356456,807,652,630.909356456,652,0.45244667847,-0.00557641676852,0.0497520279776,0.999999921872,5.69738976564e-05,-0.000390222452217,2.71189193447e-05,1793243327470201088
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.31696098,715,680.68303902,659,631,880,786.31696098,807,652,630.31696098,652,0.452463604817,-0.00557341563469,0.0497515376608,0.999999921622,6.17616674023e-05,-0.000390149442813,2.694043547e-05,1793243327486867200
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.730558279,681,659,631,880,786.269441721,807,652,630.269441721,652,0.452476982574,-0.00557185350347,0.049750499452,0.999999921242,6.33975537456e-05,-0.000390875393047,2.67126125522e-05,1793243327503533824
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.151051901,681,659,631,880,786.848948099,807,652,630.848948099,652,0.452486276729,-0.00557194732924,0.0497488307472,0.999999920729,6.14063562182e-05,-0.000392520759722,2.64280119001e-05,1793243327520200192
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.425901245,681,659.425901245,631,880.425901245,787,806.574098755,652,631,652,0.452491172438,-0.00557187544861,0.0497480885737,0.999999919921,6.1395532754e-05,-0.000394566186566,2.65766768364e-05,1793243327536867584
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.001949948,745.001949948,715,681,659.998050052,631,880.998050052,786.998050052,806.001949948,652.001949948,631,652,0.452494517303,-0.00557174006881,0.0497476731982,0.999999919009,6.20813360878e-05,-0.000396743793058,2.68742809056e-05,1793243327553534976
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.576738758,745.576738758,715,681,659.423261242,631,880.423261242,786.423261242,806.576738758,652.576738758,631,652,0.452497812937,-0.0055701125423,0.0497473015615,0.999999919185,6.23102254e-05,-0.000396318063829,2.60529325932e-05,1793243327570201856
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.848118839,745.848118839,714.848118839,681,659.151881161,631,880,786.151881161,807,652.848118839,631,652,0.452500270974,-0.00556892481448,0.0497466129259,0.999999919025,6.2890400277e-05,-0.000396662155485,2.55705298717e-05,1793243327586868224
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.271988845,745.271988845,714.271988845,681,659.728011155,631,880,786.728011155,807,652.271988845,631,652,0.452500389351,-0.00556896557424,0.0497450388192,0.999999917921,6.44518192049e-05,-0.000399156583777,2.6034902195e-05,1793243327603534592
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.31378142,714,680.372437159,659.68621858,631,880.31378142,787,807,652,631,652,0.452501148893,-0.00556917413967,0.049744300123,0.999999917484,6.42369276373e-05,-0.000400266601167,2.63012257855e-05,1793243327620200960
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.908172902,714,679.183654197,659.091827098,631,880.908172902,787,807,652,631,652,0.452502481818,-0.00556953277122,0.0497443085219,0.999999917647,6.24335081693e-05,-0.000400138560747,2.63904373906e-05,1793243327636867584
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.486768942,679.973537884,659,631,880.513231058,787,807,652,631,652,0.452501898843,-0.00557029952097,0.0497439565129,0.999999917115,6.13043254743e-05,-0.000401661628506,2.60862401818e-05,1793243327653534208
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.937589092,680.937589092,659.062410908,631,879.937589092,786.937589092,807,652,630.937589092,652,0.452501194218,-0.00557081066848,0.0497435493086,0.999999916522,6.07348928216e-05,-0.000403243089311,2.57326512949e-05,1793243327670200832
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.36250521,680.36250521,659.63749479,631,879.36250521,786.36250521,807,652,630.36250521,652,0.45250236592,-0.00556860962284,0.0497432296488,0.999999916507,6.37515344836e-05,-0.000402826029439,2.55638126343e-05,1793243327686867712
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.217209611,680,660,631,879.217209611,786.217209611,807,652,630.217209611,651.782790389,0.452502470994,-0.0055672686252,0.0497425953173,0.999999916195,6.46041530208e-05,-0.000403483014529,2.52399148074e-05,1793243327703534592
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714.804821426,680,660,631,879.804821426,786.804821426,807,652,630.804821426,651.195178574,0.452500757173,-0.00556739424635,0.0497414243839,0.999999915382,6.17665160107e-05,-0.000405971542084,2.46515984113e-05,1793243327720200960
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.38742291,746,714.61257709,680,660,631,880,787,807,652,631,651.38742291,0.452500842514,-0.00556774723744,0.0497409213687,0.999999915069,6.09934548037e-05,-0.000406857232182,2.46853330393e-05,1793243327736867584
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.967532464,746,714.032467536,680,660,631,880,787,807,652,631,651.967532464,0.452501822677,-0.00556821331206,0.0497407505458,0.999999915009,6.12472203737e-05,-0.000406945743298,2.50284477496e-05,1793243327753534208
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,714.544067732,680,660,631,880.544067732,787,807,652,631,652,0.452502080204,-0.00556793383793,0.049740870237,0.999999915098,6.10456779905e-05,-0.000406755503035,2.50587380936e-05,1793243327770200832
+244,4.066666667,HOLD_POSE2,765,746,715,680,660,631,880,786,807,652,631,652,0.452501007906,-0.00556597585994,0.0497398900389,0.99999991431,6.44141756201e-05,-0.000408196301088,2.46412559232e-05,1793243327812481280
+245,4.083333333,HOLD_POSE2,765,746,714.407555164,680.592444836,659.407555164,631,879.407555164,786,806.407555164,652,630.407555164,652,0.452503094969,-0.00556737407124,0.0497419263946,0.999999915373,6.21861407239e-05,-0.000405942325859,2.44336940089e-05,1793243327829148416
+246,4.100000000,HOLD_POSE2,765,745.819723241,714,680.819723241,659,631,879.180276759,786,806,652,630.180276759,651.819723241,0.452503825185,-0.00556785216628,0.0497424087833,0.999999915616,6.14262592486e-05,-0.000405465658786,2.43264482578e-05,1793243327845815296
+247,4.116666667,HOLD_POSE2,765,745.242059521,714,680.242059521,659,631,879.757940479,786,806,652,630.757940479,651.242059521,0.452501564482,-0.00556630203453,0.0497394657377,0.999999914057,6.39026515661e-05,-0.000408906740257,2.44403310002e-05,1793243327862482176
+248,4.133333333,HOLD_POSE2,765.334497818,745,714.334497818,680,659,631,880.334497818,786.334497818,806,652,631,651,0.452500491829,-0.00556586503776,0.0497383158107,0.999999913364,6.44426677584e-05,-0.000410510226457,2.45084017237e-05,1793243327879148288
+249,4.150000000,HOLD_POSE2,765.91025713,745,714.91025713,680,659,631,880.91025713,786.91025713,806,652,631,651,0.452500276075,-0.00556623090613,0.0497384591971,0.999999913304,6.35860439136e-05,-0.000410788319713,2.4543429845e-05,1793243327895814400
+250,4.166666667,HOLD_POSE2,765.50257983,745,715,680,659,631,880.50257983,786.50257983,806.49742017,652,631,651.49742017,0.452501091488,-0.0055664006875,0.0497392600939,0.999999913398,6.35655327098e-05,-0.000410549977886,2.47242305138e-05,1793243327912481280
+251,4.183333333,HOLD_POSE2,765,745,715,680.085201874,659,631,880,786.085201874,807,652,631,652,0.452502053769,-0.00556649707309,0.049740021567,0.999999913565,6.36244142392e-05,-0.000410125139675,2.49048455578e-05,1793243327929148160
+252,4.200000000,HOLD_POSE2,765,745,715,680.664362488,659,631,880,786.664362488,807,652,631,652,0.452502763654,-0.00556637785897,0.0497398506108,0.999999913978,6.32485094325e-05,-0.00040917193542,2.49283335447e-05,1793243327945814528
+253,4.216666667,HOLD_POSE2,765,745,714.757281335,680.757281335,659,631,880,786.757281335,807,652,630.757281335,652,0.452502960038,-0.00556659799422,0.0497396965876,0.999999914182,6.24944253484e-05,-0.000408789214318,2.49385490175e-05,1793243327962481152
+254,4.233333333,HOLD_POSE2,765,745,714.180033927,680.180033927,659,631,880,786.180033927,807,652,630.180033927,652,0.452502448686,-0.00556728584021,0.0497395659026,0.999999914096,6.12191129899e-05,-0.0004091927658,2.49304715507e-05,1793243327979147520
+255,4.250000000,HOLD_POSE2,765,745.396602458,714,680,659.396602458,631,880,786,807,652,630.396602458,652,0.452502713129,-0.00556664098585,0.0497391671526,0.999999913936,6.18839481045e-05,-0.000409496026286,2.47209642033e-05,1793243327995814656
+256,4.266666667,HOLD_POSE2,765,745.972961951,714,680,659.972961951,631,880,786,807,652,630.972961951,652,0.452503329196,-0.00556539209529,0.0497386469041,0.999999913741,6.3428140135e-05,-0.000409753830679,2.44201602999e-05,1793243328012481792
+257,4.283333333,HOLD_POSE2,765,746,714,680,659.439079484,631,880,786,807,652,631,652,0.45250270455,-0.00556476517526,0.0497382826339,0.999999913689,6.28904580095e-05,-0.000409975679205,2.42202682102e-05,1793243328029148160
+258,4.300000000,HOLD_POSE2,765,746,714,680,659,631,880.147084143,786,807,652,630.852915857,652,0.452502285614,-0.00556413168342,0.0497381707186,0.999999913656,6.26831894864e-05,-0.000410099369811,2.40369427981e-05,1793243328045814784
+259,4.316666667,HOLD_POSE2,765,746,714,680,659,631,880.726297103,786,807,652,630.273702897,652,0.452502650469,-0.00556338894094,0.049738777658,0.999999913657,6.37477244338e-05,-0.000409939874985,2.3887696959e-05,1793243328062481408
+260,4.333333333,HOLD_POSE2,765,745.696705116,714,680.303294884,659,630.696705116,880.393410231,786,806.696705116,652,630.303294884,652,0.452502393807,-0.00556405506104,0.0497383729458,0.999999913273,6.33060003322e-05,-0.000410934013282,2.40666660849e-05,1793243328079148032
+261,4.350000000,HOLD_POSE2,765,745.121691922,714,680.878308078,659,630.121691922,879.243383843,786,806.121691922,652,630.878308078,652,0.452501580335,-0.00556598336454,0.049737061907,0.999999912538,6.15148364506e-05,-0.000412961677895,2.45396791358e-05,1793243328095814656
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,631,881,786,806,652,631,652,0.452504375528,-0.00556427489335,0.0497388866001,0.999999914009,6.38450628774e-05,-0.000409073394362,2.37746682586e-05,1793243328127741696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,631,880.420600442,786,806,652,630.420600442,652,0.452503240366,-0.00556413682181,0.0497382123895,0.999999913384,6.39906746928e-05,-0.000410558421262,2.40679374129e-05,1793243328144408576
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,746,714.841485271,680,659,631,880,786.158514729,806.158514729,652,630.158514729,652,0.452502149052,-0.0055640806328,0.0497375973757,0.999999912741,6.44146131816e-05,-0.000412040409411,2.43271897298e-05,1793243328161075456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714.263123211,680,659,631,880,786.736876789,806.736876789,652,630.736876789,652,0.452501173876,-0.00556424132053,0.0497371391523,0.999999912053,6.55757368964e-05,-0.000413514349354,2.44963439952e-05,1793243328177742848
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.312646349,746,714,680,659,631,880.312646349,787,806.687353651,652,630.687353651,651.687353651,0.452500912738,-0.00556341723828,0.049737135004,0.999999911885,6.63063204698e-05,-0.00041381073716,2.43596327441e-05,1793243328194409472
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.88625197,746,714,680,659,631,880.88625197,787,806.11374803,652,630.11374803,651.11374803,0.452501247592,-0.00556177118943,0.0497375098626,0.999999912154,6.66775412554e-05,-0.000413124247103,2.39676220279e-05,1793243328211075328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,714.47399387,680.47399387,659,631,880.52600613,787,806,652,630.47399387,651.47399387,0.452502029515,-0.00556272721639,0.0497376838356,0.999999912425,6.58978898679e-05,-0.000412588159346,2.40661277691e-05,1793243328227741696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.936094969,746,715,680.936094969,659,631,880,787,806.127810061,652.063905031,631,652,0.452502306516,-0.00556403160751,0.0497375627927,0.999999912521,6.50665182022e-05,-0.000412478269504,2.42096045831e-05,1793243328244408064
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.356887479,746,715,680.356887479,659,631,880,787,807.286225042,652.643112521,631,652,0.452497620347,-0.005562955053,0.0497354635493,0.999999911211,6.6113583269e-05,-0.000415505067997,2.37373428189e-05,1793243328261074688
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714.780987793,680,659.219012207,631,880.219012207,787,807.561975587,652.780987793,630.780987793,652,0.452487446962,-0.00556243687128,0.0497303678046,0.999999907883,6.64242263953e-05,-0.000423409160685,2.3374107155e-05,1793243328277741056
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714.21039814,680,659.78960186,631,880.78960186,787,806.420796281,652.21039814,630.21039814,652,0.452468465018,-0.00556281503824,0.0497204618157,0.999999901159,6.55527008483e-05,-0.000439142709944,2.31858897138e-05,1793243328294407424
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.626039655,714,680,659.626039655,631,881,786.626039655,806.373960345,652,630,652,0.452431607405,-0.00556183576736,0.0497061723086,0.999999889616,6.50367502694e-05,-0.000464797878923,2.23933163351e-05,1793243328311074816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.033638347,714,680,659.033638347,631,881,786.033638347,806.966361653,652,630,652,0.452384308099,-0.00556006357814,0.0496893222619,0.999999874548,6.47285011e-05,-0.000496248551746,2.12477212838e-05,1793243328327742464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.546211094,714,680.546211094,659,631,880.453788906,786.546211094,806.453788906,652,630.546211094,652,0.452318612698,-0.00555764902355,0.0496696761707,0.99999985934,6.59296538275e-05,-0.000525899881892,2.00507525713e-05,1793243328344408576
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.875050723,714.124949277,680.875050723,659,631,880.124949277,786.875050723,806,652,630.875050723,652,0.45224968027,-0.00555522912579,0.0496521702311,0.999999845336,6.71919156593e-05,-0.000551773387671,1.8959261577e-05,1793243328361075200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.297600236,714.702399764,680.297600236,659,631,880.702399764,786.297600236,806,652,630.297600236,652,0.452173035686,-0.00555292992463,0.0496430243889,0.999999838248,6.83464060723e-05,-0.000564357880186,1.82609560668e-05,1793243328377742080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.721327544,680,659.278672456,631,880.721327544,786,806.278672456,651.721327544,630.278672456,652.278672456,0.452088339077,-0.00554970976082,0.0496370245603,0.999999832408,7.02946640536e-05,-0.000574402063978,1.74851065676e-05,1793243328394408704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.146307387,680,659.853692613,631,880.146307387,786,806.853692613,651.146307387,630.853692613,652.853692613,0.451995079734,-0.00554551022098,0.0496343702865,0.999999827977,7.30870355175e-05,-0.000581744815193,1.66267947714e-05,1793243328411075328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.560215803,631,880.439784197,786,807,651.439784197,630.560215803,652.560215803,0.451880809176,-0.00554204686972,0.049630398086,0.999999822714,7.58698768351e-05,-0.000590384869079,1.61413394877e-05,1793243328427741440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.029128906,714.029128906,680,659,631,880.970871094,785.970871094,807,652,630.029128906,652,0.451757826968,-0.0055386815232,0.0496257417537,0.999999816875,7.88446928731e-05,-0.000599821815585,1.57304364595e-05,1793243328444407808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.608551231,714.608551231,680,659,631,880.391448769,785.391448769,807,652,630.608551231,652,0.451605730331,-0.00553242130581,0.0496166579481,0.999999806545,8.55076738786e-05,-0.000615949443657,1.43240751927e-05,1793243328461074688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.814411639,680,659,631,880,785.371176722,806.814411639,652,631,652,0.451445637933,-0.00552617992379,0.0496082333916,0.999999797842,9.03991762557e-05,-0.000629268462032,1.28897972002e-05,1793243328477741568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.242341671,680,659,631,880,786.515316658,806.242341671,652,631,652,0.451268894648,-0.00551997776658,0.0496011817005,0.999999793022,9.16016323477e-05,-0.000636738642151,1.13973837358e-05,1793243328494407936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.333274829,659.333274829,631,880,787,806.333274829,652,631,652,0.451082072288,-0.00551254920175,0.04960285421,0.999999796638,9.55901779044e-05,-0.000630463022215,1.01796820551e-05,1793243328511074304
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.911497996,659.911497996,631,880,787,806.911497996,652,631,652,0.450887842052,-0.00550421925854,0.0496109387794,0.999999806244,0.000101626426927,-0.000614084597068,9.16388623944e-06,1793243328527740928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.501304441,714,680.501304441,660,631.498695559,880,786.501304441,807,652,631,652,0.450669564193,-0.00549790492307,0.0496276397003,0.999999823765,0.000106890486154,-0.000583916183731,9.30438831167e-06,1793243328544407552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.086183793,807,652,631,652,0.45044048397,-0.00549129276178,0.0496451820218,0.999999840969,0.000112465595818,-0.00055256149754,9.39828732253e-06,1793243328561074176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.666047013,807,652,631,652,0.450174419444,-0.00548088803303,0.0496586244407,0.999999852938,0.000120621842054,-0.00052868694899,8.02823619379e-06,1793243328577741312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.242631697,880,787,807,652,631,652,0.449890560465,-0.00547041737446,0.0496707397343,0.999999863844,0.000128015367019,-0.000505847040181,6.60977731913e-06,1793243328594407680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.814764001,880,787,807,652,631,652,0.449582536139,-0.00545985718197,0.0496810527538,0.999999873631,0.000134373094787,-0.000484412202591,5.12557946115e-06,1793243328611074304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.389541903,714,680,660,633,880,787,807.389541903,652,631,652,0.449240333421,-0.0054480217244,0.0496890434545,0.999999877347,0.000142872421762,-0.000474214695476,3.80121616078e-06,1793243328627740928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.965586432,714,680,660,633,880,787,807.965586432,652,631,652,0.448881766978,-0.00543557570307,0.0496959222885,0.999999878217,0.000152397091087,-0.000469397333331,2.55337757173e-06,1793243328644407552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.440436953,714,680,660,633,880.559563047,786.440436953,806.880873906,652,631,652,0.448484563584,-0.0054278532524,0.0497049926693,0.999999889027,0.000154028453864,-0.00044522108994,1.64685644809e-07,1793243328661074176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.137786508,745,714,680,660,633,880.862213492,786.137786508,806.137786508,652,631.137786508,652,0.448076857823,-0.0054194929504,0.0497131880554,0.999999898098,0.000155891496017,-0.000423669393405,-2.57565264664e-06,1793243328677740800
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.667909731,745,714,680,660,633,880.332090269,786.667909731,806.667909731,652,631.667909731,652,0.447646237505,-0.00540846184363,0.0497184954711,0.999999901884,0.000159842258146,-0.000413093245255,-6.11087772108e-06,1793243328694407680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.766124824,745,714,680,660,633.233875176,880,787,807,652,631.766124824,651.766124824,0.447192426466,-0.00540286392892,0.049725109893,0.999999907191,0.000158532729369,-0.000400501567345,-9.11278211438e-06,1793243328711074304
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.140053862,745,714,680,660,633.859946138,880,787,807,652,631.140053862,651.140053862,0.446699725797,-0.00540637717615,0.049733916093,0.999999914994,0.000148401983192,-0.000384529955354,-1.12203376765e-05,1793243328727741184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.461843777,634,880,787,807,652,631,651.461843777,0.446201480813,-0.00541300769362,0.0497546742592,0.999999929628,0.000133163773788,-0.000350512538368,-1.23643287969e-05,1793243328744407808
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.054780106,745.054780106,714,680.054780106,660.945219894,634,880,787,806.945219894,652,631,651.945219894,0.445694257775,-0.00541984941077,0.0497790408856,0.999999944166,0.000117396358718,-0.000312592259072,-1.31548513724e-05,1793243328761074688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.628803359,745.628803359,714,680.628803359,660.371196641,634,880,787,806.371196641,652,631,651.371196641,0.445117078273,-0.00542017839474,0.0498049649084,0.999999952625,0.000110563485621,-0.000286968981864,-1.32268762126e-05,1793243328777741056
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.796657447,745.796657447,714.203342553,680.796657447,660,634,880,787,806,652,631,651.203342553,0.444516421396,-0.00541686083592,0.0498184370407,0.999999956169,0.000106020374604,-0.000276047029756,-1.47926473334e-05,1793243328794407936
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.221174056,745.221174056,714.778825944,680.221174056,660,634,880,787,806,652,631,651.778825944,0.443872798193,-0.00540686967397,0.0498091207439,0.999999951594,0.000105667798588,-0.000292030237158,-1.90921502173e-05,1793243328811075072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.354799159,745,714.645200841,680,660.354799159,634,880,787,806.354799159,652,631,652,0.443195321124,-0.00539510058161,0.0497854799047,0.99999993928,0.000107510275875,-0.000330570714099,-2.4601317761e-05,1793243328827741952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.931078121,745,714.068921879,680,660.931078121,634,880,787,806.931078121,652,631,652,0.442496711143,-0.00538222163448,0.0497528971143,0.999999919976,0.000110722992864,-0.00038319233807,-3.08656060732e-05,1793243328844409344
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.52468951,661,634,880,787,806.47531049,652,631,652,0.441832244134,-0.00538746624618,0.04976538218,0.999999931605,9.56176775377e-05,-0.00035570581096,-3.3478258227e-05,1793243328861075712
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.88338808,745,714,680.88338808,661,634,880.11661192,787,806,652,631,652,0.441160611622,-0.00539635591272,0.0497872212156,0.999999947203,7.65392980675e-05,-0.000313842275718,-3.52080333499e-05,1793243328877742080
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.307394813,745,714,680.307394813,661,634,880.692605187,787,806,652,631,652,0.440442479947,-0.00540990613342,0.0498217913364,0.999999964704,5.16122785584e-05,-0.000258211628375,-3.54139648417e-05,1793243328894408704
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.268308788,661,634,880.731691212,787,806.268308788,652,631,651.731691212,0.439686262123,-0.00541251951197,0.0498277358621,0.999999967071,3.90186587272e-05,-0.000250810439333,-3.78228898429e-05,1793243328911075584
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.843680959,661,634,880.156319041,787,806.843680959,652,631,651.156319041,0.438886456882,-0.00540261632966,0.0498009201085,0.999999953682,4.05398750675e-05,-0.000298604977951,-4.27530094176e-05,1793243328927742464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.428304008,745,714,680.143391984,660.571695992,634,880,787,806.571695992,652,631,651.428304008,0.438080758097,-0.00539436088286,0.049777095403,0.999999939352,4.0445038085e-05,-0.000342752467934,-4.67057801754e-05,1793243328944408832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.032261848,660.016130924,634,880,787,806,652,631,652,0.437272886236,-0.00538690481808,0.0497560040611,0.999999924631,3.95188864882e-05,-0.000382956033003,-5.02136129736e-05,1793243328961075200
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.190675691,660.595337845,634,880,787,806,652,631,652,0.436465898802,-0.0053858969876,0.0497913781527,0.999999942797,3.06172853119e-05,-0.000332979524296,-5.09164172629e-05,1793243328977741568
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714.657154102,679.657154102,660.342845898,634.342845898,880.342845898,788,806,652,631,652,0.43038642607,-0.00537235437886,0.0497885760423,0.999999937294,8.07512208611e-05,-0.000342060596431,-4.34147887774e-05,1793243329094409216
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54919ccd1aa0ecc6e0946857b3ad4f2af718e1ec
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.58074378216,1.89138900903e-06,1.04004087934,0.551315501995,0.00867672057673,1.03967867922
+397,6.616666667,pose2_to_pose3_retreat,0.580743673494,1.83262008618e-06,1.04004076738,0.551315394095,0.00867666441962,1.03967856761
+398,6.633333333,pose2_to_pose3_retreat,0.580743559549,1.77099648039e-06,1.04004064998,0.551315280953,0.00867660553469,1.03967845058
+399,6.650000000,pose2_to_pose3_retreat,0.580743530988,1.75555027549e-06,1.04004062056,0.551315252594,0.00867659077494,1.03967842124
+400,6.666666667,pose2_to_pose3_retreat,0.580743491776,1.74484877263e-06,1.04004061411,0.551315213539,0.00867658058795,1.03967841438
+401,6.683333333,pose2_to_pose3_retreat,0.580743493769,1.82431318401e-06,1.04004086955,0.551315214625,0.00867665681111,1.03967866573
+402,6.700000000,pose2_to_pose3_retreat,0.580743494639,1.85903102788e-06,1.04004098114,0.5513152151,0.00867669011287,1.03967877554
+403,6.716666667,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051328,1.03967877686
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc31de1a3ba7a8adcd020eed99bd5d9a69c11fd0
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c3ee2342f15c062b37391b82aad7d2ad34d4f99599488602201a2a581943f6
+size 33118677
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d06e1912f4f8b67f7fab48bac4ef84d30a61adf
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,521 @@
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+1,0.016666667,BASELINE,765,745.421414272,714,679.578585728,661,635,879,787.421414272,805.421414272,653,631,652,0.400991452723,-0.00540085222911,0.0498552438029,0.999999961602,0.00010792718983,-0.000251420442331,-4.39894021227e-05,1793243330642979072
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+12,0.200000000,BASELINE,765,745,714,679,661,635,878.963189916,788,805,652.963189916,631,652,0.400993588758,-0.00540092369432,0.0498571474507,0.999999962515,0.000106164418483,-0.000248514800688,-4.40374010171e-05,1793243330826311424
+13,0.216666667,BASELINE,765,745.543216614,714,679,661,635,878.456783386,788,805,653,630.456783386,652,0.400992856683,-0.00540211667177,0.0498567654038,0.999999962323,0.000106487013273,-0.0002492122332,-4.3681061381e-05,1793243330842978048
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+21,0.350000000,BASELINE,765,745,714,679.178343425,660,635,878,787,805.178343425,653,631,652,0.400991702633,-0.00540020173772,0.049856418522,0.999999962007,0.00010882704185,-0.000249454187749,-4.37732951836e-05,1793243330976311552
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+23,0.383333333,BASELINE,765,745,714,679.664425031,660.335574969,635,878.335574969,787.335574969,805.664425031,653,631,652,0.400993537903,-0.00539994229147,0.0498572542797,0.999999962646,0.000108322370813,-0.000247039620914,-4.41017103358e-05,1793243331009644800
+24,0.400000000,BASELINE,765,745,714,679.073179793,660.926820207,635,878.926820207,787.926820207,805.073179793,653,631,652,0.400993239087,-0.00540137881667,0.0498564982206,0.999999962667,0.000104768244596,-0.000248515002194,-4.39234859841e-05,1793243331026311680
+25,0.416666667,BASELINE,765.506744702,745,714,679,661,635,879,787.493255298,805,652.493255298,631,652,0.400993301247,-0.00540263736605,0.0498567674833,0.999999962615,0.000105759064345,-0.00024836747307,-4.35807318288e-05,1793243331042978048
+26,0.433333333,BASELINE,765.915359458,745,714,679,661,635,879,787.084640542,805.084640542,652.084640542,631,652,0.400993324498,-0.00540338073387,0.0498571580261,0.999999962556,0.000107177173174,-0.000248048134991,-4.32863028734e-05,1793243331059644928
+27,0.450000000,BASELINE,765.339953915,745,714,679,661,635,879,787.660046085,805.660046085,652.660046085,631,652,0.400992826506,-0.0054012827313,0.0498574120063,0.999999962529,0.000107350338086,-0.000248061827673,-4.34068296344e-05,1793243331076311552
+28,0.466666667,BASELINE,765,745,714,679,661,634.759337811,878.759337811,788,805.759337811,652.759337811,631,652,0.400992613506,-0.00539984535538,0.0498574038154,0.999999962386,0.000108209883254,-0.000248217118392,-4.36671374741e-05,1793243331092978176
+29,0.483333333,BASELINE,765,745,714,679,661,634.171198539,878.171198539,788,805.171198539,652.171198539,631,652,0.40099281199,-0.0053993618171,0.0498570170922,0.999999962074,0.000110060449938,-0.000248576853658,-4.41292664639e-05,1793243331109644800
+30,0.500000000,BASELINE,765,745,714,679,660.589284055,634,878.410715945,787.589284055,805,652.410715945,631,652,0.400993575366,-0.0053996759974,0.0498569507463,0.99999996242,0.000108590947303,-0.000247816198545,-4.42233102318e-05,1793243331126311680
+31,0.516666667,BASELINE,765,745,714,679,660.009925524,634,878.990074476,787.009925524,805,652.990074476,631,652,0.40099457069,-0.00540031772604,0.0498570159493,0.999999963028,0.000105758202985,-0.000246595503988,-4.41662158482e-05,1793243331142978816
+32,0.533333333,BASELINE,765,745,714,679,660.566368249,634,879,787.566368249,805.566368249,653,631,652,0.400994117702,-0.0053997757523,0.0498569590249,0.999999962778,0.000107455165153,-0.000246873404414,-4.41642280122e-05,1793243331159645184
+33,0.550000000,BASELINE,765,745,714,679,661,634.141965575,878.858034425,788,805.858034425,653,631,652,0.400993857876,-0.00539962130177,0.0498570283602,0.999999962659,0.00010830849573,-0.00024699125678,-4.41095474614e-05,1793243331176311296
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+39,0.650000000,BASELINE,764.624278111,745,714,679,661,634.624278111,879,788,805,653,631,652,0.400989665806,-0.00540110504174,0.0498548997174,0.999999961861,0.000106817604043,-0.000250876226641,-4.39253777508e-05,1793243331276311552
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+41,0.683333333,BASELINE,765,745,714,679,661,634.206496512,879,787.206496512,805,653,631,652,0.400992860542,-0.00540122405648,0.0498574240622,0.99999996314,0.000107047026858,-0.000245679362226,-4.36278097326e-05,1793243331309644544
+42,0.700000000,BASELINE,765,745.37597223,714,679,661,634.37597223,879,787,805,652.62402777,631,652,0.400994138514,-0.00540162701131,0.0498580355197,0.999999963514,0.000105936647943,-0.000244647791205,-4.3554776822e-05,1793243331326311680
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+53,0.883333333,BASELINE,765,745.757914052,714,679,661,635,878.242085948,788,805.757914052,653,631,652,0.400994470752,-0.0054014380836,0.0498580444296,0.999999963495,0.000106880445389,-0.000244321322536,-4.35084510748e-05,1793243331509644544
+54,0.900000000,BASELINE,765,745.658942933,714,679.341057067,661,635,878.341057067,788,805.658942933,653,631,652,0.400995006842,-0.00540102158203,0.0498584871078,0.999999963493,0.000108325758948,-0.000243681322805,-4.35681049834e-05,1793243331526311424
+55,0.916666667,BASELINE,765,745.079563214,714,679.920436786,661,635,878.920436786,788,805.079563214,653,631,652,0.400996539143,-0.00540144565235,0.0498602081083,0.999999963919,0.000109302178947,-0.0002415213319,-4.33960061328e-05,1793243331542978048
+56,0.933333333,BASELINE,765,745,714,679.504996813,661,635,879,788,805,653,631.495003187,652,0.400995606492,-0.00540161908764,0.0498602895875,0.999999963718,0.000109846351493,-0.000242159782974,-4.30821615402e-05,1793243331559644672
+57,0.950000000,BASELINE,765.068942975,745,714,679.068942975,661,635,879,788,805,653,631.931057025,652,0.400994169791,-0.00540181835504,0.0498598566914,0.999999963396,0.000109812702008,-0.000243546364406,-4.28281808401e-05,1793243331576311552
+58,0.966666667,BASELINE,765.643907048,745,714,679.643907048,661,635,879,788,805,653,631.356092952,652,0.400991913495,-0.00540250005673,0.0498575639997,0.999999962903,0.000106043033885,-0.000247154386263,-4.31791950744e-05,1793243331592978176
+59,0.983333333,BASELINE,765.773798447,745.226201553,714.226201553,680,661,635,879,788,805,652.773798447,631,652,0.400991307865,-0.00540288041669,0.04985648444,0.999999962803,0.00010383827584,-0.000248446782215,-4.34315657684e-05,1793243331609644544
+60,1.000000000,BASELINE,765.179577582,745.820422418,714.820422418,680,661,635,879,788,805,652.179577582,631,652,0.40099338779,-0.0054027705079,0.049857378589,0.999999963375,0.00010417955247,-0.000245971764062,-4.35234481079e-05,1793243331626311168
+61,1.016666667,BASELINE,765,745.598476079,714.598476079,680,660.598476079,635,879,787.598476079,805,652.401523921,631,652,0.400994000485,-0.00540243530272,0.0498578701519,0.999999963404,0.000105305802214,-0.000245373546464,-4.35266467823e-05,1793243331642978048
+62,1.033333333,BASELINE,765,745.023056466,714.023056466,680,660.023056466,635,879,787.023056466,805,652.976943534,631,652,0.400993977739,-0.00540200252412,0.049858187359,0.999999963197,0.000106772015352,-0.000245588151154,-4.34914375098e-05,1793243331659644672
+63,1.050000000,BASELINE,765,745,714,680,660.547303579,635,878.452696421,787.547303579,805.547303579,653,631,652,0.400992741818,-0.00540367330925,0.0498579183728,0.999999963303,0.000104249083568,-0.000246322286691,-4.3028500521e-05,1793243331676311296
+64,1.066666667,BASELINE,765,745,714,680,661,634.88016314,878.11983686,788,805.88016314,653,631,652,0.400991723684,-0.00540473275946,0.0498576309257,0.999999963349,0.00010238813188,-0.000246960264655,-4.2781779376e-05,1793243331692978432
+65,1.083333333,BASELINE,765,745,714,680,661,634.298439587,878.701560413,788,805.298439587,653,631,652,0.400991740146,-0.00540309751413,0.0498573666343,0.999999963138,0.000103720437281,-0.000247144038629,-4.34372326329e-05,1793243331709645056
+66,1.100000000,BASELINE,765,745.289542034,714.289542034,679.710457966,661,634.289542034,879,788,805.289542034,653,631,652,0.400992211517,-0.00540195926017,0.0498575699369,0.999999963037,0.000105391224451,-0.000246798419644,-4.37041597394e-05,1793243331726311680
+67,1.116666667,BASELINE,765,745.88411649,714.88411649,679.11588351,661,634.88411649,879,788,805.88411649,653,631,652,0.400993162135,-0.00540134458654,0.0498582658498,0.99999996305,0.000107418601953,-0.000245895085368,-4.35617746531e-05,1793243331742978048
+68,1.133333333,BASELINE,765,746,714.535881912,679,661,635,878.535881912,788,806,653,631,652,0.400994049062,-0.00540162008511,0.0498588271403,0.999999963434,0.000107979638884,-0.000244083182082,-4.35305371849e-05,1793243331759644416
+69,1.150000000,BASELINE,765,746,714,679.040458063,661,635,878.040458063,788,805.959541937,653,631,652.040458063,0.400994760457,-0.00540203259045,0.0498592253822,0.999999963832,0.000108231591432,-0.000242339998482,-4.352052522e-05,1793243331776311040
+70,1.166666667,BASELINE,765,746,714,679.615031552,661,635,878.615031552,788,805.384968448,653,631,652.615031552,0.400993358078,-0.00540140889551,0.0498579013471,0.999999963239,0.000109089416072,-0.000244407751625,-4.34355067422e-05,1793243331792977920
+71,1.183333333,BASELINE,765,746,714,679.806209729,661,635,879,788,805,653,631,652.806209729,0.400993038797,-0.0054009798085,0.0498574162127,0.999999962981,0.000109464568127,-0.000245299842377,-4.33910330297e-05,1793243331809644800
+72,1.200000000,BASELINE,765,746,714,679.218953338,661,635,879,788,805,653,631,652.218953338,0.400994918604,-0.00540094584767,0.0498586343577,0.999999963411,0.000108859715988,-0.000243804902844,-4.34288802115e-05,1793243331826311424
+73,1.216666667,BASELINE,765,745.63463007,714,679,661,635,878.63463007,787.63463007,805,653,631,652,0.400994729621,-0.00540148799088,0.0498584266921,0.999999963348,0.000108934408403,-0.000244040358781,-4.33662214335e-05,1793243331842978048
+74,1.233333333,BASELINE,765,745.052050557,714,679,661,635,878.052050557,787.052050557,805,653,631,652,0.400993310758,-0.00540237262346,0.0498573713933,0.999999962992,0.000109413084811,-0.000245304521465,-4.32438126409e-05,1793243331859644672
+75,1.250000000,BASELINE,765,745.523167407,714,679,661,635,878.523167407,787.523167407,805.523167407,653,631.523167407,652,0.400995073626,-0.00540142054085,0.04985883456,0.999999963475,0.000109829361767,-0.000243142011491,-4.32484529158e-05,1793243331876311296
+76,1.266666667,BASELINE,765.097625095,745.902374905,714,679.097625095,661,635,879,788,805.902374905,653,631.902374905,652,0.400996454397,-0.00540057915506,0.0498600699623,0.99999996387,0.000109807905131,-0.000241527694142,-4.3208361516e-05,1793243331892977920
+77,1.283333333,BASELINE,765.67189709,745.32810291,714,679.67189709,661,635,879,788,805.32810291,653,631.32810291,652,0.400994445512,-0.00540115805702,0.0498589869335,0.999999963458,0.00010767913884,-0.000244231321542,-4.2889012451e-05,1793243331909644544
+78,1.300000000,BASELINE,766,745,714.253209141,679.746790859,661,635,879,788,805,653,631,652,0.40099358136,-0.00540159815097,0.0498584199457,0.999999963301,0.000106197681711,-0.000245520961088,-4.2884676091e-05,1793243331926311168
+79,1.316666667,BASELINE,766,745,714.84390438,679.15609562,661,635,879,788,805,653,631,652,0.400994242948,-0.00540185323665,0.0498585407557,0.999999963495,0.000105578981298,-0.000244925987401,-4.33001998311e-05,1793243331942978048
+80,1.333333333,BASELINE,765.578597598,745,714.578597598,679,660.578597598,635,879,787.578597598,805.421402402,653,631,652,0.400994495376,-0.00540166669315,0.0498587632412,0.999999963457,0.000106441090269,-0.000244680925644,-4.34344769006e-05,1793243331959644416
+81,1.350000000,BASELINE,765.005839589,745,714.005839589,679,660.005839589,635,879,787.005839589,805.994160411,653,631,652,0.400994600845,-0.00540132152919,0.0498590222457,0.999999963336,0.000107835063278,-0.000244561542128,-4.34677382984e-05,1793243331976311040
+82,1.366666667,BASELINE,765,745,714,679,661.142949814,635,879,787,805.428525093,653,631,652,0.400993966031,-0.00540046074345,0.0498587674631,0.999999963128,0.000108584272387,-0.000245092038039,-4.33933894867e-05,1793243331992978176
+83,1.383333333,BASELINE,765,745.152630244,714,679,661.847369756,635,879,787.152630244,805.152630244,653,631,652,0.40099346939,-0.00540021635195,0.0498585480847,0.999999962998,0.000108918540705,-0.000245483704014,-4.33408061307e-05,1793243332009645056
+84,1.400000000,BASELINE,765,745.744709018,714,679,661.255290982,635,879,787.744709018,805.744709018,653,631,652,0.40099339253,-0.00540176195636,0.0498584458783,0.999999963095,0.000108077245662,-0.000245456381469,-4.33540806296e-05,1793243332026311680
+85,1.416666667,BASELINE,765,746,714,679,661,635,878.670460564,788,805.670460564,653,631,652.329539436,0.400994003321,-0.00540210237028,0.049858675169,0.999999963357,0.000107653291972,-0.000244578650495,-4.33404744321e-05,1793243332042978048
+86,1.433333333,BASELINE,765,746,714,679,661,635,878.091124563,788,805.091124563,653,631,652.908875437,0.400995135363,-0.00540152922895,0.0498591557403,0.999999963741,0.000107545690262,-0.000243056295288,-4.33064922029e-05,1793243332059644672
+87,1.450000000,BASELINE,765,745.516078785,714,679,661,635,878.483921215,787.516078785,805,653,631,652.516078785,0.400995225402,-0.00540187502999,0.049859719154,0.999999963818,0.00010696333533,-0.000243003342615,-4.32649423807e-05,1793243332076311296
+88,1.466666667,BASELINE,765,745,714,679,661,635,879,787.058377361,805,652.941622639,631,652,0.400994966201,-0.00540227265837,0.0498600645125,0.999999963796,0.00010622796616,-0.00024341496944,-4.32660506044e-05,1793243332092978176
+89,1.483333333,BASELINE,765,745,714,679,661,635,879,787.634706844,805,652.365293156,631,652,0.400993333971,-0.00540160831223,0.0498583379886,0.999999963404,0.000104921194455,-0.000245515170114,-4.36581738873e-05,1793243332109644800
+90,1.500000000,BASELINE,765,745.21625382,714,679,661,635,879,788,805,652.21625382,631,652,0.400992534025,-0.00540193532831,0.0498574963761,0.999999963228,0.00010423945726,-0.000246521955539,-4.3645419434e-05,1793243332126311680
+91,1.516666667,BASELINE,765,745.806831949,714,679,661,635,879,788,805,652.806831949,631,652,0.400993174718,-0.00540397834183,0.0498581865005,0.999999963435,0.000104639622992,-0.000245636094836,-4.29318422731e-05,1793243332142979072
+92,1.533333333,BASELINE,765,745.609561352,714,679,661,635,878.609561352,788,805,653,631,652,0.400993280885,-0.0054050913084,0.0498577785916,0.999999963382,0.00010445557513,-0.000245965164963,-4.27235587386e-05,1793243332159645696
+93,1.550000000,BASELINE,765,745.029343187,714,679,661,635,878.029343187,788,805,653,631,652,0.400993127237,-0.00540575220961,0.0498568369646,0.999999963203,0.000103987560093,-0.000246884773337,-4.27608819247e-05,1793243332176311808
+94,1.566666667,BASELINE,765.54628958,745.54628958,714,679,661,635,878.54628958,788,805.54628958,653,631,652,0.400993691816,-0.00540357302526,0.0498571857871,0.999999963455,0.000104535446501,-0.00024557365203,-4.30768209353e-05,1793243332192978432
+95,1.583333333,BASELINE,765.875970727,745.875970727,714,679.124029273,661,635,879,787.875970727,805.875970727,653,631,652,0.400993944489,-0.00540165482761,0.0498575214542,0.999999963608,0.000105347009406,-0.000244547669812,-4.33985342442e-05,1793243332209644800
+96,1.600000000,BASELINE,765.289463864,745.289463864,714,679.710536136,661,635,879,787.289463864,805.289463864,653,631,652,0.400992891486,-0.00540127388561,0.0498575517594,0.999999963308,0.000106939986223,-0.000245027972717,-4.36864403324e-05,1793243332226312448
+97,1.616666667,BASELINE,765,745,714,680,661,634.706723241,879,787,805,653,631,652,0.400992685148,-0.00540137314524,0.0498578623137,0.999999963168,0.000107754942656,-0.000245235342687,-4.3725484596e-05,1793243332242979584
+98,1.633333333,BASELINE,765,745,714,680,661,634.127652796,879,787,805,653,631,652,0.400993303871,-0.00540194035399,0.0498584459664,0.999999963185,0.000107811730108,-0.000245176743689,-4.35220168257e-05,1793243332259645696
+99,1.650000000,BASELINE,765.451065066,745,714,679.548934934,661,634.451065066,879,787.451065066,805,653,631,652,0.400992241199,-0.0054021816686,0.049857628009,0.999999962786,0.000108026651181,-0.000246764810534,-4.31933877166e-05,1793243332276312576
+100,1.666666667,BASELINE,765.970580853,745.029419147,714,679,661,635,879,788,805,653,631,652,0.400990927454,-0.00540235474111,0.0498565679752,0.999999962339,0.000108260175395,-0.000248529316068,-4.28404594562e-05,1793243332292979200
+101,1.683333333,BASELINE,765.397110231,745.602889769,714,679,661,635,879,788,805,653,631,652,0.40099376347,-0.00540297007443,0.0498583609405,0.999999963256,0.000108010766881,-0.000244945452348,-4.26926978164e-05,1793243332309645568
+102,1.700000000,BASELINE,765,745.81829721,714,679,661,635,879,787.81829721,805,653,631,652,0.400995073301,-0.00540298833095,0.0498592013476,0.999999963778,0.000107382250089,-0.000243064908144,-4.28068731905e-05,1793243332326311936
+103,1.716666667,BASELINE,765,745.227454801,714,679,661,635,879,787.227454801,805,653,631,652,0.400992946623,-0.00540166215139,0.0498578968826,0.999999963429,0.00010590009638,-0.000245019723787,-4.35108513601e-05,1793243332342978304
+104,1.733333333,BASELINE,765,745,714,679,661,635,879,787.354889848,805.709779696,653,631,652,0.400993740745,-0.00540129420217,0.0498583036012,0.999999963561,0.000106270953148,-0.000244287974082,-4.36743182262e-05,1793243332359644928
+105,1.750000000,BASELINE,765,745,714,679,661,635,879,787.93191556,806.863831121,653,631,652,0.40099636308,-0.00540152603702,0.0498597813994,0.999999963992,0.000107801662853,-0.000241874625276,-4.34994634355e-05,1793243332376312320
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,746,714,679,661,635,879,788,806,652,632,652,0.400993249535,-0.00539857621548,0.0498579750039,0.999999962313,0.000114349479817,-0.000245770910615,-4.35355918262e-05,1793243332406910464
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.5700663,745.4299337,714,679,661,634.4299337,879,788,806,652.5700663,631.4299337,652,0.400994339487,-0.00539941578235,0.0498584996199,0.999999963154,0.000110280769429,-0.000244210658494,-4.34881435691e-05,1793243332423576832
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.854555384,745,714,679.145444616,661,634.145444616,879.145444616,788,805.854555384,653,631,652,0.400995253408,-0.00540062480131,0.0498588350298,0.999999963834,0.000106820735964,-0.000242961436992,-4.34812139283e-05,1793243332440243712
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.262879398,745,714,679.737120602,661,634.737120602,879.737120602,788,805.262879398,653,631,652,0.40099562726,-0.00540296731795,0.0498585899461,0.99999996407,0.000105228152805,-0.000242666472646,-4.35985974224e-05,1793243332456910080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879.678674613,787.678674613,805,653,631,652,0.400995261606,-0.00540306777709,0.0498587817659,0.999999964098,0.000105092884646,-0.000242608474431,-4.3597097383e-05,1793243332473576448
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879.100443235,787.100443235,805,653,631,652,0.400994304704,-0.00540137566683,0.0498593228988,0.999999963961,0.000106122768697,-0.000242739935337,-4.35005476044e-05,1793243332490243072
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.47413125,714,679.52586875,660.52586875,635,879,787.47413125,804.52586875,652.52586875,631,652,0.400994215091,-0.00540144989962,0.0498587261391,0.999999963776,0.000106476181174,-0.000243357891393,-4.34394955738e-05,1793243332506909952
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,746,714,679,660.049370057,635,879,788,804.049370057,652.049370057,631,652,0.400994170914,-0.00540184082228,0.0498579211211,0.999999963564,0.000106643309697,-0.000244163815194,-4.34034077964e-05,1793243332523576320
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,746,714,679,660.640329958,635,879,788,804.640329958,652.640329958,631,652,0.400992625056,-0.00540163233915,0.0498574556858,0.999999963163,0.000106326963724,-0.000245909803593,-4.35593140265e-05,1793243332540242688
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.194280323,714,679,661.805719677,635,879,788,805,653,631,652,0.400997079169,-0.00540194569327,0.049860653904,0.999999964251,0.00010749829829,-0.00024103080977,-4.29604739384e-05,1793243332573576448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.381271699,661.237456601,635,879,788,805.381271699,653,631,652,0.401011095078,-0.00540263372584,0.0498661478478,0.999999966811,0.000106941225093,-0.000230484381659,-4.26536511662e-05,1793243332590243584
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.955042776,660.089914447,635,879,788,805.955042776,653,631,652,0.401030229787,-0.00540350938805,0.0498731522936,0.999999970028,0.000105607987759,-0.000216769223399,-4.24436491032e-05,1793243332606910464
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.468618143,660.531381857,635,878.468618143,788,805.468618143,653,631,652,0.401075693116,-0.00540606238978,0.0498876384555,0.999999976378,0.000104536737789,-0.000185991445112,-4.15074280198e-05,1793243332623576832
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.110140123,714,679.110140123,661,635,878.110140123,787.889859877,805,653,631,652,0.401127086056,-0.00540849497199,0.0499031597289,0.999999982025,0.000103480791241,-0.000153647130397,-4.04373881988e-05,1793243332640242688
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.698453633,714,679.698453633,661,635,878.698453633,787.301546367,805,653,631,652,0.401194504698,-0.00540978565842,0.0499204134905,0.999999986699,0.000102394586653,-0.000120799391148,-3.90544168779e-05,1793243332656909312
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,746,714,680,661,635,879,787.283464427,805.283464427,653,631,652,0.401265298221,-0.00541199938255,0.0499325462687,0.999999989074,0.000101596998607,-0.000100547363677,-3.7683159905e-05,1793243332673576192
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,635,879,787.865002256,805.865002256,653,631,652,0.401339640553,-0.00541518371512,0.0499392941409,0.999999989854,0.000101102901755,-9.35401983183e-05,-3.63242211204e-05,1793243332690243072
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.438824552,745.561175448,714,679.561175448,661,635,879,788,806,653,631,652,0.401425077549,-0.00541777119181,0.0499406719599,0.999999990037,0.000100096876192,-9.29314513156e-05,-3.5633591571e-05,1793243332706909952
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.989674575,745,714,679.010325425,661,635,879,788,805.989674575,653,631,652,0.401514123033,-0.00542018874188,0.0499403953656,0.999999990041,9.89488371308e-05,-9.43004674176e-05,-3.51452728514e-05,1793243332723576576
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.417567429,745,714,679.582432571,661,635,879,788,805.417567429,653,631,652,0.401617007497,-0.00542317836375,0.0499384352977,0.999999989743,9.84946298871e-05,-9.8030607893e-05,-3.4671532938e-05,1793243332740243456
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.837823971,661,635,878.837823971,787.837823971,805.162176029,653,630.837823971,652,0.401731795512,-0.00542702123504,0.0499380777894,0.999999989783,9.70595462005e-05,-9.93198520391e-05,-3.38859265253e-05,1793243332756910080
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.237447239,661,635,878.237447239,787.237447239,805.762552761,653,630.237447239,652,0.401878746985,-0.00543316959143,0.049942050408,0.999999990738,9.29741279528e-05,-9.40137775568e-05,-3.22576548457e-05,1793243332773576448
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.347162702,679,661,635,878.347162702,787.347162702,805.652837298,653,630.347162702,652,0.402038411092,-0.00543957274589,0.0499446183426,0.999999991387,8.82644071006e-05,-9.2131533225e-05,-3.078351e-05,1793243332790243072
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.921457251,679,661,635,878.921457251,787.921457251,805.078542749,653,630.921457251,652,0.40220639248,-0.00544614260306,0.0499462672605,0.999999991834,8.31462346962e-05,-9.24893356472e-05,-2.9410202762e-05,1793243332806910208
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.503513319,679,660.503513319,635,879,788,805,652.503513319,631,652,0.402406098392,-0.00545210232216,0.0499458548724,0.999999991896,8.14580979301e-05,-9.36874629937e-05,-2.8197067804e-05,1793243332823576832
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.073274174,635,878.926725826,788,805,652,631,652,0.402614091623,-0.00545825510248,0.0499455692697,0.999999991956,8.01343202838e-05,-9.45660999376e-05,-2.69119425498e-05,1793243332840243456
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.661601183,635,878.338398817,788,805,652,631,652,0.402845007982,-0.00546644440659,0.0499484703983,0.999999992426,7.755185965e-05,-9.22631869426e-05,-2.49424150537e-05,1793243332856910080
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.246446765,661,635,878.246446765,787.753553235,805,652.246446765,631,652,0.403097332896,-0.00547553255514,0.0499520597864,0.999999993334,7.29998791143e-05,-8.64995044421e-05,-2.28343575157e-05,1793243332873577472
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.826578517,661,635,878.826578517,787.173421483,805,652.826578517,631,652,0.403378644637,-0.00548583772424,0.0499565810668,0.999999994734,6.57812002204e-05,-7.60499954087e-05,-2.05387326279e-05,1793243332890246144
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.404231609,745,714,680,661,635,879,787.404231609,805.404231609,653,631,652,0.403694261782,-0.0054958908038,0.049965400852,0.999999996277,6.21701532748e-05,-5.71324499934e-05,-1.78151664979e-05,1793243332906912768
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.980827785,745,714,680,661,635,879,787.980827785,805.980827785,653,631,652,0.404024506762,-0.00550583639197,0.0499760535218,0.999999997484,6.00974026146e-05,-3.46041297377e-05,-1.49091260528e-05,1793243332923578368
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.449035893,745,714,680,661,635,879,788,806,653,631,652,0.404390652408,-0.00551542538245,0.0499832086395,0.999999997989,5.83674653516e-05,-2.16542204046e-05,-1.20890051276e-05,1793243332940243712
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.127132499,714,680,660.872867501,635,879,788,806,653,631,652,0.404764310286,-0.00552433296298,0.0499891464826,0.999999998267,5.71905152124e-05,-1.0448237348e-05,-9.26020128084e-06,1793243332956909568
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.72653392,714,680,660.27346608,635,879,788,806,653,631,652,0.405161287423,-0.00553075481659,0.0499910092924,0.999999998286,5.80239891943e-05,-4.49674805e-06,-6.38816527187e-06,1793243332973576192
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.686859628,714,680,660,635,878.686859628,787.686859628,806,652.686859628,631,652,0.405558521788,-0.00552921791164,0.0499815314696,0.999999997287,7.0287130821e-05,-2.17165673093e-05,-3.67825434662e-06,1793243332990243072
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.110988339,714,680,660,635,878.110988339,787.110988339,806,652.110988339,631,652,0.405955972016,-0.00552100345283,0.0499625386338,0.999999994051,9.2139987837e-05,-5.8377568361e-05,-1.10436922465e-06,1793243333006909696
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,878.462224114,787,806,652.462224114,631,652,0.406396749693,-0.00550920994477,0.0499454771243,0.999999989179,0.000117068857854,-8.9091164143e-05,-6.89442733682e-09,1793243333023576832
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.964141644,660,635,879,787,805.964141644,652.964141644,631,652,0.406851241446,-0.00549779162871,0.0499295468058,0.999999983139,0.000141323342131,-0.000117258546194,9.27800395082e-07,1793243333040243968
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.374180132,660,635,879,787,805.374180132,652.374180132,631,652,0.407357806869,-0.00550537485774,0.0499239711812,0.999999981453,0.000143808798024,-0.000128021712795,4.79392510873e-06,1793243333056910336
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,652.212192505,631,652,0.407898260131,-0.00551343031947,0.0499302374875,0.999999982733,0.000146268603677,-0.000114262997141,9.1534078869e-06,1793243333073576960
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,652.792341744,631,652,0.408497477261,-0.00552230466549,0.0499570385355,0.999999987162,0.000148683929572,-5.79816113257e-05,1.43684080158e-05,1793243333090243328
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.369413192,679,660.369413192,635,879,787,805.369413192,653,631,652,0.409106113081,-0.00552530847306,0.0499804690576,0.999999987003,0.000158976182674,-1.83335846966e-05,1.96119124621e-05,1793243333106910208
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.944768797,679,660.944768797,635,879,787,805.944768797,653,631,652,0.409719999662,-0.00552503954163,0.0500020205603,0.999999984539,0.000173659706614,1.20415872985e-05,2.48713074723e-05,1793243333123577344
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.51454144,745,714.48545856,679,661,635,879,787,805.48545856,652.48545856,631,651.48545856,0.410322371669,-0.00552329051256,0.0499963637786,0.999999982421,0.000185414329712,-3.00946294699e-06,2.77431367197e-05,1793243333140243968
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.912169754,635,879,787,805,652,631,651.087830246,0.410926683633,-0.00552148285386,0.0499840935847,0.999999979838,0.000196143219458,-3.08418881305e-05,3.00156465908e-05,1793243333156910848
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.315055043,635,879,787,805,652,631,651.684944957,0.411549334153,-0.00552024657886,0.0499502285483,0.999999973499,0.000202727806382,-0.000104816722887,3.02831036637e-05,1793243333173577472
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.726443979,745,714,679,660,635,879,787,805,652.273556021,631,652,0.412228396941,-0.00552440708496,0.0499393280184,0.999999977212,0.000173454803559,-0.00012199472166,2.4630406669e-05,1793243333190244096
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.147331245,745,714,679,660,635,879,787,805,652.852668755,631,652,0.412970471206,-0.00553459568962,0.0499540783877,0.999999991634,0.000104129576708,-7.57317772816e-05,1.23650136663e-05,1793243333206910720
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.428854277,745,714,679,660.857708555,634.571145723,879,787,805,652.571145723,631,652,0.413720801445,-0.00553842584507,0.0499732488862,0.999999994192,9.81090364759e-05,-4.25863463839e-05,1.33338884168e-05,1793243333223577600
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.995871367,745,714,679,661.991742733,634.004128633,879,787,805,652,630.995871367,652,0.414473800547,-0.00554005729184,0.0499935704675,0.999999993261,0.000113646271263,-1.44497603345e-05,1.87859937461e-05,1793243333240244224
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.408204031,745,714,679,660.816408062,634.591795969,879,787,805,652,630.408204031,652,0.415205857191,-0.00553757622545,0.0499634141181,0.999999990328,0.000123124527861,-6.16361571705e-05,1.96405955151e-05,1793243333256910848
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.177226199,714,679.177226199,660,635,879.354452399,787.177226199,805.177226199,652,630.177226199,652,0.415953540011,-0.00553594410168,0.0499392547053,0.999999986447,0.000130229034232,-9.86488511004e-05,2.03873269441e-05,1793243333273577216
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.757567915,714,679.757567915,660,635,880.515135829,787.757567915,805.757567915,652,630.757567915,652,0.416736765805,-0.00553624296762,0.0499287358179,0.999999984748,0.000131934251125,-0.000112520621365,2.08886984772e-05,1793243333290243584
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.335289352,745.664710648,714,679.664710648,660.335289352,635,880.664710648,787.664710648,806,652,631,652,0.417557894462,-0.00553829186159,0.0499437281998,0.999999987907,0.000127530244118,-8.62985601127e-05,2.17954671162e-05,1793243333306910464
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.911130855,745.088869145,714,679.088869145,660.911130855,635,880.088869145,787.088869145,806,652,631,652,0.418406216359,-0.00554159630693,0.0499770235513,0.999999992195,0.000118743195803,-3.13113213997e-05,2.29930863925e-05,1793243333323577600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679.478492813,661,635,880.478492813,787,806,652,631,652,0.419202935103,-0.00554310771299,0.0499782181703,0.999999991849,0.000119045829729,-3.90149056267e-05,2.46659029253e-05,1793243333340244224
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.047001602,714,679.952998398,661.047001602,634.952998398,880.952998398,787.047001602,806,652,631,652,0.419928585296,-0.00554419917115,0.0499739198128,0.999999990746,0.000120853674198,-5.66600088756e-05,2.62876554445e-05,1793243333356911104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.647222313,714,679.352777687,661.647222313,634.352777687,880.352777687,787.647222313,806,652,631,652,0.419928585296,-0.00554419917115,0.0499739198128,0.999999990746,0.000120853674198,-5.66600088756e-05,2.62876554445e-05,1793243333373577472
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.760712461,714,679.239287539,662.478575078,634.239287539,880,788,806,652,631,652,0.419928585296,-0.00554419917115,0.0499739198128,0.999999990746,0.000120853674198,-5.66600088756e-05,2.62876554445e-05,1793243333390243584
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.180274364,714,679.819725636,663.639451271,634.819725636,880,788,806,652,631,652,0.419928585296,-0.00554419917115,0.0499739198128,0.999999990746,0.000120853674198,-5.66600088756e-05,2.62876554445e-05,1793243333406910464
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.399363849,714,679.600636151,662.402544605,635,880,787.600636151,806,652,631,651.600636151,0.419928585296,-0.00554419917115,0.0499739198128,0.999999990746,0.000120853674198,-5.66600088756e-05,2.62876554445e-05,1793243333423577088
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.978641678,714,679.021358322,660.085433288,635,880,787.021358322,806,652,631,651.021358322,0.419928585296,-0.00554419917115,0.0499739198128,0.999999990746,0.000120853674198,-5.66600088756e-05,2.62876554445e-05,1793243333440243968
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.981981095,745.981981095,714,679,660.018018905,634.981981095,880,787,805.981981095,652.018018905,631,651.018018905,0.419951383726,-0.00554387394877,0.0499740138123,0.999999990753,0.000121209092735,-5.58148488962e-05,2.62002061879e-05,1793243333456910848
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.963272388,745.963272388,714,679,660.036727612,634.963272388,880,787,805.963272388,652.036727612,631,651.036727612,0.419975054928,-0.0055435362762,0.0499741114102,0.999999990759,0.000121578117434,-5.49373344326e-05,2.61094091916e-05,1793243333473577472
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.944563683,745.944563683,714,679,660.055436317,634.944563683,880,787,805.944563683,652.055436317,631,651.055436317,0.419998726129,-0.00554319860365,0.0499742090081,0.999999990765,0.00012194714211,-5.40598200215e-05,2.60186122007e-05,1793243333490244096
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.925854977,745.925854977,714,679,660.074145023,634.925854977,880,787,805.925854977,652.074145023,631,651.074145023,0.420022397331,-0.00554286093108,0.049974306606,0.999999990769,0.000122316166808,-5.31823055577e-05,2.59278152044e-05,1793243333506910720
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.90714627,745.90714627,714,679,660.09285373,634.90714627,880,787,805.90714627,652.09285373,631,651.09285373,0.420046068533,-0.00554252325851,0.049974404204,0.999999990773,0.000122685191507,-5.23047910938e-05,2.58370182079e-05,1793243333523577600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.888437565,745.888437565,714,679,660.111562435,634.888437565,880,787,805.888437565,652.111562435,631,651.111562435,0.420069739733,-0.00554218558596,0.0499745018019,0.999999990775,0.000123054216183,-5.14272766825e-05,2.5746221217e-05,1793243333540244224
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.869728859,745.869728859,714,679,660.130271141,634.869728859,880,787,805.869728859,652.130271141,631,651.130271141,0.420093410935,-0.00554184791339,0.0499745993998,0.999999990777,0.000123423240881,-5.05497622185e-05,2.56554242205e-05,1793243333556910848
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.851020152,745.851020152,714,679,660.148979848,634.851020152,880,787,805.851020152,652.148979848,631,651.148979848,0.420117082137,-0.00554151024082,0.0499746969977,0.999999990777,0.000123792265579,-4.96722477544e-05,2.5564627224e-05,1793243333573577472
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.832311447,745.832311447,714,679,660.167688553,634.832311447,880,787,805.832311447,652.167688553,631,651.167688553,0.420140753337,-0.00554117256827,0.0499747945956,0.999999990777,0.000124161290255,-4.87947333428e-05,2.54738302329e-05,1793243333590244096
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.81360274,745.81360274,714,679,660.18639726,634.81360274,880,787,805.81360274,652.18639726,631,651.18639726,0.420164424539,-0.0055408348957,0.0499748921936,0.999999990776,0.000124530314953,-4.79172188785e-05,2.53830332364e-05,1793243333606910720
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.794894034,745.794894034,714,679,660.205105966,634.794894034,880,787,805.794894034,652.205105966,631,651.205105966,0.420188095741,-0.00554049722313,0.0499749897915,0.999999990774,0.000124899339651,-4.70397044142e-05,2.52922362399e-05,1793243333623577600
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.776185329,745.776185329,714,679,660.223814671,634.776185329,880,787,805.776185329,652.223814671,631,651.223814671,0.420211766941,-0.00554015955058,0.0499750873894,0.999999990771,0.000125268364326,-4.61621900024e-05,2.52014392488e-05,1793243333640244224
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.757476622,745.757476622,714,679,660.242523378,634.757476622,880,787,805.757476622,652.242523378,631,651.242523378,0.420235438143,-0.00553982187801,0.0499751849873,0.999999990767,0.000125637389024,-4.52846755379e-05,2.51106422522e-05,1793243333656910848
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.738767916,745.738767916,714,679,660.261232084,634.738767916,880,787,805.738767916,652.261232084,631,651.261232084,0.420259109345,-0.00553948420544,0.0499752825852,0.999999990762,0.000126006413721,-4.44071610734e-05,2.50198452555e-05,1793243333673577472
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.72005921,745.72005921,714,679,660.27994079,634.72005921,880,787,805.72005921,652.27994079,631,651.27994079,0.420282780546,-0.00553914653289,0.0499753801832,0.999999990756,0.000126375438396,-4.35296466615e-05,2.49290482643e-05,1793243333690244096
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.701350504,745.701350504,714,679,660.298649496,634.701350504,880,787,805.701350504,652.298649496,631,651.298649496,0.420306451747,-0.00553880886032,0.0499754777811,0.99999999075,0.000126744463094,-4.26521321967e-05,2.48382512677e-05,1793243333706910976
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.682641798,745.682641798,714,679,660.317358202,634.682641798,880,787,805.682641798,652.317358202,631,651.317358202,0.420330122949,-0.00553847118775,0.049975575379,0.999999990742,0.000127113487791,-4.1774617732e-05,2.47474542709e-05,1793243333723577600
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.663933092,745.663933092,714,679,660.336066908,634.663933092,880,787,805.663933092,652.336066908,631,651.336066908,0.42035379415,-0.0055381335152,0.0499756729769,0.999999990734,0.000127482512466,-4.089710332e-05,2.46566572797e-05,1793243333740244224
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.645224386,745.645224386,714,679,660.354775614,634.645224386,880,787,805.645224386,652.354775614,631,651.354775614,0.420377465352,-0.00553779584263,0.0499757705748,0.999999990724,0.000127851537162,-4.00195888552e-05,2.45658602828e-05,1793243333756910848
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.62651568,745.62651568,714,679,660.37348432,634.62651568,880,787,805.62651568,652.37348432,631,651.37348432,0.420401136553,-0.00553745817006,0.0499758681728,0.999999990714,0.000128220561859,-3.91420743902e-05,2.44750632861e-05,1793243333773577472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.607806974,745.607806974,714,679,660.392193026,634.607806974,880,787,805.607806974,652.392193026,631,651.392193026,0.420424807754,-0.00553712049751,0.0499759657707,0.999999990703,0.000128589586533,-3.8264559978e-05,2.43842662947e-05,1793243333790244096
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.589098268,745.589098268,714,679,660.410901732,634.589098268,880,787,805.589098268,652.410901732,631,651.410901732,0.420448478956,-0.00553678282494,0.0499760633686,0.999999990691,0.000128958611231,-3.73870455131e-05,2.42934692979e-05,1793243333806910976
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.570389561,745.570389561,714,679,660.429610439,634.570389561,880,787,805.570389561,652.429610439,631,651.429610439,0.420472150158,-0.00553644515237,0.0499761609665,0.999999990678,0.000129327635927,-3.65095310481e-05,2.42026723011e-05,1793243333823577600
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.551680856,745.551680856,714,679,660.448319144,634.551680856,880,787,805.551680856,652.448319144,631,651.448319144,0.420495821358,-0.00553610747982,0.0499762585644,0.999999990664,0.000129696660601,-3.56320166357e-05,2.41118753097e-05,1793243333840244224
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.53297215,745.53297215,714,679,660.46702785,634.53297215,880,787,805.53297215,652.46702785,631,651.46702785,0.42051949256,-0.00553576980725,0.0499763561624,0.999999990649,0.000130065685297,-3.47545021706e-05,2.40210783128e-05,1793243333856910848
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.514263443,745.514263443,714,679,660.485736557,634.514263443,880,787,805.514263443,652.485736557,631,651.485736557,0.420543163762,-0.00553543213468,0.0499764537603,0.999999990633,0.000130434709993,-3.38769877055e-05,2.39302813159e-05,1793243333873577472
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.495554738,745.495554738,714,679,660.504445262,634.495554738,880,787,805.495554738,652.504445262,631,651.504445262,0.420566834962,-0.00553509446213,0.0499765513582,0.999999990617,0.000130803734666,-3.2999473293e-05,2.38394843244e-05,1793243333890244352
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.476846031,745.476846031,714,679,660.523153969,634.476846031,880,787,805.476846031,652.523153969,631,651.523153969,0.420590506164,-0.00553475678956,0.0499766489561,0.999999990599,0.000131172759363,-3.21219588278e-05,2.37486873275e-05,1793243333906910976
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.458137325,745.458137325,714,679,660.541862675,634.458137325,880,787,805.458137325,652.541862675,631,651.541862675,0.420614177366,-0.00553441911699,0.0499767465541,0.99999999058,0.000131541784058,-3.12444443626e-05,2.36578903304e-05,1793243333923577600
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.43942862,745.43942862,714,679,660.56057138,634.43942862,880,787,805.43942862,652.56057138,631,651.56057138,0.420637848566,-0.00553408144444,0.049976844152,0.999999990561,0.000131910808732,-3.036692995e-05,2.35670933388e-05,1793243333940244224
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.420719913,745.420719913,714,679,660.579280087,634.420719913,880,787,805.420719913,652.579280087,631,651.579280087,0.420661519768,-0.00553374377187,0.0499769417499,0.999999990541,0.000132279833427,-2.94894154848e-05,2.34762963418e-05,1793243333956910848
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.402011207,745.402011207,714,679,660.597988793,634.402011207,880,787,805.402011207,652.597988793,631,651.597988793,0.42068519097,-0.0055334060993,0.0499770393478,0.999999990519,0.000132648858122,-2.86119010195e-05,2.33854993448e-05,1793243333973577728
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.383302502,745.383302502,714,679,660.616697498,634.383302502,880,787,805.383302502,652.616697498,631,651.616697498,0.420708862171,-0.00553306842675,0.0499771369457,0.999999990497,0.000133017882796,-2.77343866068e-05,2.32947023532e-05,1793243333990244352
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.364593795,745.364593795,714,679,660.635406205,634.364593795,880,787,805.364593795,652.635406205,631,651.635406205,0.420732533372,-0.00553273075418,0.0499772345437,0.999999990474,0.000133386907491,-2.68568721415e-05,2.32039053561e-05,1793243334006910976
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.345885089,745.345885089,714,679,660.654114911,634.345885089,880,787,805.345885089,652.654114911,631,651.654114911,0.420756204574,-0.00553239308161,0.0499773321416,0.99999999045,0.000133755932186,-2.59793576762e-05,2.3113108359e-05,1793243334023577600
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.327176383,745.327176383,714,679,660.672823617,634.327176383,880,787,805.327176383,652.672823617,631,651.672823617,0.420779875775,-0.00553205540906,0.0499774297395,0.999999990425,0.000134124956858,-2.51018432635e-05,2.30223113673e-05,1793243334040244224
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.308467677,745.308467677,714,679,660.691532323,634.308467677,880,787,805.308467677,652.691532323,631,651.691532323,0.420803546977,-0.00553171773649,0.0499775273374,0.999999990399,0.000134493981553,-2.42243287982e-05,2.29315143702e-05,1793243334056910848
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.289758971,745.289758971,714,679,660.710241029,634.289758971,880,787,805.289758971,652.710241029,631,651.710241029,0.420827218179,-0.00553138006392,0.0499776249353,0.999999990373,0.000134863006248,-2.33468143329e-05,2.2840717373e-05,1793243334073577728
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.271050265,745.271050265,714,679,660.728949735,634.271050265,880,787,805.271050265,652.728949735,631,651.728949735,0.420850889379,-0.00553104239137,0.0499777225333,0.999999990345,0.000135232030921,-2.24692999201e-05,2.27499203813e-05,1793243334090244352
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.252341559,745.252341559,714,679,660.747658441,634.252341559,880,787,805.252341559,652.747658441,631,651.747658441,0.420874560581,-0.0055307047188,0.0499778201312,0.999999990316,0.000135601055615,-2.15917854548e-05,2.2659123384e-05,1793243334106910976
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.233632852,745.233632852,714,679,660.766367148,634.233632852,880,787,805.233632852,652.766367148,631,651.766367148,0.420898231783,-0.00553036704623,0.0499779177291,0.999999990287,0.000135970080309,-2.07142709895e-05,2.25683263868e-05,1793243334123577600
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.214924147,745.214924147,714,679,660.785075853,634.214924147,880,787,805.214924147,652.785075853,631,651.785075853,0.420921902983,-0.00553002937368,0.049978015327,0.999999990256,0.00013633910498,-1.98367565769e-05,2.2477529395e-05,1793243334140244224
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.196215441,745.196215441,714,679,660.803784559,634.196215441,880,787,805.196215441,652.803784559,631,651.803784559,0.420945574185,-0.00552969170111,0.0499781129249,0.999999990225,0.000136708129674,-1.89592421114e-05,2.23867323978e-05,1793243334156911104
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.177506734,745.177506734,714,679,660.822493266,634.177506734,880,787,805.177506734,652.822493266,631,651.822493266,0.420969245387,-0.00552935402854,0.0499782105229,0.999999990193,0.000137077154369,-1.80817276461e-05,2.22959354005e-05,1793243334173577728
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.158798029,745.158798029,714,679,660.841201971,634.158798029,880,787,805.158798029,652.841201971,631,651.841201971,0.420992916587,-0.00552901635599,0.0499783081208,0.99999999016,0.00013744617904,-1.72042132335e-05,2.22051384087e-05,1793243334190244352
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.140089323,745.140089323,714,679,660.859910677,634.140089323,880,787,805.140089323,652.859910677,631,651.859910677,0.421016587789,-0.00552867868342,0.0499784057187,0.999999990126,0.000137815203733,-1.63266987681e-05,2.21143414114e-05,1793243334206910976
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.121380616,745.121380616,714,679,660.878619384,634.121380616,880,787,805.121380616,652.878619384,631,651.878619384,0.421040258991,-0.00552834101085,0.0499785033166,0.999999990091,0.000138184228426,-1.54491843028e-05,2.20235444141e-05,1793243334223577600
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.102671911,745.102671911,714,679,660.897328089,634.102671911,880,787,805.102671911,652.897328089,631,651.897328089,0.421063930192,-0.0055280033383,0.0499786009145,0.999999990055,0.000138553253097,-1.45716698903e-05,2.19327474222e-05,1793243334240244480
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.083963204,745.083963204,714,679,660.916036796,634.083963204,880,787,805.083963204,652.916036796,631,651.916036796,0.421087601393,-0.00552766566573,0.0499786985125,0.999999990018,0.00013892227779,-1.36941554251e-05,2.18419504248e-05,1793243334256911104
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.065254498,745.065254498,714,679,660.934745502,634.065254498,880,787,805.065254498,652.934745502,631,651.934745502,0.421111272595,-0.00552732799316,0.0499787961104,0.99999998998,0.000139291302484,-1.28166409598e-05,2.17511534274e-05,1793243334273577728
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.046545793,745.046545793,714,679,660.953454207,634.046545793,880,787,805.046545793,652.953454207,631,651.953454207,0.421134943796,-0.00552699032061,0.0499788937083,0.999999989942,0.000139660327155,-1.19391265473e-05,2.16603564355e-05,1793243334290244352
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.027837086,745.027837086,714,679,660.972162914,634.027837086,880,787,805.027837086,652.972162914,631,651.972162914,0.421158614998,-0.00552665264804,0.0499789913062,0.999999989902,0.000140029351847,-1.10616120821e-05,2.15695594381e-05,1793243334306910976
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.00912838,745.00912838,714,679,660.99087162,634.00912838,880,787,805.00912838,652.99087162,631,651.99087162,0.421182286199,-0.00552631497547,0.0499790889041,0.999999989862,0.000140398376539,-1.0184097617e-05,2.14787624407e-05,1793243334323577600
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.303901461,714,679,661,634.303901461,880,787,805.303901461,653,631,652,0.421194003531,-0.00552618825647,0.0499789184095,0.999999989977,0.000139629112479,-9.81525325162e-06,2.12887506394e-05,1793243334340244224
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.897368071,714,679,661,634.897368071,880,787,805.897368071,653,631,652,0.42119433091,-0.00552626253942,0.0499784924693,0.999999990239,0.000137775257587,-9.93108276996e-06,2.10042044043e-05,1793243334356910592
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.478336645,746,714,679,661,635,880,787,806,653,631,652,0.421195814788,-0.00552643562612,0.049979648343,0.999999990111,0.000138772660737,-7.73018956206e-06,2.14581086878e-05,1793243334373577216
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.943873433,714,679.056126567,661,635,880,787.056126567,806,653,631,652,0.421197196949,-0.00552642098306,0.0499808749675,0.999999989897,0.000140335389346,-5.57177172686e-06,2.19432939738e-05,1793243334390243840
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.371285395,714,679.628714605,661,635,880,787.628714605,806,653,631,652,0.421195417959,-0.00552448879835,0.0499797091299,0.999999989712,0.000141614123286,-8.26169305055e-06,2.12955020909e-05,1793243334406910464
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.143302727,714,680,661,635,879.856697273,788,806,652.856697273,631,652,0.421194480412,-0.00552331301269,0.0499789884037,0.999999989598,0.000142394082778,-9.72365297866e-06,2.08014637128e-05,1793243334423576832
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.550914974,714,680,661,635,879.449085026,788,806,652.449085026,631,652,0.421195094833,-0.00552353233996,0.0499790886473,0.99999998963,0.000142254095746,-8.92074386607e-06,2.05910104518e-05,1793243334440243712
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.958527246,714,680,661,635,879.041472754,788,806,652.041472754,631,652,0.421195709254,-0.00552375166725,0.0499791888908,0.999999989661,0.000142114108704,-8.11783470529e-06,2.03805571782e-05,1793243334456910336
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.149663214,745.149663214,714,679.149663214,660.149663214,634.149663214,879,787.149663214,806,652,631,652,0.421195398945,-0.00552307392761,0.0499802816283,0.999999989607,0.000142473265957,-8.07520950612e-06,2.05278081528e-05,1793243334473576192
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.480831874,745,714,679,660,634.480831874,879.480831874,787,806,652,631,652,0.42119437921,-0.00552544762557,0.049979730868,0.99999998992,0.000140160044549,-9.23184352975e-06,2.07561533388e-05,1793243334490242816
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.947414501,745,714,679,660,635,879.947414501,787,805.947414501,652,631,652,0.421193428445,-0.00552802191226,0.0499789758604,0.99999999023,0.00013781641661,-1.03827622757e-05,2.09621013595e-05,1793243334506909952
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.36937972,745,714,679,660,635,879.36937972,787,805.36937972,652,631,652,0.421194301485,-0.00552668414569,0.0499794747667,0.999999989898,0.000140289508422,-9.38786892484e-06,2.08681116924e-05,1793243334523576576
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.226554539,745,714,679.226554539,660,635,879.226554539,787,805.226554539,652,631,652,0.421194978862,-0.00552587547776,0.0499796217968,0.999999989815,0.000140939925036,-8.7849996033e-06,2.07172660008e-05,1793243334540243456
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.854176151,745,714,679.854176151,660,635,879.854176151,787,805.854176151,652,631,652,0.421195309861,-0.00552600346727,0.0499791459045,0.999999990179,0.000138363679701,-8.87612605294e-06,2.04657686829e-05,1793243334556910080
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.555463064,660.444536936,634.555463064,879.555463064,787,805.555463064,652,631,652,0.421193613919,-0.00552683230042,0.0499783266142,0.999999990264,0.000137605974961,-1.02607858209e-05,2.07504502688e-05,1793243334573576704
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.976560792,745,714,679,660.976560792,634.023439208,879,787,805.023439208,652,631,652,0.421191444282,-0.00552770857049,0.0499774627483,0.999999990244,0.000137557095176,-1.1935617136e-05,2.11542225682e-05,1793243334590243072
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.401912359,745,714,679,660.401912359,634.598087641,879,787,805.598087641,652,631,652,0.42119256201,-0.00552471202694,0.0499779948051,0.999999989753,0.000141233573917,-1.12273515929e-05,2.05422579475e-05,1793243334606909696
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.172989595,679,660,635,879,787,806,652,631.172989595,652,0.421193361943,-0.00552342748313,0.0499784188778,0.999999989538,0.000142814778901,-1.06745992355e-05,2.03354474645e-05,1793243334623576576
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.748481392,679,660,635,879,787,806,652,631.748481392,652,0.421193422451,-0.00552612632161,0.0499785916991,0.99999998999,0.000139520821674,-1.04836860214e-05,2.10713262717e-05,1793243334640243456
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.331521675,745,714.668478325,679,660,635,879.331521675,787.331521675,806,652.331521675,632,652,0.421192022674,-0.00552734928694,0.0499780388326,0.999999990242,0.000137582066702,-1.14079637328e-05,2.13756346127e-05,1793243334656910080
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.920422245,745,714.079577755,679,660,635,879.920422245,787.920422245,806,652.920422245,632,652,0.421189489194,-0.00552742644893,0.0499769225738,0.999999990342,0.000136695431503,-1.31980267977e-05,2.13448905295e-05,1793243334673576448
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.502000968,714,679.502000968,660.502000968,635,879.497999032,787.497999032,805.497999032,652.497999032,631.497999032,652,0.421172396849,-0.00552638787921,0.0499690319443,0.999999989495,0.000140497128854,-2.88491508392e-05,2.09402525808e-05,1793243334690242816
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.918694404,714,680,660.918694404,635,879,787,805,652,631,652,0.421153978869,-0.00552510356344,0.0499604813687,0.999999988279,0.000144642968079,-4.58590419487e-05,2.04191729274e-05,1793243334706909440
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.346217095,714,680,660.346217095,635,879,787,805,652,631,652,0.421141294322,-0.00552338778627,0.0499543381409,0.999999987405,0.000146442617066,-5.79942964717e-05,1.95475691858e-05,1793243334723576320
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.233011281,635,879,787.233011281,805.233011281,652,631,652,0.421134885238,-0.00552324177845,0.0499509738976,0.999999987039,0.000146326004477,-6.43490383828e-05,1.92093778304e-05,1793243334740242944
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.822570042,635,879,787.822570042,805.822570042,652,631,652,0.421138078694,-0.00552549778842,0.0499518619792,0.999999987629,0.000143277181203,-6.18586000678e-05,1.968739937e-05,1793243334756909568
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.405193465,714,679.594806535,660.594806535,635,879.405193465,787.594806535,806,652,631,652,0.421141600629,-0.00552533973587,0.0499526108405,0.999999987612,0.000144582846665,-5.90163322136e-05,1.97132045959e-05,1793243334773576192
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.984831046,714,679.015168954,660.015168954,635,879.984831046,787.015168954,806,652,631,652,0.421145263981,-0.00552414237965,0.0499532997647,0.999999987323,0.000147763209227,-5.60225946587e-05,1.95443213732e-05,1793243334790243072
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.442016008,744.884032016,714,679,660.557983992,635,880,787.557983992,805.442016008,652,631,651.442016008,0.421153722743,-0.00552386558859,0.0499558274461,0.999999987427,0.000148705189154,-5.14824751526e-05,1.9562438797e-05,1793243334806909696
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,744.131895469,714.131895469,679.131895469,661,635,880,788,805,652,631,651.131895469,0.421166960108,-0.0055239966206,0.0499591505882,0.999999987813,0.000148471737432,-4.41312120605e-05,1.95410093205e-05,1793243334823576576
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,744.70895521,714.70895521,679.70895521,661,635,880,788,805,652,631,651.70895521,0.421195890932,-0.00552542061319,0.0499649917375,0.999999989,0.000144474072563,-2.74322324e-05,1.93691430175e-05,1793243334840243200
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.293549309,745,714.706450691,679.706450691,661.293549309,635,880,787.706450691,805,652,631,652,0.421232318216,-0.0055273608951,0.0499700509587,0.999999989605,0.000142208281789,-1.3085317498e-05,1.98857967964e-05,1793243334856909824
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.885810226,745,714.114189774,679.114189774,661.885810226,635,880,787.114189774,805,652,631,652,0.421276373788,-0.00552982654562,0.0499743145006,0.999999989737,0.000141704821766,-1.13183132299e-06,2.11030788477e-05,1793243334873576192
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,745.467799964,714.467799964,679,661.532200036,635,880,787,805,652,631,652,0.421328702091,-0.00553061259441,0.0499748766824,0.999999989711,0.000141873258327,2.01657177862e-07,2.12005747093e-05,1793243334890243072
+256,4.266666667,POSE1_TO_POSE2_PRESS,766,745.952964574,714.952964574,679,660.952964574,634.952964574,880,787,805.047035426,652,631,652,0.421384451033,-0.00553117748607,0.0499744762715,0.999999989669,0.000142184554134,-1.04680485452e-06,2.10764596963e-05,1793243334906909696
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,745.377113183,714.377113183,679,660.377113183,634.377113183,880,787,805.622886817,652,631,652,0.421456442077,-0.00553376637962,0.0499731932495,0.999999989641,0.000142297673422,-2.8046713473e-06,2.146789912e-05,1793243334923576320
+258,4.300000000,POSE1_TO_POSE2_PRESS,765.79746873,745.20253127,714.20253127,679,660,634.20253127,879.79746873,787.20253127,805.79746873,652,631,652,0.421537173074,-0.00553712432806,0.0499715532078,0.999999989917,0.00014024357588,-4.52174826893e-06,2.18423289105e-05,1793243334940242944
+259,4.316666667,POSE1_TO_POSE2_PRESS,765.210626697,745.789373303,714.789373303,679,660,634.789373303,879.210626697,787.789373303,805.210626697,652,631,652,0.421634488478,-0.00554194158774,0.0499692357074,0.999999990747,0.000134077102273,-6.16142573867e-06,2.21844823446e-05,1793243334956909824
+260,4.333333333,POSE1_TO_POSE2_PRESS,765.371382418,746,714.628617582,679,660.371382418,635,879.371382418,787.628617582,805,652,631,652,0.42175157649,-0.00554706245488,0.0499688054816,0.999999991288,0.000129916603122,-4.67386247802e-06,2.28897320137e-05,1793243334973576704
+261,4.350000000,POSE1_TO_POSE2_PRESS,765.950685758,746,714.049314242,679,660.950685758,635,879.950685758,787.049314242,805,652,631,652,0.421879734322,-0.00555235329838,0.0499694318593,0.999999991667,0.000126879162506,-1.43549255962e-06,2.37982635084e-05,1793243334990243328
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,745.47290835,714,679,660.47290835,635,880,787,805.52709165,652.52709165,631,652,0.422025935536,-0.00555564993822,0.0499674418284,0.999999991426,0.000128564621013,-4.5627336917e-06,2.44520763318e-05,1793243335006909952
+263,4.383333333,POSE1_TO_POSE2_PRESS,765.896783219,745,714,679,660,635,879.896783219,787,806,652.896783219,631,652,0.422177843747,-0.00555887867222,0.0499648772317,0.999999991226,0.000129723593324,-9.34611204235e-06,2.51299858525e-05,1793243335023576832
+264,4.400000000,POSE1_TO_POSE2_PRESS,765.320709236,745,714,679,660,635,879.320709236,787,806,652.320709236,631,652,0.422348205519,-0.00556264638548,0.0499607957292,0.999999991485,0.000126457392706,-1.90031226539e-05,2.60268662698e-05,1793243335040243200
+265,4.416666667,POSE1_TO_POSE2_PRESS,765.261594742,745.261594742,714,679,660,635,879.523189485,787,805.738405258,652,631,652,0.422534879843,-0.00556789807959,0.0499545524661,0.999999991545,0.000123417156884,-3.0847456467e-05,2.69582612825e-05,1793243335056909568
+266,4.433333333,POSE1_TO_POSE2_PRESS,765.851722846,745.851722846,714,679,660,635,880.703445692,787,805.148277154,652,631,652,0.42274204087,-0.00557501348525,0.0499455942769,0.999999991298,0.000120660707484,-4.54388196976e-05,2.79330026478e-05,1793243335073576192
+267,4.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679.434016944,660,635,880.565983056,787,805.434016944,652,631,651.565983056,0.422981953618,-0.00557865881913,0.049941605022,0.999999990929,0.000121966231247,-4.91040970547e-05,2.92405684838e-05,1793243335090243072
+268,4.466666667,POSE1_TO_POSE2_PRESS,766,745.986499239,714,679.986499239,660.013500761,635,880,787,806.013500761,652,631,651.013500761,0.42323358065,-0.00558109967008,0.049939312026,0.99999999055,0.00012463877869,-4.92422579675e-05,3.0659828048e-05,1793243335106909952
+269,4.483333333,POSE1_TO_POSE2_PRESS,766,745.414518404,714,679.414518404,660.585481596,635,880,787,806.585481596,652,631,651.585481596,0.423515131519,-0.00558188626961,0.0499382093552,0.99999998984,0.000127472615975,-5.51502081338e-05,3.20792433812e-05,1793243335123576832
+270,4.500000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.841859899,635,880.158140101,787,806.683719799,652,631,652,0.423806172309,-0.00558267898614,0.0499373353061,0.9999999889,0.000131803095053,-6.06534628486e-05,3.38980623649e-05,1793243335140243456
+271,4.516666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.267417311,635,880.732582689,787,805.534834623,652,631,652,0.424122195294,-0.00558348780581,0.0499370631017,0.999999987395,0.000140073471721,-6.5091361475e-05,3.67683084164e-05,1793243335156910080
+272,4.533333333,POSE1_TO_POSE2_PRESS,765.681293957,745,714,679,660,634.681293957,880.362587914,787,805,652,631,652,0.424478474473,-0.00558040986503,0.049943128206,0.999999986226,0.000152212334636,-5.32594646715e-05,3.92761056523e-05,1793243335173576448
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+274,4.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.494837682,634.494837682,879.494837682,787,805.494837682,652,631,652,0.425272239932,-0.00557187415428,0.0499635875851,0.999999983142,0.000177473523914,-1.60646182391e-05,4.42845024984e-05,1793243335206909696
+275,4.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.071482218,660.928517782,635,879.928517782,787.071482218,806,652,631,652,0.425680959984,-0.00557101880581,0.0499716871051,0.999999981662,0.000185502561532,-7.13680148342e-06,4.70533308613e-05,1793243335223576320
+276,4.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.644944256,660.355055744,635,879.355055744,787.644944256,806,652,631,652,0.426120961881,-0.00557358446622,0.0499775082915,0.999999981107,0.00018814465819,3.18042449271e-06,4.87601937509e-05,1793243335240242944
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+286,4.766666667,POSE1_TO_POSE2_PRESS,765.456612833,745,714,679.456612833,660.456612833,634.456612833,880.456612833,787,806.543387167,652,631,652,0.431346762946,-0.00558156882219,0.0499500968715,0.999999983685,0.00016373810118,-5.88941042751e-05,4.84965074643e-05,1793243335406909696
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+288,4.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680.604794609,661,635,880.395205391,787.604794609,806,652,631,652,0.432527485725,-0.00557749350902,0.0499060454702,0.999999976763,0.000164212702622,-0.000131912782684,4.59049466679e-05,1793243335440243456
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+290,4.833333333,POSE1_TO_POSE2_PRESS,765.244493902,745,714,680.244493902,660.244493902,635,879.244493902,787.244493902,806,652,631,652,0.433828480823,-0.00558082567383,0.0499367401825,0.999999983227,0.000158649671113,-7.82446575059e-05,4.74707655288e-05,1793243335473576704
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+304,5.066666667,POSE1_TO_POSE2_PRESS,766,745.898852177,714.101147823,679.898852177,661.898852177,634,880,787,806,652,631.898852177,652,0.442927734681,-0.00558722872847,0.0499815882297,0.999999990532,0.000128968717714,-3.84962134113e-06,4.78273325172e-05,1793243335706909696
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+342,5.700000000,POSE1_TO_POSE2_PRESS,765,745.046152188,714.953847812,680.046152188,659.046152188,630.953847812,880.953847812,786.046152188,806.046152188,652,631,652,0.45296018006,-0.00558419881381,0.0497313024307,0.999999910747,6.34256838247e-05,-0.000416933239298,2.55095090068e-05,1793243336340243200
+343,5.716666667,POSE1_TO_POSE2_PRESS,765,745.531284852,715,680,659,631,880.468715148,786.531284852,806.531284852,652,630.468715148,651.468715148,0.452965997536,-0.00558363231626,0.0497305911295,0.999999910173,6.29064036512e-05,-0.000418388366547,2.54660509319e-05,1793243336356909824
+344,5.733333333,POSE1_TO_POSE2_PRESS,765.108491336,746,714.891508664,680.108491336,659.108491336,631,880,787,806.891508664,652,630.108491336,651.108491336,0.452970424954,-0.00558267829292,0.0497298324165,0.999999909434,6.31923724654e-05,-0.000420120405773,2.52653795109e-05,1793243336373576448
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+346,5.766666667,POSE1_TO_POSE2_PRESS,765.732369174,745.732369174,714,680.732369174,660,631,880,786.732369174,806,652,631,652,0.452971852437,-0.00558046104057,0.0497272686372,0.999999907229,6.72088241902e-05,-0.000424763940352,2.44951532443e-05,1793243336406909696
+347,5.783333333,POSE1_TO_POSE2_PRESS,765.144099936,745.144099936,714,680.144099936,660,631,880,786.144099936,806,652,631,652,0.452971966444,-0.00558233986185,0.0497257688622,0.999999906585,6.35541267604e-05,-0.000426789889475,2.53047902642e-05,1793243336423576576
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+349,5.816666667,POSE1_TO_POSE2_PRESS,765,745.016017041,714,680,659.016017041,630.016017041,879.983982959,786.983982959,806,652,630.983982959,651,0.45297338031,-0.00558354508707,0.0497242851696,0.999999906164,6.31971394006e-05,-0.00042782836362,2.53263573768e-05,1793243336456909824
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+352,5.866666667,POSE1_TO_POSE2_PRESS,765,746,714.742318959,680.742318959,659.257681041,631,879,786,806.742318959,652,630.742318959,651.742318959,0.45297682431,-0.00558084323874,0.0497263654433,0.999999906984,6.41511475677e-05,-0.000425805023609,2.46422734534e-05,1793243336506909952
+353,5.883333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659,630.672627748,879.327372252,786.327372252,806.672627748,652,631,652,0.452977372055,-0.005580929527,0.0497263521923,0.99999990714,6.25382131897e-05,-0.000425688549512,2.44616398508e-05,1793243336523576576
+354,5.900000000,POSE1_TO_POSE2_PRESS,765,746,715,681,659,630.080692821,879.919307179,786.919307179,806.080692821,652,631,652,0.452976978057,-0.00558203487194,0.0497258388752,0.999999906993,5.97345606485e-05,-0.000426443432138,2.43084771467e-05,1793243336540242944
+355,5.916666667,POSE1_TO_POSE2_PRESS,765,746,715,680.503461999,659,630,880,786.503461999,806.496538001,652,631,652,0.452975891855,-0.00558234398756,0.0497242244488,0.999999905903,6.02841257276e-05,-0.000428910181749,2.44212444865e-05,1793243336556909568
+356,5.933333333,POSE1_TO_POSE2_PRESS,765,746,715,680,659.071786331,630.071786331,880,786,807,652,631,651.928213669,0.452974608947,-0.00558236479987,0.0497225340232,0.999999904705,6.13177598009e-05,-0.00043154341299,2.45234458321e-05,1793243336573576448
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+358,5.966666667,POSE1_TO_POSE2_PRESS,765.229902484,746,715,680,659.770097516,631,880.229902484,786,807,652,631,651.229902484,0.452972185779,-0.00557988699195,0.0497211536928,0.999999903631,6.31803177002e-05,-0.00043379160254,2.38989185901e-05,1793243336606909952
+359,5.983333333,POSE1_TO_POSE2_PRESS,765.814788136,746,715,680,659.185211864,631,880.814788136,786,807,652,631,651.814788136,0.452973785003,-0.00557818309654,0.0497217354823,0.999999904417,6.49950142134e-05,-0.0004317338716,2.34057873758e-05,1793243336623576576
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+365,6.083333333,HOLD_POSE2,765.906163713,745.906163713,714.093836287,680.906163713,659,630.093836287,880,786.906163713,807,652,630,652,0.452978148321,-0.0055800351903,0.0497231042318,0.999999904978,6.83279459522e-05,-0.00042981912834,2.51214453975e-05,1793243336741018880
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+368,6.133333333,HOLD_POSE2,765.359114073,746,714.640885927,681,659.640885927,631,880,786.640885927,807,652,630.640885927,652,0.452975737351,-0.00557954949573,0.0497206557423,0.999999903176,6.55972141325e-05,-0.000434464227172,2.42070825854e-05,1793243336791019520
+369,6.150000000,HOLD_POSE2,765,745.785808397,715,680.785808397,660,631,880.214191603,787,807,652,630.785808397,652,0.452975395242,-0.00557862549635,0.0497202156711,0.999999902958,6.54449529957e-05,-0.000435005186884,2.39041288793e-05,1793243336807685888
+370,6.166666667,HOLD_POSE2,765,745.211586761,715,680.211586761,660,631,880.788413239,787,807,652,630.211586761,652,0.452973579504,-0.00557894213103,0.0497190512882,0.999999902342,6.25821185619e-05,-0.000436860630184,2.34873076891e-05,1793243336824352512
+371,6.183333333,HOLD_POSE2,765,745.375370176,715,680,659.624629824,631,881,787,806.624629824,652,630,652,0.452974757432,-0.00557970491037,0.0497197637107,0.999999902916,6.20859703446e-05,-0.000435600496107,2.37639465787e-05,1793243336841018880
+372,6.200000000,HOLD_POSE2,765,745.969757841,715,680,659.030242159,631,881,787,806.030242159,652,630,652,0.452977682077,-0.00558072800206,0.0497215711941,0.999999904181,6.29707138606e-05,-0.000432522514167,2.44451990498e-05,1793243336857685248
+373,6.216666667,HOLD_POSE2,765.548524982,746,715,680.548524982,659,630.451475018,881,786.451475018,806.548524982,652,630,652,0.452977661668,-0.00558018055451,0.0497214419059,0.999999904102,6.35987154724e-05,-0.000432638598708,2.39855078301e-05,1793243336874352128
+374,6.233333333,HOLD_POSE2,765.873900306,745.873900306,715,681,659,630,880.873900306,786,807,652,630.126099694,652,0.452977752796,-0.0055798714781,0.0497213487344,0.999999904064,6.37708433702e-05,-0.000432718950749,2.36647020561e-05,1793243336891018752
+375,6.250000000,HOLD_POSE2,765.297593089,745.297593089,715,681,659,630,880.297593089,786,807,652,630.702406911,652,0.452978805793,-0.00558071403255,0.0497217551883,0.999999904428,6.23645259323e-05,-0.000432060414908,2.40581177833e-05,1793243336907685632
+376,6.266666667,HOLD_POSE2,764.71571922,745.28428078,715,680.71571922,659.28428078,630.28428078,880,786,807,652,631,652,0.452978099725,-0.00558114038261,0.0497213556318,0.99999990409,6.14893353755e-05,-0.000432954253251,2.42849828349e-05,1793243336924352512
+377,6.283333333,HOLD_POSE2,764.127901673,745.872098327,715,680.127901673,659.872098327,630.872098327,880,786,807,652,631,652,0.45297551544,-0.0055811223363,0.0497200954692,0.999999903,6.11812480894e-05,-0.000435505617129,2.43340157433e-05,1793243336941019136
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.692484547,745.692484547,715,680.307515453,659,630.307515453,880.692484547,786,806,652,631,652,0.452978026808,-0.00558061393454,0.0497205868935,0.999999903626,6.12734133803e-05,-0.000434073219105,2.39467614916e-05,1793243337040034560
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880,786,806.478537733,652,631,652,0.452978165556,-0.00557959263043,0.049720892463,0.99999990374,6.3783532589e-05,-0.000433473135503,2.35269939299e-05,1793243337073367808
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.371220526,659,631,880,786,806.371220526,652,630.371220526,652,0.452971088725,-0.00557948625493,0.0497177405397,0.999999901402,6.36899834531e-05,-0.000438850321191,2.34416418406e-05,1793243337106701056
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.783658402,745.783658402,715,680,659.783658402,630.216341598,880,786,806.783658402,652,630,652,0.45293323167,-0.00557825529961,0.0497004546142,0.999999888489,6.46979629577e-05,-0.000467240321713,2.28404877024e-05,1793243337140034560
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+458,7.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.425874406,659.851748812,635,879,788,804.574125594,652.574125594,631,652,0.411956604427,-0.00537705131551,0.0497938953679,0.999999935786,0.000107179137491,-0.000338376969795,-4.94158544874e-05,1793243338306701568
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+473,7.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634.879675309,879,788,805.879675309,652.120324691,631,652,0.404069812556,-0.00539518446589,0.0498437891161,0.999999956108,8.18390806868e-05,-0.000279911171083,-5.23090069454e-05,1793243338556701440
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..baeef0ca9cff6b1097dbfbfdc61610af9b915f97
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,521 @@
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61a813c5f147514def9180f42bb2534a9ac20357
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31af03319255821127808b86b2d8bd9fb6a5d238823bac03645e65b83b76341
+size 26000473
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09ad3d1a2fe892eabf6e50d62905f5b25fcde7d0
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+20,0.333333333,BASELINE,765.398959722,745.398959722,714,679.398959722,661,635,878.398959722,788,805,653,631,652,0.400993889295,-0.00541806444555,0.0498572340909,0.999999963028,0.000105698626933,-0.000247348578355,-3.98787118082e-05,1793243339805466880
+21,0.350000000,BASELINE,765,745,714,679,661,635,878.180636051,788,805.180636051,653,631,652,0.400994853199,-0.00541790851749,0.049857430512,0.99999996322,0.000106120833389,-0.000246369093706,-4.0004120557e-05,1793243339822133760
+22,0.366666667,BASELINE,765,745,714,679,661,635,878.770603495,788,805.770603495,653,631,652,0.400995325581,-0.00541629678566,0.0498576302466,0.999999963444,0.000106531490129,-0.000245251083584,-4.01820175217e-05,1793243339838800384
+23,0.383333333,BASELINE,765,745,714,679,661,635,879,787.645862963,806,652.645862963,631,652,0.400996807188,-0.00541707626782,0.0498586383968,0.999999963887,0.000105381792278,-0.000243965265954,-4.00232129496e-05,1793243339855467008
+24,0.400000000,BASELINE,765,745,714,679,661,635,879,787.066422634,806,652.066422634,631,652,0.400998930868,-0.005419377049,0.049860160864,0.999999964464,0.000103239391109,-0.000242572688457,-3.96501976328e-05,1793243339872133632
+25,0.416666667,BASELINE,765,745,714,679.508343658,661,634.491656342,879,787.508343658,806,652,631,652,0.400998249868,-0.00541849634208,0.0498596825375,0.999999964218,0.000105393257148,-0.000242652770318,-3.9700268205e-05,1793243339888800512
+26,0.433333333,BASELINE,765,745,714,679.917248683,661,634.082751317,879,788,805.917248683,652.082751317,631,652,0.400997227367,-0.00541731106141,0.0498589513988,0.999999963852,0.000107716737171,-0.000243117607455,-3.9841748494e-05,1793243339905467392
+27,0.450000000,BASELINE,765,745,714,679.341371644,661,634.658628356,879,788,805.341371644,652.658628356,631,652,0.400996333778,-0.00541676547698,0.0498582574409,0.99999996344,0.00010773616644,-0.00024473901414,-4.02015173302e-05,1793243339922134016
+28,0.466666667,BASELINE,765,745,714,679,661.241154633,635,879,787.758845367,805,653,631,652,0.400996001972,-0.00541662913661,0.0498581829823,0.999999963286,0.000107356450331,-0.000245504984439,-4.03600437687e-05,1793243339938800384
+29,0.483333333,BASELINE,765,745,714,679,661.833360231,635,879,787.166639769,805,653,631,652,0.400996487958,-0.00541708853655,0.0498590103345,0.999999963512,0.000106395694713,-0.000245025688217,-4.02256198207e-05,1793243339955467008
+30,0.500000000,BASELINE,765,745,714,679,661.586066749,635,879,787.413933251,805.413933251,653,631,652.413933251,0.400995909337,-0.00541712640524,0.0498583101298,0.99999996327,0.000107457210605,-0.000245565377308,-4.01277291838e-05,1793243339972133632
+31,0.516666667,BASELINE,765,745,714,679,661.010048738,635,879,787.989951262,805.989951262,653,631,652.989951262,0.400994913846,-0.00541699921399,0.0498570117763,0.999999962842,0.000109310591856,-0.000246504072746,-4.00441439793e-05,1793243339988800256
+32,0.533333333,BASELINE,765,745.566794172,714,679,661,635,879,787.433205828,805.433205828,653,631,653,0.400995028049,-0.0054165584381,0.0498570396164,0.999999962928,0.000108097909201,-0.000246654614567,-4.02446157112e-05,1793243340005467136
+33,0.550000000,BASELINE,765,745.853324398,714,679,661,635,878.853324398,787.146675602,805.146675602,653,630.853324398,652.853324398,0.400995181697,-0.00541664830574,0.0498573236318,0.99999996313,0.000106412844025,-0.000246559813953,-4.03163594761e-05,1793243340022133760
+34,0.566666667,BASELINE,765,745.264324078,714,679,661,635,878.264324078,787.735675922,805.735675922,653,630.264324078,652.264324078,0.40099539488,-0.00541835520769,0.0498583091787,0.999999963647,0.000103467396855,-0.000245767342364,-3.99846933315e-05,1793243340038800384
+35,0.583333333,BASELINE,765,745,714,679,661,635,878.319109744,788,806,653,630.319109744,652,0.400995570646,-0.00541905501749,0.0498589342087,0.999999963951,0.000102579065864,-0.000244935380347,-3.9788531242e-05,1793243340055467264
+36,0.600000000,BASELINE,765,745,714,679,661,635,878.898011853,788,806,653,630.898011853,652,0.400995715949,-0.0054189349376,0.0498592657362,0.999999964084,0.000103365465867,-0.000244071268453,-3.9702685144e-05,1793243340072133888
+37,0.616666667,BASELINE,765,745,714,679.475060115,661,634.524939885,879,787.524939885,805.524939885,653,631,652,0.400995943011,-0.00541874686542,0.0498589634254,0.999999963892,0.000104318838564,-0.000244435856385,-3.98052111861e-05,1793243340088800512
+38,0.633333333,BASELINE,765,745,714,679.948451854,661,634.051548146,879,787.051548146,805,653,631,652,0.400996186414,-0.00541844904437,0.0498585984177,0.999999963669,0.000105338452134,-0.000244889043171,-3.9935831004e-05,1793243340105466880
+39,0.650000000,BASELINE,765,745,714,679.373626057,661,634.626373943,879,787.626373943,805,653,631,652,0.40099641821,-0.0054171847365,0.0498589729222,0.999999963849,0.000106668021589,-0.000243574301941,-3.99427109022e-05,1793243340122133504
+40,0.666666667,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400996604594,-0.00541660056517,0.0498592275296,0.999999964079,0.000106962358589,-0.000242482883295,-4.00386953496e-05,1793243340138800128
+41,0.683333333,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400996706649,-0.00541727940107,0.0498592594891,0.999999964405,0.000105334278588,-0.000241806172664,-4.03001461061e-05,1793243340155466496
+42,0.700000000,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400995665371,-0.00541896577004,0.049858414714,0.999999964306,0.000102977441296,-0.00024325331486,-4.01428843927e-05,1793243340172133376
+43,0.716666667,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400994040483,-0.00542116643085,0.0498571224126,0.999999963979,0.000100248612344,-0.000245784570616,-3.97718922971e-05,1793243340188800256
+44,0.733333333,BASELINE,765,745,714,679.533761846,661,635,879,788,805,653,631,652,0.400995951114,-0.0054196476359,0.0498584553659,0.999999964279,0.000102839530243,-0.000243455137307,-3.99512115663e-05,1793243340205467136
+45,0.750000000,BASELINE,765,745.108483321,714,680,661,635,879,788,805,652.891516679,631,652,0.400997701451,-0.00541813750134,0.0498596900558,0.999999964534,0.000105315926064,-0.000241303210638,-4.01772822606e-05,1793243340222133760
+46,0.766666667,BASELINE,765,745.697060832,714,680,661,635,879,788,805,652.302939168,631,652,0.400997633512,-0.00541783227834,0.0498596664847,0.999999964453,0.000105616996437,-0.000241461367613,-4.04376500995e-05,1793243340238800384
+47,0.783333333,BASELINE,765,745.718614639,714,679.718614639,661,635,879,788,805,652.281385361,631,652,0.400997497919,-0.0054173757077,0.04985953235,0.999999964285,0.000106486573526,-0.000241775841964,-4.04466539788e-05,1793243340255467008
+48,0.800000000,BASELINE,765,745.13880062,714,679.13880062,661,635,879,788,805,652.86119938,631,652,0.400997290574,-0.00541675862237,0.0498592809547,0.999999964021,0.000107959091387,-0.000242256101733,-4.01890690075e-05,1793243340272133376
+49,0.816666667,BASELINE,765,745,714,679,661,635,879,788,805.43915998,653,631,652,0.400997137144,-0.00541762145318,0.0498589722468,0.999999964106,0.000106788849673,-0.000242457481163,-3.99703436178e-05,1793243340288800000
+50,0.833333333,BASELINE,765,745,714,679,661,635,879,788,806,653,631,652,0.400996962306,-0.00541887750348,0.0498586317571,0.999999964277,0.000104888770851,-0.000242616607739,-3.97796175581e-05,1793243340305466624
+51,0.850000000,BASELINE,765,745,714,679,661,635,879,788,806,653,631,652,0.400995485979,-0.00541767290244,0.049857825161,0.999999963684,0.000106445232665,-0.000244319472891,-4.01236783883e-05,1793243340322133248
+52,0.866666667,BASELINE,764.827677612,745,714,679,661,634.827677612,879,787.827677612,805.827677612,652.827677612,631,652,0.4009949274,-0.00541673947955,0.0498575586248,0.999999963469,0.000106915971813,-0.000244947289866,-4.03864795137e-05,1793243340338800128
+53,0.883333333,BASELINE,764.239227128,745,714,679,661,634.239227128,879,787.239227128,805.239227128,652.239227128,631,652,0.400996585024,-0.005416460904,0.0498585962374,0.999999964175,0.000104764882613,-0.000242979055493,-4.0453052801e-05,1793243340355467264
+54,0.900000000,BASELINE,764.3440156,745,714,679.3440156,661,634.3440156,878.6559844,787,805,652,631,652,0.400997613583,-0.00541691366994,0.0498592582462,0.999999964557,0.000104634047033,-0.00024147807242,-4.03281056128e-05,1793243340372133632
+55,0.916666667,BASELINE,764.923690855,745,714,679.923690855,661,634.923690855,878.076309145,787,805,652,631,652,0.400998211217,-0.00541786742388,0.0498596629567,0.99999996472,0.000105887137938,-0.00024029716875,-4.00719619032e-05,1793243340388800256
+56,0.933333333,BASELINE,765,745,714,679.500724249,661,635,878.499275751,787,805,652.499275751,631,652,0.400996939516,-0.00541919054868,0.0498594079489,0.999999964517,0.000104336815853,-0.00024183597681,-3.99360821364e-05,1793243340405467136
+57,0.950000000,BASELINE,765,745.0741791,714,679,661,635,878.9258209,787,805.0741791,653,631,652,0.40099566121,-0.00542027206091,0.0498592042755,0.999999964306,0.000102745483438,-0.000243403270366,-3.98355349978e-05,1793243340422133504
+58,0.966666667,BASELINE,765,745.648667665,714,679,661,635,878.351332335,787,805.648667665,653,631,652,0.400996249689,-0.00541934631886,0.0498600213751,0.99999996445,0.000103743953472,-0.000242381868183,-3.98503268423e-05,1793243340438800384
+59,0.983333333,BASELINE,765,745.769575278,714,679,661,635,878.230424722,787,805.769575278,653,631,652,0.400996420655,-0.00541885940372,0.0498602192178,0.999999964448,0.000104505324559,-0.000242064905188,-3.98322509755e-05,1793243340455467008
+60,1.000000000,BASELINE,765,745.176374772,714,679,661,635,878.823625228,787,805.176374772,653,631,652,0.400995934298,-0.00541906336817,0.049859442116,0.999999964218,0.000104893412259,-0.000242856996118,-3.9762428885e-05,1793243340472133632
+61,1.016666667,BASELINE,765,745.40565354,714,679,660.59434646,635,879,787.40565354,805,652.59434646,631,652,0.400996359467,-0.00541940000659,0.0498591389459,0.999999964296,0.000104380069329,-0.000242760814402,-3.97538011236e-05,1793243340488800256
+62,1.033333333,BASELINE,765,745.98295444,714,679,660.01704556,635,879,787.98295444,805,652.01704556,631,652,0.400997170338,-0.00541979278437,0.0498590363143,0.999999964503,0.000103485296974,-0.000242288770877,-3.97710670022e-05,1793243340505467136
+63,1.050000000,BASELINE,765.55836783,745.44163217,714,679,660.55836783,635,878.44163217,788,805.55836783,652.55836783,631,652,0.400996309277,-0.00541790028794,0.0498589640214,0.999999964276,0.000104442995125,-0.000242782815393,-3.99424870617e-05,1793243340522133760
+64,1.066666667,BASELINE,765.866528506,745,714,679.133471494,661,635,878.133471494,788,806,653,631,652,0.400995776494,-0.00541670527808,0.0498590448075,0.99999996413,0.000105199252399,-0.000243048915581,-4.00112677875e-05,1793243340538800384
+65,1.083333333,BASELINE,765.292258114,745,714,679.707741886,661,635,878.707741886,788,806,653,631,652,0.400996495868,-0.00541804338938,0.0498596280994,0.999999964293,0.000105104101877,-0.000242465141731,-3.97255856314e-05,1793243340555467008
+66,1.100000000,BASELINE,765,745,714.292158093,680,661,635,879,788,805.707841907,653,631,652,0.400996528544,-0.00541853073477,0.0498596646655,0.999999964302,0.000105473089949,-0.000242279152485,-3.96528221941e-05,1793243340572133632
+67,1.116666667,BASELINE,765,745,714.887088684,680,661,635,879,788,805.112911316,653,631,652,0.400995849572,-0.00541813640495,0.0498591346426,0.999999964151,0.000106323079257,-0.0002425053998,-3.9800713051e-05,1793243340588800256
+68,1.133333333,BASELINE,765,745,714.533228052,680,660.533228052,635,879,788,805,653,631,652,0.400995885863,-0.0054176511723,0.0498593888281,0.999999964043,0.000107002451701,-0.000242607742033,-4.00730696553e-05,1793243340605466880
+69,1.150000000,BASELINE,765,745,714,679.957409825,660.042590175,635,879,788,805.042590175,653,631,652,0.400996061492,-0.00541719571842,0.0498597629223,0.999999963966,0.000107431947281,-0.00024269348672,-4.03322407365e-05,1793243340622133504
+70,1.166666667,BASELINE,765,745,714,679.385240384,660.614759616,635,879,788,805.614759616,653,631,652,0.400995886352,-0.00541737531529,0.0498593438414,0.99999996415,0.000105251351355,-0.000242933749767,-4.00649282894e-05,1793243340638800640
+71,1.183333333,BASELINE,765,745.186834441,714,679,661,635,879,788,805.813165559,653,631,652,0.400995811341,-0.00541749104787,0.0498590687261,0.999999964237,0.000104240707977,-0.000243042150737,-3.98859911533e-05,1793243340655467520
+72,1.200000000,BASELINE,765,745.758714378,714,679,661,635,879,788,805.241285622,653,631,652,0.400995942682,-0.00541747516314,0.0498590903086,0.999999964129,0.000105641209358,-0.000242878798333,-3.98891858877e-05,1793243340672134144
+73,1.216666667,BASELINE,765.34480506,745.65519494,714,679,661,634.65519494,879,788,805,653,631,652,0.400996005755,-0.00541794361288,0.0498592647048,0.999999964151,0.000105732906212,-0.000242753530735,-3.98677120231e-05,1793243340688800768
+74,1.233333333,BASELINE,765.941267477,745.058732523,714,679,661,634.058732523,879,788,805,653,631,652,0.400996019003,-0.00541876555609,0.0498595506326,0.999999964267,0.000104869366746,-0.000242656059494,-3.98282336822e-05,1793243340705467648
+75,1.250000000,BASELINE,765.481928353,745,714,679,661,634.518071647,880.036143295,788,805,653,631,652,0.400996034198,-0.00542003272076,0.0498594823068,0.999999964466,0.000103283286354,-0.000242542092391,-3.96661894114e-05,1793243340722134016
+76,1.266666667,BASELINE,765,745,714,679,661,635,880.809350907,788,805.095324546,653,631,652,0.400996157097,-0.00542108080899,0.0498594397405,0.999999964668,0.000101873052357,-0.000242331200396,-3.95224523852e-05,1793243340738800384
+77,1.283333333,BASELINE,765,745,714,679,661,635,879.627862767,788,805.686068617,653,631,652,0.400996838648,-0.00542073758461,0.0498597321449,0.999999964846,0.000101786877494,-0.000241625935505,-3.95434364466e-05,1793243340755467008
+78,1.300000000,BASELINE,765,745,714,679,661,635,879,788,805.728826348,653,631,652,0.400997014938,-0.0054196282643,0.0498596525528,0.999999964718,0.000103194216321,-0.00024156031857,-3.95336666861e-05,1793243340772133888
+79,1.316666667,BASELINE,765,745,714,679,661,635,879,788,805.150116545,653,631,652,0.400996618214,-0.00541765011994,0.0498591510821,0.999999964236,0.000106295338638,-0.000242220121982,-3.94890192281e-05,1793243340788800768
+80,1.333333333,BASELINE,765,745.426502305,714,679,661,635,878.573497695,788,805,653,631,652,0.400996559919,-0.00541788591048,0.0498592769842,0.999999964365,0.000105812264153,-0.000241882264543,-3.95745368435e-05,1793243340805467392
+81,1.350000000,BASELINE,765,745.997607986,714.002392014,679,661,635,878.002392014,788,805.002392014,653,631,652,0.400996622894,-0.0054188937778,0.0498596247302,0.999999964708,0.000104082639112,-0.000241193854757,-3.97044943135e-05,1793243340822133760
+82,1.366666667,BASELINE,765,745.420954973,714.579045027,679,661,635,878.579045027,788,805.579045027,653,631,652,0.400997342169,-0.00541909426053,0.0498604775688,0.999999964903,0.000104472676684,-0.000240237164107,-3.95581248891e-05,1793243340838800384
+83,1.383333333,BASELINE,765,745.159495344,714.840504656,679,661,635,879,788,806,653,631,652,0.400997952117,-0.00541920267129,0.0498610654148,0.999999965064,0.000104302456244,-0.000239652180318,-3.9483262294e-05,1793243340855466752
+84,1.400000000,BASELINE,765,745.750212419,714.249787581,679,661,635,879,788,806,653,631,652,0.40099826648,-0.00541906215051,0.0498609368101,0.999999965133,0.000102617486779,-0.000240072166567,-3.96017300669e-05,1793243340872133376
+85,1.416666667,BASELINE,765,745.665730112,714,679.334269888,661,635,879,788,805.665730112,653,631,652,0.400997882082,-0.00541931271025,0.0498604996879,0.999999964936,0.000102723911793,-0.000240857280826,-3.95538300531e-05,1793243340888800000
+86,1.433333333,BASELINE,765,745.086551948,714,679.913448052,661,635,879,788,805.086551948,653,631,652,0.400996985725,-0.00541984980153,0.0498598365255,0.999999964541,0.000104142831244,-0.000241909912038,-3.9384037964e-05,1793243340905466624
+87,1.450000000,BASELINE,765,745.487523154,714,679.512476846,661,635,878.512476846,788,805,653,631,652,0.400996989971,-0.00541952878184,0.0498597980276,0.999999964627,0.000103619206074,-0.000241770202895,-3.94565199636e-05,1793243340922134016
+88,1.466666667,BASELINE,765,746,714,679,661,635,878.061049231,787.938950769,805.061049231,653,631,652,0.400996974989,-0.00541908387728,0.0498597922672,0.999999964736,0.000103044961812,-0.0002415436491,-3.95721093635e-05,1793243340938801152
+89,1.483333333,BASELINE,765,746,714,679,661,635,878.6375096,787.3624904,805.6375096,653,631,652,0.400995461798,-0.00541886591612,0.0498591363219,0.99999996434,0.000104924765882,-0.00024235251951,-3.96922667051e-05,1793243340955467520
+90,1.500000000,BASELINE,765,745.780133996,714,679,661,635,879,787,805.780133996,653,631,652,0.400994809434,-0.00541858607175,0.0498585030453,0.999999964052,0.000106146928149,-0.000242985286538,-3.9829978474e-05,1793243340972134144
+91,1.516666667,BASELINE,765,745.18778907,714,679,661,635,879,787,805.18778907,653,631,652,0.400995615414,-0.00541820138995,0.0498579081724,0.999999963953,0.000106254967516,-0.000243319713605,-3.99974294991e-05,1793243340988800512
+92,1.533333333,BASELINE,765,745,714,679,661,635,879,787.395225074,805,653,631,652,0.400995716427,-0.00541862042236,0.0498580644616,0.999999964146,0.000104051296562,-0.000243466021592,-4.00825212252e-05,1793243341005466880
+93,1.550000000,BASELINE,765,745,714,679,661,635,879,787.973908053,805,653,631,652,0.400995490204,-0.00541941252752,0.0498585694296,0.999999964465,0.000100774562288,-0.000243525007383,-4.01293829403e-05,1793243341022133504
+94,1.566666667,BASELINE,765,745,714,679,661,635,879,787.452110943,805,653,631,652,0.400995680342,-0.00541971550676,0.0498592456275,0.999999964498,0.000101584924705,-0.000243117093937,-3.97430217109e-05,1793243341038800640
+95,1.583333333,BASELINE,765,745,714,679,661,634.874915877,879,787.125084123,805,653,631,652,0.400995965923,-0.00541977035857,0.0498598372217,0.999999964535,0.00010258259815,-0.000242588199629,-3.9459990164e-05,1793243341055467264
+96,1.600000000,BASELINE,765,745,714,679,661,634.284950292,879,787.715049708,805,653,631,652,0.400996533163,-0.00541898886712,0.0498600843334,0.999999964645,0.000103559194164,-0.000241691608038,-3.96370130862e-05,1793243341072133888
+97,1.616666667,BASELINE,765,745.298678353,714,679,661,634.298678353,879,787.701321647,805,653,631,652,0.400997334936,-0.00541859948803,0.0498602965724,0.999999964734,0.000104900860275,-0.000240730570896,-3.96970053296e-05,1793243341088800512
+98,1.633333333,BASELINE,765,745.87638689,714,679,661,634.87638689,879,787.12361311,805,653,631,652,0.400998355814,-0.00541857642672,0.0498604762327,0.999999964804,0.00010658358076,-0.000239709327722,-3.96476655949e-05,1793243341105467392
+99,1.650000000,BASELINE,765,745.546265957,714,679,660.546265957,634.546265957,878.546265957,787,805,652.546265957,631,652,0.400996637642,-0.00541865540347,0.049859416599,0.999999964348,0.000106200448018,-0.000241758180845,-3.97366291898e-05,1793243341122134016
+100,1.666666667,BASELINE,765,745,714,679,660.061685269,634.030842634,878.030842634,787,805.030842634,652,631,652,0.400994359492,-0.00541879997961,0.0498581347328,0.999999963795,0.000105255449359,-0.000244426372453,-3.98489659609e-05,1793243341138800384
+101,1.683333333,BASELINE,765,745,714,679,661.2109594,634.6054797,878.6054797,787,805.6054797,652,631,652,0.400995354427,-0.00541961141842,0.0498588826835,0.999999964178,0.000104319217619,-0.000243279194586,-3.97096072461e-05,1793243341155467008
+102,1.700000000,BASELINE,765,745,714.185461172,679,661.814538828,635,879,787,805.814538828,652.185461172,631,652,0.400996349268,-0.00541996095177,0.0498595641297,0.999999964541,0.000103853899744,-0.000241994136731,-3.96309597456e-05,1793243341172133632
+103,1.716666667,BASELINE,765,745,714.777148731,679,661.222851269,635,879,787,805.222851269,652.777148731,631,652,0.400997343907,-0.00541929874664,0.0498600999069,0.999999964863,0.000104420052011,-0.000240407072473,-3.96852915655e-05,1793243341188800256
+104,1.733333333,BASELINE,765,745.360401099,714.639598901,679,661,635,879,787,805.360401099,653,631,652,0.400998121081,-0.00541829833238,0.0498606180218,0.99999996504,0.000105128818384,-0.000239346204342,-3.97736019292e-05,1793243341205467136
+105,1.750000000,BASELINE,765,745.938556972,714.061443028,679,661,635,879,787,805.938556972,653,631,652,0.400998766863,-0.00541709357169,0.049861125465,0.999999965129,0.000105923752426,-0.000238603264387,-3.98824421749e-05,1793243341222133760
+106,1.766666667,BASELINE,765,745.486546547,714,679,661,634.486546547,879,787,806,653,631,652,0.400998786711,-0.00541888698546,0.0498611030024,0.999999965144,0.000105106238044,-0.000238954078553,-3.95593354154e-05,1793243341238800640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,653,631,652,0.400996334946,-0.00541783392953,0.0498599310504,0.9999999644,0.00010509273969,-0.000242033513294,-3.96855083425e-05,1793243341282267136
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.600590679,787.600590679,805,653,631,652,0.400996203778,-0.00541781045423,0.0498596225371,0.999999964403,0.000105153942712,-0.000241996517052,-3.9685473221e-05,1793243341298934016
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.193252587,714,679,660.806747413,635,878.806747413,787.806747413,805,653,631,652,0.400996306921,-0.00541796411745,0.0498593920986,0.999999964469,0.000104616064755,-0.000241953504238,-3.96946175848e-05,1793243341315600896
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.770173457,714,679,660.229826543,635,878.229826543,787.229826543,805,653,631,652,0.400996875247,-0.00541846945734,0.0498593166633,0.999999964661,0.000102888819184,-0.000241898546594,-3.97219861669e-05,1793243341332268032
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.654024176,714,679,660,635,878.345975824,787.345975824,805,652.654024176,631,652,0.400996842419,-0.00541876364451,0.049859537301,0.999999964708,0.000102302467849,-0.000241947781958,-3.97392125758e-05,1793243341348934144
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.078962453,714,679,660,635,878.921037547,787.921037547,805,652.078962453,631,652,0.400996411541,-0.00541891801809,0.0498599539817,0.999999964662,0.000102471553159,-0.000242066008125,-3.97497234016e-05,1793243341365600000
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.509524734,714,679,660.509524734,635,879,788,805.509524734,652.509524734,631,652,0.400996968353,-0.00541931124465,0.0498599730661,0.999999964762,0.000102144460423,-0.000241812293376,-3.96168392575e-05,1793243341382267136
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.901912116,714,679.098087884,661,635,879,788,805.901912116,653,631,652,0.400997619715,-0.00541982917659,0.0498599469246,0.999999964878,0.000101615782559,-0.000241580590099,-3.94517069716e-05,1793243341398934272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.323442274,714,679.676557726,661,635,879,788,805.323442274,653,631,652,0.400997964212,-0.00542077165972,0.0498600092224,0.999999964961,0.000100486625871,-0.000241746620018,-3.92404187926e-05,1793243341415601152
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.746213519,660.746213519,635,878.746213519,788,805,653,631,652,0.401001425123,-0.00542168428346,0.0498614873051,0.999999965722,9.93588026489e-05,-0.000239083226344,-3.90328732849e-05,1793243341432268032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.170558835,660.170558835,635,878.170558835,788,805,653,631,652,0.401008838467,-0.00542255903753,0.0498647609765,0.999999967316,9.82326706965e-05,-0.000232831377164,-3.88300744866e-05,1793243341448934400
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,788,805,653,631,652,0.401033255814,-0.00542174055824,0.0498735656785,0.99999997104,0.000100588228766,-0.000215215167826,-3.85179968339e-05,1793243341465601024
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.002545056,635,878.005090111,788,805,653,631,652,0.401064963344,-0.00542022519227,0.0498847359332,0.999999975251,0.000104389187924,-0.000192732400089,-3.81562600603e-05,1793243341482267392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.581403575,635,879.162807151,788,805,653,631,652,0.401126319376,-0.00542233770211,0.049904240208,0.999999982445,0.000103546550686,-0.000151730436969,-3.69682189343e-05,1793243341498933760
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.159399545,661,635,879.840600455,788,805,653,631,652,0.401189808623,-0.00542468485918,0.0499213476295,0.999999987136,0.00010226791557,-0.000118303403534,-3.56801476081e-05,1793243341515600128
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.735142701,661,635,879.264857299,788,805,653,631,652,0.401258869731,-0.00542764490352,0.0499321945945,0.999999988955,9.98504760701e-05,-0.000104661697981,-3.41308022969e-05,1793243341532266752
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.309477295,714,679.690522705,661,634.690522705,879,788,805,652.690522705,631,652.309477295,0.40133326571,-0.00543096563257,0.0499391197759,0.999999990235,9.78963157858e-05,-9.41075960753e-05,-3.30167968863e-05,1793243341548933376
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.882611839,714,679.117388161,661,634.117388161,879,788,805,652.117388161,631,652.882611839,0.401412206696,-0.00543459364455,0.0499427038177,0.999999991125,9.63368434893e-05,-8.61839596485e-05,-3.22736766815e-05,1793243341565600000
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745.530291889,714,679,661,634.469708111,879,787.530291889,805,652.469708111,631,652.530291889,0.401506863143,-0.00543769301427,0.0499421349757,0.999999990928,9.56910459957e-05,-8.94337734402e-05,-3.14554014235e-05,1793243341582266368
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.059275475,787.059275475,805.059275475,653,631,652,0.401607675003,-0.00544082265401,0.0499404882406,0.999999990466,9.49401934569e-05,-9.54858335838e-05,-3.06151211322e-05,1793243341598932992
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.638965151,787.638965151,805.638965151,653,631,652,0.401726990101,-0.00544541351763,0.0499387693306,0.999999990311,9.12008273254e-05,-0.000100872949377,-2.9751600442e-05,1793243341615599616
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.216441046,745,714,679,661,635,879.783558954,788,805.783558954,653,631,652,0.401861083461,-0.00545006399151,0.0499392532845,0.999999990529,8.81685721155e-05,-0.000101695855141,-2.87431174176e-05,1793243341632266240
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.790261568,745,714,679,661,635,879.209738432,788,805.209738432,653,631,652,0.402019578132,-0.00545481289119,0.0499433745262,0.999999991387,8.63038727695e-05,-9.49825050039e-05,-2.74952780167e-05,1793243341648933120
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.634309553,745,714,678.634309553,661,635,879,788,805,653,631,652,0.402191916076,-0.00546025309409,0.0499443189489,0.99999999161,8.46133713297e-05,-9.45171754309e-05,-2.6213039439e-05,1793243341665599744
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.057954086,745,714,678.057954086,661,635,879,788,805,653,631,652,0.402372228795,-0.00546609153974,0.0499434332869,0.999999991475,8.30232207232e-05,-9.7651171881e-05,-2.49109842477e-05,1793243341682266368
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.532493861,714,678.532493861,661,635,879,788,805,653,631,652,0.402588127674,-0.00547528154387,0.0499455976816,0.999999992081,7.86235084856e-05,-9.55845511525e-05,-2.2801313202e-05,1793243341698932992
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.121282285,745.878717715,714,679,661,635,879,788,805.121282285,653,631,652,0.402815352506,-0.00548451918271,0.0499479904541,0.999999992744,7.37974803242e-05,-9.29354801155e-05,-2.07110012372e-05,1793243341715599616
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.697925003,745.302074997,714,679,661,635,879,788,805.697925003,653,631,652,0.40307016448,-0.00549252890273,0.0499499604659,0.999999993394,6.85500993696e-05,-9.02824536736e-05,-1.90323584328e-05,1793243341732266240
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.726569521,745.273430479,714,679,661,634.726569521,879,788,805.726569521,653,631,652,0.403351137758,-0.00550143759857,0.0499560665936,0.999999994806,6.42732060066e-05,-7.72751947454e-05,-1.691789913e-05,1793243341748932864
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.152315254,745.847684746,714,679,661,634.152315254,879,788,805.152315254,653,631,652,0.403660893265,-0.00551133533255,0.049966723209,0.999999996635,6.10640276695e-05,-5.28763769713e-05,-1.43239616642e-05,1793243341765599744
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.434354538,745.565645462,714,679,661,634.434354538,879.434354538,787.565645462,805.434354538,653,631,652,0.403989785553,-0.00551872847577,0.0499749227232,0.999999997411,6.12411373916e-05,-3.58403589947e-05,-1.19752086279e-05,1793243341782266368
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.025014987,714.025014987,679.025014987,661,635,879.974985013,787.025014987,806,653,631,652,0.404327891525,-0.00552523885836,0.0499821014092,0.999999997757,6.26549453614e-05,-2.16249645645e-05,-9.66168020413e-06,1793243341798932736
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.604782238,714.604782238,679.604782238,661,635,879.395217762,787.604782238,806,653,631,652,0.404717126696,-0.0055322231299,0.0499863119046,0.999999997848,6.43855765358e-05,-1.10185129621e-05,-6.16647758632e-06,1793243341815599616
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765.498336934,745.501663066,714,679.498336934,660.501663066,635,879,788,805,653,631,652,0.406796486839,-0.0055199007071,0.0499295977557,0.999999984284,0.00013162252601,-0.000118638938333,5.67307843406e-06,1793243341898932992
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.912322733,745,714,679.912322733,660.175354534,635,879,787.912322733,805,653,631,652,0.407285714964,-0.00551912463605,0.0499229543425,0.999999981533,0.000144468070493,-0.000126465369009,8.28294900791e-06,1793243341915599872
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.332668586,745,714,679.332668586,661.334662828,635,879,787.332668586,805,653,631,652,0.407849246562,-0.00552381011527,0.0499330167412,0.999999982808,0.000152573568762,-0.000104640579815,1.24837127406e-05,1793243341932266496
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713.754513691,679.245486309,661.754513691,635,879,787.245486309,805.245486309,653,631,651.754513691,0.408430466231,-0.00552854843763,0.0499503669405,0.999999984532,0.000159443246648,-7.22729021014e-05,1.7029354064e-05,1793243341948933120
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713.178378194,679.821621806,661.178378194,635,879,787.821621806,805.821621806,653,631,651.178378194,0.409035510197,-0.00553335793491,0.0499775331871,0.999999985872,0.000164648378904,-2.57048511634e-05,2.20395159108e-05,1793243341965600000
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713.404688189,679.595311811,661,635,879.404688189,788,806,653,631,651.404688189,0.409636905932,-0.00553676693136,0.0499919397743,0.999999985005,0.000171076389726,-5.45830770101e-06,2.63329537765e-05,1793243341982266880
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.990862781,679.009137219,661,635,879.990862781,788,806,653,631,651.990862781,0.410236665565,-0.0055395478593,0.0500006241659,0.999999983685,0.00017805281243,2.98409533109e-06,3.03049695945e-05,1793243341998933504
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.570082964,745,714,679,661,635,879.429917036,787.429917036,806,653,631,652,0.410840656738,-0.00553460688343,0.0499788630084,0.999999979831,0.000192262200707,-4.82812619278e-05,3.22752798159e-05,1793243342015600384
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.147288679,714,679,660.852711321,635,879.147288679,787,805.852711321,652.852711321,631,652,0.411463194938,-0.00553149705973,0.0499568696432,0.999999974181,0.000204082795495,-9.39144085272e-05,3.41662477177e-05,1793243342032266752
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.719006695,714,679,660.280993305,635,879.719006695,787,805.280993305,652.280993305,631,652,0.412138985348,-0.00553401626031,0.0499355963656,0.999999970308,0.000208689767899,-0.00012059324311,3.59199183556e-05,1793243342048933376
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.705949848,745.705949848,714,679,660.294050152,635,879.705949848,787,805,652,631,652,0.412863912793,-0.00553830902832,0.0499403502354,0.99999998008,0.000168781427341,-0.000102898487916,2.76441089897e-05,1793243342065600000
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.127692194,745.127692194,714,679,660.872307806,635,879.127692194,787,805,652,631,652,0.413636332602,-0.00554431599797,0.0499702600515,0.999999995373,8.58478203547e-05,-4.23154487653e-05,9.6745332945e-06,1793243342082266880
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.462198249,745,714,679,661,635,879,787,805.462198249,652.462198249,631,652,0.414369026684,-0.00555088195355,0.0499740726082,0.999999996598,7.14954936192e-05,-4.00108189366e-05,9.52044780083e-06,1793243342098933504
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.945935142,745,714,678.945935142,660.945935142,635,879.054064858,787,806,652.945935142,631,652,0.415093316465,-0.00555676312945,0.0499681764248,0.999999995233,7.79871230494e-05,-5.69907150388e-05,1.4250981696e-05,1793243342115600384
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.36689156,745,714,678.36689156,660.36689156,635,879.63310844,787,806,652.36689156,631,652,0.41584532089,-0.00555445671061,0.0499398238872,0.999999989947,9.8148003867e-05,-0.000100850042474,1.73854845014e-05,1793243342132266496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.209335331,745,714,678.418670663,660,635,880,787,805.790664669,652.209335331,631,652,0.416627553548,-0.00555326768945,0.0499275677717,0.999999986401,0.000114270054049,-0.000117058446152,2.09425956712e-05,1793243342148932864
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.78069106,745,714,679.56138212,660,635,880,787,805.21930894,652.78069106,631,652,0.417462062273,-0.00555401107396,0.0499431484928,0.999999988416,0.000123407429152,-8.54478847561e-05,2.52305572753e-05,1793243342165599744
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.645452832,745,714,679.645452832,660.354547168,635,879.645452832,787.354547168,805,652.645452832,631,652,0.418297728276,-0.00555275162974,0.049962075554,0.999999990019,0.000127644656933,-5.42251269451e-05,2.69842270677e-05,1793243342182266624
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.070039125,745,714,679.070039125,660.929960875,635,879.070039125,787.929960875,805,652.070039125,631,652,0.419134115178,-0.00555024451552,0.0499830872301,0.999999991063,0.00012882931846,-2.32439540605e-05,2.71591497303e-05,1793243342198933248
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.522996136,745,714,679,660.477003864,635,879,787.477003864,805.522996136,652,631,651.477003864,0.419933865991,-0.00554937251537,0.0499663463441,0.999999990165,0.000124655775308,-5.85584058404e-05,2.65098449298e-05,1793243342215600128
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.884803888,745,714,679,660.115196112,634.884803888,879.115196112,787.115196112,806,652,631,651,0.42075471991,-0.00554977547314,0.0499538197769,0.999999989077,0.00012042584356,-8.15700019984e-05,2.62580676374e-05,1793243342232267008
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.305799814,745,714,679,660.694200186,634.305799814,879.694200186,787.694200186,806,652,631,651,0.421680982547,-0.00555439934612,0.0499793267163,0.999999992368,0.000118958712702,-1.80548503234e-05,2.80667465006e-05,1793243342248933632
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.268263746,745,714,679,661.268263746,634.268263746,880,787.731736254,806.268263746,652,631,651.268263746,0.422585096693,-0.00555727575754,0.0499928989154,0.99999999242,0.000118543638976,1.53027258966e-05,2.95620556041e-05,1793243342265600256
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.83679742,745,714,679,661.83679742,634.83679742,880,787.16320258,806.83679742,652,631,651.83679742,0.423464419958,-0.00555819622071,0.0499931124598,0.9999999923,0.000119306142111,1.49046754317e-05,3.07066075565e-05,1793243342282267392
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.413466281,714,679,661.586533719,635,880,787,806.586533719,652,631,652,0.424336710227,-0.00555752910087,0.049980199789,0.999999992555,0.000118142305843,-5.25794459306e-06,3.00852262232e-05,1793243342298933760
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.99341066,714,679,661.00658934,635,880,787,806.00658934,652,631,652,0.425206168677,-0.00555622275643,0.0499620019779,0.999999992278,0.000116202847994,-3.33785725172e-05,2.8752809276e-05,1793243342315599872
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.414478891,745.414478891,714,679.585521109,661,635,879.414478891,787,806,652,631,652,0.426103843533,-0.00555628741691,0.049984192049,0.999999992978,0.000114315284219,-6.65934809706e-06,3.05308345933e-05,1793243342332266496
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.173438462,745,714,679.826561538,661,634.826561538,879.173438462,787,806,652,631,652,0.426988025351,-0.00555672796474,0.0499955713337,0.999999992988,0.000113897866033,-1.93469487221e-06,3.23631930463e-05,1793243342348933120
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.751253471,745,714,679.248746529,661,634.248746529,879.751253471,787,806,652,631,652,0.427839991663,-0.00555800816773,0.0499806627651,0.999999991332,0.000116906742328,-4.99604421031e-05,3.42388853201e-05,1793243342365599744
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.672918989,634,880,787,806,652,631,652,0.428722152986,-0.00555835839002,0.0499624415013,0.999999989579,0.000116460975965,-7.8257295362e-05,3.39936896977e-05,1793243342382266112
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.098593825,634,880,787,806,652,631,652,0.429627139014,-0.00555800562954,0.0499417161351,0.999999988854,0.000113403807019,-9.16408574566e-05,3.21452914218e-05,1793243342398932736
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.511134422,745,714,679.488865578,660.977731155,634.488865578,880,787,806,652,631,651.511134422,0.430516899175,-0.00555858694473,0.0499478369189,0.999999990476,0.000111548415176,-7.45793175445e-05,3.228556727e-05,1793243342415599616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.922512117,661.845024234,635,880,787,805.922512117,652,631,651,0.431397190913,-0.00555902520656,0.0499552084238,0.999999991556,0.000110415809231,-6.0207097419e-05,3.27317633455e-05,1793243342432266240
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.343971719,660.687943438,635,880,787,805.343971719,652,631,651,0.432236661669,-0.00555728670043,0.0499346907989,0.999999987751,0.000112346383612,-0.000104024080468,3.24910786422e-05,1793243342448933888
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.23407504,745.23407504,714,679.23407504,660.23407504,635,880,787.23407504,805.46815008,652,631,651.23407504,0.433097943894,-0.00555786901092,0.049929574196,0.999999986767,0.000111700844224,-0.000113636140522,3.28002019879e-05,1793243342465601024
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.811398011,745.811398011,714,679.811398011,660.811398011,635,880,787.811398011,806.622796022,652,631,651.811398011,0.433991210608,-0.00556185456953,0.0499470416679,0.999999991,0.000107277688786,-7.30900652441e-05,3.39155645445e-05,1793243342482267648
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.606507004,745.606507004,714,679.606507004,661,634.606507004,880,787.606507004,806.606507004,652,631,651.606507004,0.434856880881,-0.00556357824019,0.0499669670897,0.999999992592,0.000107300411477,-4.48134056524e-05,3.59896708022e-05,1793243342498934016
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.02209674,745.02209674,714,679.02209674,661,634.02209674,880,787.02209674,806.02209674,652,631,651.02209674,0.435709161696,-0.00556420447439,0.0499880850732,0.999999993012,0.000109480211994,-2.24896964627e-05,3.8528945958e-05,1793243342515600640
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.55938853,745,714,679.55938853,661,634,880,787,806,651.44061147,631,651.55938853,0.436491192624,-0.00556313128603,0.0499602719359,0.999999989359,0.000110083559532,-8.75874460025e-05,3.86231292001e-05,1793243342532267264
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.860150261,745,714,679.860150261,661,634,880,787,806,651.139849739,631,652,0.437287261182,-0.00556244310408,0.0499425617021,0.999999985399,0.000109932304382,-0.000125039673235,3.85084079236e-05,1793243342548933376
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.282534864,745,714,679.282534864,661,634,880,787,806,651.717465136,631,652,0.438135912315,-0.0055631691321,0.0499624950252,0.999999991361,0.000107612864518,-6.52008526006e-05,3.8040525502e-05,1793243342565599744
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.292178965,745.292178965,714,679.292178965,661.292178965,634,880,787,806,652,631,652,0.438944525472,-0.00556347151969,0.0499738001948,0.999999992994,0.000106122975317,-3.62297264658e-05,3.79144026201e-05,1793243342582266624
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.864114557,745.864114557,714,679.864114557,661.864114557,634,880,787,806,652,631,652,0.439714802866,-0.00556336827839,0.0499768440459,0.999999993039,0.000105427367849,-3.68139214782e-05,3.81155090868e-05,1793243342598933504
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679.54814037,661.54814037,634,880,787,806,652,631.45185963,651.54814037,0.440454429245,-0.00556517346727,0.049958489736,0.999999991883,0.000103344502458,-6.43460464004e-05,3.75875360063e-05,1793243342615600128
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.956554881,714.043445119,679.043445119,661,634,880.043445119,787,806,652,631.956554881,651,0.441185192002,-0.0055674422614,0.0499366448995,0.999999989676,0.000100973451121,-9.53237590917e-05,3.6961833747e-05,1793243342632267008
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.378340821,714.621659179,679.621659179,661,634,880.621659179,787,806,652,631.378340821,651,0.441924423832,-0.00556809714894,0.0499539151053,0.999999992108,0.000100376417107,-6.53451809852e-05,3.79298177552e-05,1793243342648933376
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.801288474,680,660.801288474,634,880.801288474,787,806,652,631,651.198711526,0.44264721255,-0.00556881225418,0.0499718106404,0.99999999361,0.000100052205366,-3.52081386259e-05,3.91021590942e-05,1793243342665599744
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.226435039,680,660.226435039,634,880.226435039,787,806,652,631,651.773564961,0.44333887616,-0.00556964134589,0.0499908898671,0.999999994137,0.000100244420064,-4.77113345117e-06,4.06613295083e-05,1793243342682266368
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.652680517,745,714,680,660.347319483,634,880,787,806.347319483,652,631,652,0.443975045221,-0.00556859515418,0.0499816032607,0.999999993506,0.000103612661701,-2.3478373933e-05,4.12568983137e-05,1793243342698932992
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.079640206,745,714,680,660.920359794,634,880,787,806.920359794,652,631,652,0.444575148668,-0.00556633022708,0.0499538818699,0.999999990458,0.000109044983827,-7.41241637978e-05,4.12262281077e-05,1793243342715599616
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.512708308,880,787,807,652,631,652,0.445188232566,-0.00556541075481,0.0499386866968,0.999999989417,0.000110876305913,-8.52129657725e-05,4.01511091904e-05,1793243342732266496
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.105089779,714,680,661,635,880.105089779,787,807,652,631,651.894910221,0.44580240679,-0.00556589911966,0.0499320967145,0.999999989737,0.000111421978797,-8.08458022324e-05,3.9678354369e-05,1793243342748933376
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.683580462,714,680,661,635,880.683580462,787,807,652,631,651.316419538,0.446412054372,-0.00557175111092,0.0499551628078,0.999999992537,0.000108794483941,-3.5616101523e-05,4.26785180384e-05,1793243342765600000
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.837462944,745.162537056,714,680.837462944,661,634.162537056,880.162537056,787,806.162537056,651.162537056,631,651.837462944,0.447461922733,-0.00557575723824,0.0499455077113,0.999999991936,0.000106792982161,-5.25333089936e-05,4.43071540473e-05,1793243342798932992
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+203,3.383333333,POSE1_TO_POSE2_PRESS,765.737427888,745,715,680.262572112,660.262572112,633.262572112,880,787,807,652,631,652,0.449566331625,-0.00557120802893,0.0498301083556,0.999999964546,0.000128107409827,-0.000229168472684,4.44747117792e-05,1793243342882266880
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.689235313,745.310764687,715,680.310764687,660,633,880,787,807,652,631.310764687,652,0.449949314036,-0.00557613826291,0.0498367789006,0.999999966547,0.000125994669213,-0.000221052252873,4.65556345114e-05,1793243342898933504
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.114426006,745.885573994,715,680.885573994,660,633,880,787,807,652,631.885573994,652,0.450313771455,-0.00558329937436,0.0498408186634,0.999999967484,0.000120768915166,-0.000219194775489,4.89884419645e-05,1793243342915600128
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.477182509,745.522817491,715,681,660,633,880,787,807,652,631.522817491,652,0.450637228085,-0.00558670183812,0.0498331270922,0.999999963442,0.000119368870121,-0.000237388945776,5.01376101069e-05,1793243342932266752
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.929741951,745,715,680.929741951,660,632.929741951,880,787,807,652,630.929741951,651.929741951,0.450943619773,-0.00558875530197,0.0498220997549,0.999999957493,0.000119298770587,-0.000261136028168,5.08804089868e-05,1793243342948933376
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.356072104,745,715,680.356072104,660,632.356072104,880,787,807,652,630.356072104,651.356072104,0.451200755154,-0.0055878366013,0.0498080630344,0.999999949515,0.000121944880215,-0.000288961346004,5.09974939118e-05,1793243342965600256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.218735525,745.218735525,715,680.218735525,660,632,880,787,807,652,630.218735525,651.218735525,0.451442928357,-0.00558649032828,0.0497912711875,0.999999939467,0.000124180745966,-0.00032103427527,5.08074378718e-05,1793243342982266624
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.795404939,745.795404939,715,680.795404939,660,632,880,787,807,652,630.795404939,651.795404939,0.451660617761,-0.00558444438559,0.0497699709152,0.999999926017,0.000125745297612,-0.000360057897492,5.01147832599e-05,1793243342998932992
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.628417224,746,714.628417224,680.628417224,660.371582776,632,880,787,807,652,631,652,0.451866505691,-0.00558258318218,0.0497549228998,0.999999916409,0.000126237578713,-0.00038574948775,4.94364187147e-05,1793243343015599616
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.05250964,746,714.05250964,680.05250964,660.94749036,632,880,787,807,652,631,652,0.452065904283,-0.00558082356246,0.0497433128543,0.999999909203,0.000126140243127,-0.000404110104517,4.8765911898e-05,1793243343032266240
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714.538309694,680,659.923380611,631.461690306,880,787,807,652,631,652,0.452249124531,-0.00557631410475,0.0497375881752,0.999999912193,6.78789021332e-05,-0.000412551442163,2.84065542049e-05,1793243343048932864
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.127211585,745.872788415,715,680,659,631,880,787,807,652,631,652,0.452425363436,-0.00557358191101,0.049734431253,0.999999913044,1.73217679215e-05,-0.000416514710921,1.12481626493e-05,1793243343065599744
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.704048872,745.295951128,715,680,659,631,880,787,807,652,631,652,0.452582663779,-0.00557810648076,0.0497382630763,0.999999916516,1.46195275686e-05,-0.000408167699069,1.23850385381e-05,1793243343082266368
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.280007647,631,880,787,807,652,630.719992353,652,0.452721524391,-0.0055804153941,0.0497389639906,0.999999917262,1.49211474047e-05,-0.000406297867832,1.32635943332e-05,1793243343098932992
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.855040759,631,880,787,807,652,630.144959241,652,0.452840956272,-0.0055803898171,0.0497363660739,0.99999991517,1.83877354307e-05,-0.000411252612245,1.38699753299e-05,1793243343115599616
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.558108885,745,715,680,660,631,880,786.558108885,807,652,630.441891115,652,0.452943801254,-0.00558272351753,0.0497330932695,0.999999913779,1.68834589029e-05,-0.000414658517035,1.46778470466e-05,1793243343132266240
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.032041117,745.032041117,714.967958883,680,660,631,880,786.032041117,807,652,631,652,0.453039871365,-0.00558568902889,0.0497296956022,0.999999912561,1.39440335336e-05,-0.000417664096024,1.55286625047e-05,1793243343148932864
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.610535515,745.610535515,714.389464485,680,660,631,880,786.610535515,807,652,631,652,0.453115746175,-0.00558586780984,0.0497280479621,0.999999910402,1.51031011703e-05,-0.000422745594386,1.59536204373e-05,1793243343165599488
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.812466316,745.812466316,714.187533684,680,660.187533684,630.812466316,880,787,807,652,631,652,0.453184576204,-0.00558639967601,0.0497257698691,0.999999908444,1.59702957471e-05,-0.000427304554321,1.63594596697e-05,1793243343182266624
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.238550948,745.238550948,714.761449052,680,660.761449052,630.238550948,880,787,807,652,631,652,0.453238891633,-0.00558765901498,0.049722192834,0.99999990694,1.62361347229e-05,-0.000430786910908,1.6725907977e-05,1793243343198933248
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.336703476,715,680.336703476,660.663296524,630,880,787,807,652,631,652,0.453284088535,-0.00558889402577,0.0497185729783,0.999999904812,1.54754660074e-05,-0.000435719050251,1.68993083087e-05,1793243343215599616
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.912910454,715,680.912910454,660.087089546,630,880,787,807,652,631,652,0.453322799262,-0.00559011173159,0.0497149226633,0.999999902217,1.39846231287e-05,-0.000441682447628,1.69353900286e-05,1793243343232266240
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.503543353,746,715,680.496456647,660,630,880,787,806.496456647,652,631,652,0.453351104002,-0.00558938701561,0.0497124835621,0.999999900329,1.49414945555e-05,-0.000445914172429,1.66843858431e-05,1793243343248933120
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.906299018,745.906299018,715,680,659.906299018,630,880,786.906299018,806.093700982,652,630.906299018,652,0.453376373479,-0.00558840313818,0.0497105650633,0.999999898803,1.61640705352e-05,-0.000449290301639,1.64356616175e-05,1793243343265599488
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.331761122,745.331761122,715,680,659.331761122,630,880,786.331761122,806.668238878,652,630.331761122,652,0.45339557519,-0.00558786414746,0.0497102113989,0.999999898542,1.65136476245e-05,-0.000449858089124,1.64609493044e-05,1793243343282266112
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.244472536,715,680.244472536,659,630,880,786,807,652,630.244472536,652,0.453411132808,-0.00558724625558,0.0497094069118,0.999999898086,1.80010112788e-05,-0.000450813877703,1.64678863843e-05,1793243343298932992
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.823023463,715,680.823023463,659,630,880,786,807,652,630.823023463,652,0.453421710672,-0.00558652054315,0.0497079863631,0.999999897356,2.10431913008e-05,-0.000452299880326,1.64497468573e-05,1793243343315599616
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,715,680.591221883,659.408778117,630.408778117,880,786,807.408778117,652,631,652,0.453429193535,-0.00558579004487,0.0497072688542,0.999999896915,2.21162284687e-05,-0.00045322710528,1.62920688597e-05,1793243343332266240
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,715,680.002292514,659.997707486,630.997707486,880,786,807.997707486,652,631,652,0.453435312409,-0.00558505743746,0.0497068611796,0.999999896605,2.23214511187e-05,-0.000453908073135,1.60728953246e-05,1793243343348933120
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.57632126,745.42367874,715,680.57632126,659.42367874,630.42367874,880,786,807.42367874,652,631,652,0.453436350195,-0.00558671013144,0.0497052230325,0.999999895355,2.04980688768e-05,-0.000456712535354,1.68512144811e-05,1793243343365599744
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.845885588,659,630,880,786,807,652,630.845885588,652,0.453437427794,-0.00558721599651,0.0497039505553,0.999999894324,1.95983716168e-05,-0.000458990979041,1.71926191915e-05,1793243343382266624
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.270226888,659,630,880,786,807,652,630.270226888,652,0.453438668604,-0.00558455947954,0.0497036914365,0.999999893929,2.12468850828e-05,-0.000459807922062,1.6328283138e-05,1793243343398932992
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.694280393,659,630,880.305719607,786,807,652,630.305719607,652,0.453440003436,-0.00558418923348,0.0497040400416,0.99999989396,2.16017863069e-05,-0.00045972537972,1.63204194076e-05,1793243343415599616
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.118079212,659,630,880.881920788,786,807,652,630.881920788,652,0.453441421454,-0.00558584173654,0.0497049263226,0.999999894367,2.08121805656e-05,-0.000458847029114,1.70703086892e-05,1793243343432265984
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.529779424,745,715,679.470220576,659.470220576,630,880.529779424,786,807,652,630.529779424,652,0.453441860945,-0.00558427395398,0.0497043860305,0.999999893716,2.31949927114e-05,-0.000460151967587,1.70421070727e-05,1793243343448932864
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.059922573,715,680,660,630,880,786,807,652,630,652,0.453441953739,-0.00558216874621,0.0497034438221,0.999999892818,2.60595179557e-05,-0.000461954661152,1.68183442621e-05,1793243343465599488
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.634874646,715,680,660,630,880,786,807,652,630,652,0.453441234429,-0.00558257833456,0.0497022074746,0.999999892246,2.60364483312e-05,-0.00046319886296,1.66374596696e-05,1793243343482266368
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.210272022,745.789727978,715,680,659.789727978,630,880,786,807.210272022,652,630,652,0.453441231907,-0.00558301084265,0.0497017048629,0.999999892126,2.50293713896e-05,-0.00046352237595,1.64160890288e-05,1793243343498932992
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.786444246,745.213555754,715,680,659.213555754,630,880,786,807.786444246,652,630,652,0.453442476687,-0.00558348323403,0.0497024790455,0.999999892786,2.2309995909e-05,-0.000462243772609,1.61242674983e-05,1793243343515599616
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.372039636,630,880,786.372039636,807.627960364,652,630,652,0.453443167097,-0.00558281849803,0.0497021405477,0.999999892728,2.34119618827e-05,-0.000462318075713,1.60528185096e-05,1793243343532266240
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.963184592,630,880,786.963184592,807.036815408,652,630,652,0.453443531023,-0.00558148407355,0.049701146759,0.99999989224,2.67644307484e-05,-0.000463189146113,1.6111153542e-05,1793243343548932864
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.54256703,715,680,659.45743297,630,880,787,807,652,630,652,0.4534429997,-0.00558156717436,0.0497012925932,0.999999892241,2.58727500565e-05,-0.000463228480153,1.6343420166e-05,1793243343565599744
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,659,630,880.120632431,786.879367569,807,652,630,652,0.453442856156,-0.0055814665671,0.0497014946479,0.999999892336,2.51265842904e-05,-0.000463062034971,1.64557713801e-05,1793243343582266368
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+247,4.116666667,HOLD_POSE2,766,746,714,681,659,630,880,786,807,651,630,652,0.453443462712,-0.00558410020441,0.0497005343914,0.999999891926,2.21581420501e-05,-0.000464080781603,1.69327749637e-05,1793243343636752640
+248,4.133333333,HOLD_POSE2,766,745.407080315,714,680.407080315,659.592919685,630,880,786,806.407080315,651.592919685,630,652,0.453444176619,-0.00558305660072,0.0497011469422,0.999999892052,2.39652265711e-05,-0.000463723159088,1.67894390428e-05,1793243343653419264
+249,4.150000000,HOLD_POSE2,766,745,714,680,659.819269435,630,880,786,806.180730565,652,630.180730565,652,0.453444270486,-0.00558165335258,0.0497012523146,0.999999891969,2.58361345008e-05,-0.000463811590575,1.65161030867e-05,1793243343670086144
+250,4.166666667,HOLD_POSE2,766,745,714,680,659.242649261,630,880,786,806.757350739,652,630.757350739,652,0.453443006162,-0.00557946230441,0.0497002467146,0.99999989143,2.78468477086e-05,-0.000464877101566,1.59580025249e-05,1793243343686752768
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+263,4.383333333,HOLD_POSE2,765,745.700586607,714.700586607,680,659,630,880.299413393,786.700586607,807,652,630,651.299413393,0.453445048148,-0.00558066634546,0.0496986147995,0.999999890489,2.91905043551e-05,-0.000466784693641,1.67686918468e-05,1793243343903419136
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,659,631,879,786,807,652,630,651,0.453445572136,-0.00557758311525,0.0496991845315,0.999999890809,3.23348461101e-05,-0.000465922848861,1.58990548961e-05,1793243343952654080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.410092341,714.410092341,680,659,630.410092341,880.179815319,786.589907659,807,652,630,651,0.453443844111,-0.00557894941138,0.0496980058777,0.9999998898,2.96957591685e-05,-0.000468240100921,1.64327837e-05,1793243343969320960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.174684478,680.174684478,659,630,880.825315522,786.825315522,807,652,630,651.174684478,0.453442785143,-0.00558011040415,0.049697259261,0.999999889129,2.79569030968e-05,-0.000469762580632,1.68267998275e-05,1793243343985987584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.747759857,680.747759857,659,630,880.252240143,786.252240143,807,652,630,651.747759857,0.453443252049,-0.00558080317593,0.0496974979617,0.999999889255,2.82711412678e-05,-0.00046947247806,1.69021829485e-05,1793243344002654208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.326312918,714.673687082,680.673687082,659,630,880.326312918,786,807,652,630.326312918,652,0.453443898804,-0.00558048294586,0.0496980343333,0.999999889614,2.83757464417e-05,-0.000468713466977,1.65465182387e-05,1793243344019320832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.909172488,714.090827512,680.090827512,659,630,880.909172488,786,807,652,630.909172488,652,0.453444686956,-0.00557936629546,0.0496988047332,0.999999890155,2.83155384964e-05,-0.000467585800849,1.58519644638e-05,1793243344035987456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.518576327,745.518576327,714.481423673,680,659.481423673,630,880.518576327,786.481423673,807,652.481423673,631,651.518576327,0.453444243378,-0.00557946969479,0.0496987143553,0.999999889939,2.9343440286e-05,-0.000467968531265,1.62993160958e-05,1793243344052654080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.054022832,715,680,659.945977168,630,880,787,807,652.945977168,631,651.054022832,0.453443115171,-0.00557970110312,0.0496982279586,0.999999889443,3.04366418402e-05,-0.000468937595595,1.6869370787e-05,1793243344069320704
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,630,880,786.762254288,806.762254288,652,631,651.762254288,0.453423792575,-0.00557807986102,0.0496884524381,0.999999882558,3.05540290198e-05,-0.000483422889975,1.59003463627e-05,1793243344102654464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,630,880,786.185280253,806.185280253,652,631,651.185280253,0.453398916627,-0.00557700990083,0.0496757660278,0.9999998729,3.18644324688e-05,-0.000502958859159,1.4755790897e-05,1793243344119321088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.390334391,659.390334391,630,880,786,806.390334391,652,630.609665609,651.390334391,0.453359200096,-0.00557599090865,0.0496602138203,0.999999858942,3.15326486705e-05,-0.000530031633076,1.37068545932e-05,1793243344135987456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.965306061,659.965306061,630,880,786,806.965306061,652,630.034693939,651.965306061,0.45331246362,-0.00557499602542,0.0496433060228,0.999999842281,3.04240720612e-05,-0.000560669492954,1.27031482749e-05,1793243344152654080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.445523826,659.445523826,630,880.554476174,786,806.445523826,652,630.554476174,652,0.453249427235,-0.00557081689786,0.0496275788783,0.999999830642,3.3512287139e-05,-0.000580922728163,1.10625159507e-05,1793243344169320704
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.699358392,715,680.699358392,659.300641608,630,880,786,807,652,630,652,0.453016082192,-0.00556238862672,0.0496021349387,0.999999807124,3.88188975531e-05,-0.000619801846917,9.5068563307e-06,1793243344219320576
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.447187913,715,680,659.552812087,630,880,786.447187913,807,652,630,652,0.45280285903,-0.00555724080427,0.0495935499596,0.999999796071,4.23486079301e-05,-0.000637176815837,8.40705250738e-06,1793243344252654080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,630,880,786.981333945,807,651.981333945,630.018666055,652,0.452682070752,-0.00555168592282,0.0495893800655,0.999999791397,4.73234199628e-05,-0.000644135984716,7.44687082955e-06,1793243344269320960
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.640040004,714.640040004,680.640040004,659,631,880,786,806,652,631,651.640040004,0.451961427207,-0.00552816655629,0.0495623877569,0.999999753114,6.44903385129e-05,-0.000699710965669,4.13942428312e-06,1793243344335987200
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.063442711,714.063442711,680.063442711,659,631,880,786,806,652,631,651.063442711,0.451751302364,-0.00552056478084,0.0495671728828,0.999999756619,6.93137636852e-05,-0.000694225922613,2.91407436298e-06,1793243344352653824
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.685692622,745.685692622,715,680.685692622,660,631,880.314307378,787,807,652,631,651.314307378,0.45101385319,-0.00549284420406,0.0496020730213,0.99999979712,8.79592584845e-05,-0.000630890737732,6.95189042102e-08,1793243344402654208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.737507205,659.737507205,631.262492795,880,787,807,652,631,651.262492795,0.450732599118,-0.00548256431157,0.0496194203902,0.999999817052,9.56583291154e-05,-0.000597280187108,-1.11567243801e-06,1793243344419321088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.161253245,659.161253245,631.838746755,880,787,807,652,631,651.838746755,0.450442617935,-0.00547249701759,0.0496435262934,0.999999842549,0.000103722610453,-0.000551488170245,-1.855574787e-06,1793243344435987968
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.01276962,745.01276962,714.01276962,680.98723038,659.98723038,632,880.98723038,787,807,652,631,652,0.449769865876,-0.00545278567227,0.0496815664664,0.99999987639,0.000113709339046,-0.000484013775465,-4.47468022613e-06,1793243344469320704
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.578153512,745,714,680.421846488,660,632,880.421846488,787,807,652,631,652,0.449377752638,-0.00544275808929,0.0496922898667,0.999999884424,0.000119569974963,-0.000465634250099,-6.25971744152e-06,1793243344485987584
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.834335895,745,714,680,660,632.165664105,880,787,807,652,631,651.834335895,0.448967509316,-0.00543391961895,0.0497026617646,0.999999892207,0.000123379410807,-0.000447540541976,-8.4088894498e-06,1793243344502654208
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.256283733,745,714,680,660,632.743716267,880,787,807,652,631,651.256283733,0.448514864629,-0.00542805289958,0.0497125817845,0.9999999003,0.000122005360676,-0.000429399436252,-1.14428172398e-05,1793243344519320832
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,787.899701137,807,652,631,651,0.447556872307,-0.00543691436643,0.0497290964969,0.999999916963,9.83769497336e-05,-0.000395173220094,-1.52713094228e-05,1793243344552654848
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.47378117,745,714,680,660.47378117,633.47378117,880,787.52621883,807,652,631,651.47378117,0.447039099419,-0.00543830777564,0.0497366151234,0.999999923499,9.05545688201e-05,-0.0003801273722,-1.74806419215e-05,1793243344569321472
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.359448555,745,714,680,661,634,879.359448555,787,807,652,631,652,0.445961042059,-0.00542910642458,0.0497648359809,0.999999940273,8.56837212799e-05,-0.000334120787631,-2.17961500362e-05,1793243344602654720
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7df1ff7d3f4e2b38b22992e0b26e926fc39f7b3b
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.580744042248,1.90726683967e-06,1.04004070624,0.551315804625,0.00867673042466,1.03967850555
+400,6.666666667,pose2_to_pose3_retreat,0.580743983016,1.89604163249e-06,1.04004070749,0.551315745616,0.00867671996244,1.0396785068
+401,6.683333333,pose2_to_pose3_retreat,0.580743970437,1.89365777367e-06,1.04004070775,0.551315733084,0.00867671774062,1.03967850707
+402,6.700000000,pose2_to_pose3_retreat,0.580743904512,1.88116414928e-06,1.04004070914,0.551315667406,0.0086767060962,1.03967850846
+403,6.716666667,pose2_to_pose3_retreat,0.580743777204,1.85703753283e-06,1.04004071183,0.551315540575,0.00867668360949,1.03967851114
+404,6.733333333,pose2_to_pose3_retreat,0.580743638087,1.83290244739e-06,1.04004073001,0.551315401964,0.00867666120072,1.03967852902
+405,6.750000000,pose2_to_pose3_retreat,0.580743593588,1.84396997859e-06,1.04004086436,0.551315357501,0.00867667226663,1.03967866066
+406,6.766666667,pose2_to_pose3_retreat,0.580743556264,1.85325311781e-06,1.04004097704,0.551315320207,0.0086766815484,1.03967877107
+407,6.783333333,pose2_to_pose3_retreat,0.580743527445,1.85630186655e-06,1.04004098258,0.551315291438,0.00867668475105,1.03967877646
+408,6.800000000,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315258702,0.00867668808444,1.03967877632
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f244aa03dcb9e117f31400690d3b45f1bec3cb21
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8475f1b6f635952278fb560c5815668c57cb680f6d22dd0e818625d82895d3a9
+size 26016988
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b18211bbbdab6a3a7457a7264eb61a077e7e96f6
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+27,0.450000000,BASELINE,765.332796595,745,714,679.332796595,661,635,879,787.667203405,805.332796595,653,631.332796595,652,0.400997121921,-0.00541533279666,0.0498594348175,0.999999962907,0.000114501008329,-0.000244105988132,-3.85805924526e-05,1793243346900672768
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+29,0.483333333,BASELINE,765,745.821491339,714,679,661,635,879,788,805,653,631,652,0.4009950239,-0.00541438580472,0.0498583581079,0.999999962428,0.000114156275924,-0.000246086652539,-3.94251721178e-05,1793243346934006528
+30,0.500000000,BASELINE,765,745.594861378,714,679,661,635,879,788,805.405138622,653,631,652,0.400994822906,-0.00541341041115,0.0498579169024,0.99999996224,0.000114594218152,-0.000246592166436,-3.97622457458e-05,1793243346950673152
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+53,0.883333333,BASELINE,766,745.2519346,714,679.2519346,661,635,878.7480654,788,805.7480654,653,631,652,0.400995752065,-0.00541313199155,0.0498596389318,0.999999963165,0.000114838342231,-0.000242751771333,-3.94103849403e-05,1793243347334006272
+54,0.900000000,BASELINE,765.677749185,745.322250815,714,679,661,635,879.322250815,787.677749185,805.677749185,653,631,652,0.400997116435,-0.0054126425802,0.0498600131421,0.999999963325,0.000115719984948,-0.000241653389067,-3.95193326601e-05,1793243347350673152
+55,0.916666667,BASELINE,765.102975049,745.897024951,714,679,661,635,879.897024951,787.102975049,805.102975049,653,631,652,0.400998068923,-0.00541215098205,0.0498598246581,0.999999963296,0.000117030029861,-0.00024115271881,-3.94614570477e-05,1793243347367340032
+56,0.933333333,BASELINE,765,746,714,679.487613391,661,635,880,787.487613391,805.487613391,653,631,652,0.400998042721,-0.00541348954567,0.0498602165077,0.99999996356,0.000114847593814,-0.000241125080552,-3.93475279206e-05,1793243347384006656
+57,0.950000000,BASELINE,765,746,714.079617129,679.920382871,661.079617129,634.920382871,879.920382871,788,806,653,631,652,0.400997964705,-0.00541477476064,0.0498607196488,0.999999963843,0.000112646429107,-0.000241000474312,-3.92995462446e-05,1793243347400673280
+58,0.966666667,BASELINE,765,746,714.658842308,679.341157692,661.658842308,634.341157692,879.341157692,788,806,653,631,652,0.400998901975,-0.00541321859184,0.0498611263264,0.999999963876,0.000115111087787,-0.000239619510375,-3.97421652508e-05,1793243347417339648
+59,0.983333333,BASELINE,765,745.76338095,714.76338095,679.23661905,661.76338095,634.23661905,879,788,806,653,631,652,0.400998911645,-0.00541271591147,0.0498610346813,0.999999963835,0.000115581718147,-0.000239546997154,-3.98578580281e-05,1793243347434006016
+60,1.000000000,BASELINE,765,745.187679776,714.187679776,679.812320224,661.187679776,634.812320224,879,788,806,653,631,652,0.400997592039,-0.00541372291108,0.0498602289249,0.999999963688,0.000113194847079,-0.000241349532459,-3.95050558773e-05,1793243347450672640
+61,1.016666667,BASELINE,765,745.395588132,714,679.604411868,661,635,878.604411868,788,805.604411868,653,631,652,0.400997359,-0.00541291231087,0.0498599138998,0.999999963431,0.000114785641069,-0.000241684529305,-3.93724270771e-05,1793243347467339264
+62,1.033333333,BASELINE,765,745.982515914,714,679.017484086,661,635,878.017484086,788,805.017484086,653,631,652,0.400997651515,-0.00541122256665,0.0498598362335,0.999999963113,0.000118300368148,-0.00024130970117,-3.93462926251e-05,1793243347484006144
+63,1.050000000,BASELINE,765,745.438010663,714,679,661,635,878.561989337,787.438010663,805.561989337,653,631,652,0.400998958143,-0.00541302724608,0.0498608157804,0.999999963786,0.000116079555298,-0.000239638187271,-3.90718885211e-05,1793243347500673024
+64,1.066666667,BASELINE,765,745.140665575,714,679,660.859334425,635,879,787.140665575,806,653.140665575,631,652,0.400999683192,-0.00541457745475,0.0498614587838,0.999999964222,0.000114271842243,-0.000238716683633,-3.88838181461e-05,1793243347517339904
+65,1.083333333,BASELINE,765,745.71757928,714,679,660.28242072,635,879,787.71757928,806,653.71757928,631,652,0.400998508019,-0.00541500572311,0.04986095739,0.99999996385,0.000114291431892,-0.000240244670677,-3.89871365645e-05,1793243347534006272
+66,1.100000000,BASELINE,765,745.708502209,713.708502209,679,660.291497791,635,879,788,806,653.708502209,631,652,0.400997189042,-0.00541533295525,0.0498603962958,0.999999963619,0.000113559388153,-0.00024153812518,-3.90551980779e-05,1793243347550672896
+67,1.116666667,BASELINE,765,745.137456142,713.137456142,679,660.862543858,635,879,788,806,653.137456142,631,652,0.400995732156,-0.005415563293,0.0498597779485,0.999999963523,0.000112106523111,-0.000242606661362,-3.90894479845e-05,1793243347567339776
+68,1.133333333,BASELINE,765,745,713.45076995,679,660.54923005,635,879,788,806,653,631,652,0.400997417156,-0.00541500710838,0.0498602832541,0.999999963706,0.000113638150053,-0.000241148751794,-3.90063228031e-05,1793243347584006400
+69,1.150000000,BASELINE,765,745.043186865,714,679.043186865,660,635,879,788,806,653,631,652.043186865,0.400999653476,-0.00541417904946,0.0498610071146,0.999999963891,0.00011597384627,-0.000239277901663,-3.8907240824e-05,1793243347600673024
+70,1.166666667,BASELINE,765,745.620086627,714,679.620086627,660,635,879,788,806,653,631,652.620086627,0.40099639388,-0.00541307253642,0.0498600296902,0.999999963113,0.00011655379893,-0.000242201922371,-3.90708120725e-05,1793243347617339648
+71,1.183333333,BASELINE,765,746,714,679.803472556,660.393054888,634.803472556,878.803472556,788,805.803472556,653,631,652.803472556,0.400994352591,-0.00541222146027,0.0498592899395,0.999999962532,0.000116823822608,-0.000244427290389,-3.92760647542e-05,1793243347634006016
+72,1.200000000,BASELINE,765,746,714,679.227916771,661.544166458,634.227916771,878.227916771,788,805.227916771,653,631,652.227916771,0.40099466096,-0.00541186302667,0.0498590085725,0.999999962344,0.000116496108663,-0.000245305217751,-3.95617054466e-05,1793243347650672640
+73,1.216666667,BASELINE,765.356242869,745.643757131,714,679,661.643757131,634.356242869,878.356242869,788,805,653,631,652,0.400996211654,-0.0054124750556,0.0498595947316,0.99999996281,0.000115966756539,-0.00024367402278,-3.94345450441e-05,1793243347667339520
+74,1.233333333,BASELINE,765.946043275,745.053956725,714,679,661.053956725,634.946043275,878.946043275,788,805,653,631,652,0.400998576833,-0.00541372333261,0.0498607496523,0.999999963695,0.000115305207772,-0.000240397813959,-3.90367467653e-05,1793243347684006400
+75,1.250000000,BASELINE,765.474760515,745,714,679.525239485,661,635,879.525239485,788,805,652.474760515,631,652,0.400998198891,-0.00541436168024,0.049860885492,0.999999963658,0.000115552137108,-0.000240428870538,-3.90702941707e-05,1793243347700672768
+76,1.266666667,BASELINE,765,745,714.103091559,679.896908441,660.896908441,635,879.896908441,787.896908441,805,652.103091559,631,652,0.400997635868,-0.00541482494704,0.049860947659,0.999999963548,0.000116009153052,-0.000240664869698,-3.90788682081e-05,1793243347717339392
+77,1.283333333,BASELINE,765,745,714.679674376,679.320325624,660.320325624,635,879.320325624,787.320325624,805,652.679674376,631,652,0.400997491428,-0.00541476616391,0.0498611427607,0.999999963527,0.000117010923718,-0.000240312597723,-3.87732512687e-05,1793243347734006272
+78,1.300000000,BASELINE,765,745,714.745537571,679,660.254462429,634.745537571,879,787,805,653,631,652,0.400997459033,-0.00541454592872,0.0498613583998,0.999999963613,0.000116755087637,-0.000240073537943,-3.88316962509e-05,1793243347750672896
+79,1.316666667,BASELINE,765,745,714.172993043,679,660.827006957,634.172993043,879,787,805,653,631,652,0.400997566697,-0.00541412387587,0.049861599711,0.999999963828,0.00011492722297,-0.00023997599524,-3.93452244695e-05,1793243347767339520
+80,1.333333333,BASELINE,765,745,714,679,661,634.414385726,878.585614274,787,805.414385726,653,631,652,0.400996237992,-0.0054139539624,0.0498607362709,0.999999963506,0.00011447514202,-0.000241550487444,-3.92045313347e-05,1793243347784006656
+81,1.350000000,BASELINE,765.007964267,745,714,679,660.992035733,635,878.007964267,787.007964267,805.992035733,653,631,652,0.400994318424,-0.00541389018035,0.049859411508,0.999999962958,0.000114600056294,-0.000243814801891,-3.87930052288e-05,1793243347800673280
+82,1.366666667,BASELINE,765.585589888,745,714,679,660.414410112,635,878.585589888,787.585589888,805.414410112,653,631,652,0.400994618979,-0.0054136091791,0.0498593026597,0.99999996312,0.000113389184205,-0.000243638916571,-3.92701349647e-05,1793243347817339648
+83,1.383333333,BASELINE,765.838056517,745,714,679,660,635,879,788,805.161943483,653,631,652,0.400994957819,-0.00541338318855,0.0498590607418,0.999999963203,0.000112989375682,-0.000243433769674,-3.95793090078e-05,1793243347834006272
+84,1.400000000,BASELINE,765.264932522,745,714,679,660,635,879,788,805.735067478,653,631,652,0.400995393864,-0.00541329687219,0.0498584809551,0.999999963087,0.000114648887381,-0.000243154326516,-3.94620374175e-05,1793243347850672896
+85,1.416666667,BASELINE,765,745,714,679,660.309578725,635,878.690421275,787.690421275,806,653,631,652,0.40099523564,-0.00541399773976,0.0498582272278,0.99999996302,0.000114773078155,-0.000243409153707,-3.92389526993e-05,1793243347867339520
+86,1.433333333,BASELINE,765,745,714,679,660.885282469,635,878.114717531,787.114717531,806,653,631,652,0.400994566562,-0.005415375299,0.049858253793,0.999999962994,0.000113577451681,-0.000244123258946,-3.89249072133e-05,1793243347884006144
+87,1.450000000,BASELINE,765,745,714,679.476388805,661,635,878.476388805,787,806,652.523611195,630.523611195,652,0.400995180491,-0.00541533359327,0.0498595020646,0.999999963262,0.000113524985805,-0.000243085788006,-3.86940270363e-05,1793243347900672768
+88,1.466666667,BASELINE,765,745,714,679.931323394,660.931323394,635,879.068676606,787,806,652.068676606,630.068676606,652,0.40099599994,-0.00541494313558,0.0498608152529,0.999999963533,0.000113755284587,-0.000241883009002,-3.85544858879e-05,1793243347917339392
+89,1.483333333,BASELINE,765,745,714,679.358499965,660.358499965,635,879.641500035,787,806,652.641500035,630.641500035,652,0.40099598429,-0.00541458523867,0.0498603731786,0.999999963304,0.000113973003963,-0.000242666495476,-3.89335276558e-05,1793243347934006272
+90,1.500000000,BASELINE,765,745,714,679.214810904,660.214810904,635,879.785189096,787.214810904,805.785189096,653,631,652,0.400996048351,-0.00541397871134,0.0498602719758,0.999999963198,0.000114702177671,-0.000242703070042,-3.92690537552e-05,1793243347950673152
+91,1.516666667,BASELINE,765,745,714,679.78893706,660.78893706,635,879.21106294,787.78893706,805.21106294,653,631,652,0.400996245744,-0.00541295629873,0.0498607409504,0.999999963299,0.000116286863526,-0.000241490281319,-3.95317909451e-05,1793243347967339776
+92,1.533333333,BASELINE,765,745,714,679.623560249,661,635,879,788,805,653,630.623560249,652,0.400996115731,-0.00541294023598,0.0498602535544,0.999999963268,0.000115839969828,-0.000241830566586,-3.9529153208e-05,1793243347984006400
+93,1.550000000,BASELINE,765,745,714,679.028281195,661,635,879,788,805,653,630.028281195,652,0.400995795384,-0.00541350920409,0.0498592101826,0.99999996316,0.000114212038805,-0.000243073715021,-3.93722425637e-05,1793243348000673024
+94,1.566666667,BASELINE,765,745.549473169,714,679,661,635,879,788,805,653,630.549473169,652,0.400994251968,-0.00541447485995,0.0498587615961,0.999999963014,0.000113548980349,-0.000244028974464,-3.91030940366e-05,1793243348017339648
+95,1.583333333,BASELINE,765,745.873446382,714,679,661,635,878.873446382,788,805.126553618,653,631,652,0.400993430697,-0.00541544641134,0.0498586211961,0.999999963027,0.000112731790468,-0.000244390830121,-3.8868696998e-05,1793243348034006272
+96,1.600000000,BASELINE,765,745.29565195,714,679,661,635,878.29565195,788,805.70434805,653,631,652,0.400995401838,-0.00541636843379,0.0498594738867,0.999999963617,0.000111193426798,-0.000242688040341,-3.87781714665e-05,1793243348050672896
+97,1.616666667,BASELINE,765,745.280604006,714,679,661,635,878.280604006,788,805.719395994,652.719395994,631,652,0.400996513262,-0.00541586467295,0.0498601108616,0.999999963766,0.000111975999475,-0.000241714000341,-3.87696481784e-05,1793243348067339520
+98,1.633333333,BASELINE,765,745.855247789,714,679,661,635,878.855247789,788,805.144752211,652.144752211,631,652,0.400996723804,-0.00541386685997,0.0498605217921,0.999999963449,0.000115190638744,-0.000241503603932,-3.88470535382e-05,1793243348084006400
+99,1.650000000,BASELINE,765,746,714,679.442820161,661,635,879,788,805.442820161,652.442820161,631,652,0.400997063704,-0.0054134142021,0.0498605105969,0.999999963499,0.000115967735916,-0.000240875946896,-3.91456347855e-05,1793243348100673024
+100,1.666666667,BASELINE,765,745.966177962,714,680,661,635,879,788,806,653,631,652,0.400997462663,-0.00541356069794,0.0498604167225,0.999999963689,0.000115859903454,-0.000240080810748,-3.94881373888e-05,1793243348117339904
+101,1.683333333,BASELINE,765,745.389989624,714,680,661,635,879,788,806,653,631,652,0.400998110203,-0.00541497198005,0.0498612763125,0.99999996412,0.000114723121391,-0.000238853026773,-3.93407031289e-05,1793243348134006528
+102,1.700000000,BASELINE,765,745,714,679.814378406,661,634.814378406,879,788,805.814378406,653,631,652,0.400998325992,-0.00541549039837,0.0498616760943,0.999999964245,0.000114393466052,-0.00023850483459,-3.92479588522e-05,1793243348150673152
+103,1.716666667,BASELINE,765,745,714,679.239976027,661,634.239976027,879,788,805.239976027,653,631,652,0.400997637486,-0.0054141387308,0.0498611128167,0.99999996373,0.000115754321929,-0.000239998930294,-3.926976169e-05,1793243348167339776
+104,1.733333333,BASELINE,765,745,714,679,660.660153813,634.339846187,879,787.660153813,805,653,631,652,0.400997684617,-0.00541428625082,0.0498614378778,0.999999963791,0.000115655888485,-0.00023985673907,-3.88637931534e-05,1793243348184006656
+105,1.750000000,BASELINE,765,745,714,679,660.076442401,634.923557599,879,787.076442401,805,653,631,652,0.400998259623,-0.00541550955067,0.0498624003889,0.999999964265,0.000114510305225,-0.000238540388937,-3.81508664522e-05,1793243348200673280
+106,1.766666667,BASELINE,765,745,714,679,660.506061995,635,879,787,805,653,631,652,0.400997535473,-0.00541432608694,0.0498617985033,0.999999964071,0.000114748311681,-0.00023913103968,-3.88245038359e-05,1793243348217339904
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,788,805,653,631,652,0.400995719749,-0.00541159234006,0.0498591434386,0.999999962674,0.000117818012899,-0.000243323580606,-3.95627631032e-05,1793243348260199168
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.57624248,745,714,679,660.42375752,634.57624248,879,788,805,653,631,652,0.400995749295,-0.00541418958509,0.0498594095303,0.999999963088,0.00011489262771,-0.000243091469986,-3.91179793572e-05,1793243348276866048
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844156403,745,714,679.155843597,660,635,879,787.844156403,805,653,631,652,0.400996470941,-0.00541567913143,0.0498600714192,0.999999963524,0.000113412720112,-0.000242041890384,-3.87857794317e-05,1793243348293532928
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.255221456,745,714,679.744778544,660,635,879,787.255221456,805,653,631,652,0.400999115939,-0.0054140903695,0.0498618332338,0.999999964033,0.000115949812556,-0.000238720553979,-3.87664512825e-05,1793243348310199296
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.669508893,660.330491107,635,879,787.330491107,805,653,631,652,0.400999356112,-0.00541369233734,0.0498625509947,0.999999964187,0.000116408192612,-0.00023784491129,-3.87922761265e-05,1793243348326865664
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.086260819,660.913739181,635,879,787.913739181,805,653,631,652,0.400997757094,-0.00541420496591,0.0498624702714,0.999999964079,0.000115276789835,-0.000238839715881,-3.88526336216e-05,1793243348343532288
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.482552758,714,679,661,635,879,788,805,653,631,652,0.400998090863,-0.00541475336165,0.0498624000947,0.99999996408,0.000114812306837,-0.000239119488409,-3.84732654556e-05,1793243348360198912
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.951358049,714,679,660.951358049,635,879,788,805,653,631,652,0.400998500927,-0.00541525237661,0.0498622094148,0.999999964043,0.000114528883878,-0.000239469022579,-3.80893914918e-05,1793243348376865536
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.387588334,714,679,660.387588334,635,879,788,805,653,631,652,0.40099616627,-0.00541516269524,0.0498607231978,0.999999963404,0.000114937047896,-0.000241871656136,-3.84660658407e-05,1793243348393532416
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.191624477,635,879,787.808375523,805,653,631,652,0.400997085846,-0.0054153029238,0.0498607764556,0.999999963474,0.00011508534446,-0.000241493143058,-3.85714520844e-05,1793243348410199040
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.804811082,635,879,787.195188918,805,653,631,652,0.401005164538,-0.00541594894016,0.049864216464,0.99999996509,0.000114661948469,-0.000234996277181,-3.8080021041e-05,1793243348426865664
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.609159645,635,879,787,805.390840355,653,631,652.390840355,0.401025922513,-0.00541523748073,0.0498724037529,0.999999968521,0.000116060966674,-0.000219219627582,-3.78118404565e-05,1793243348443532288
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.035811756,635,879,787,805.964188244,653,631,652.964188244,0.401052601231,-0.00541389213194,0.0498828078409,0.99999997247,0.000118310982707,-0.000199109672379,-3.76479092632e-05,1793243348460198912
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.537949908,714,679,660.537949908,635,879,787.537949908,805.462050092,653,631,652.462050092,0.401105778681,-0.00541809733141,0.0498999459094,0.999999979532,0.000114251088764,-0.000162978416643,-3.63315147992e-05,1793243348476865536
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.884708314,714,679,661,634.884708314,879,787.884708314,805,652.884708314,631,652.115291686,0.401162913287,-0.00542211130322,0.0499165088499,0.999999984892,0.000110800951553,-0.000129300767586,-3.494675923e-05,1793243348493531904
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.292676293,714,679,661,634.292676293,879,787.292676293,805,652.292676293,631,652.707323707,0.401229110999,-0.00542380542827,0.0499288384684,0.999999987137,0.000111610507484,-0.000110182635173,-3.35968139671e-05,1793243348510198784
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.294318778,745,714,679.294318778,661,634.294318778,878.705681222,787.294318778,805,652.294318778,631,652.705681222,0.401303292001,-0.00542574637368,0.0499386173651,0.99999998881,0.000110959147568,-9.48776315415e-05,-3.26418034928e-05,1793243348526865664
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.876389251,745,714,679.876389251,661,634.876389251,878.123610749,787.876389251,805,652.876389251,631,652.123610749,0.40138527816,-0.00542792863208,0.0499459024531,0.999999990089,0.000108879468932,-8.33006761961e-05,-3.20729157839e-05,1793243348543532288
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.549756696,745,714,679.549756696,661,635,878.450243304,788,805,653,631,652,0.401476822636,-0.00543162802029,0.0499458890761,0.999999990123,0.000107925490888,-8.44913308706e-05,-3.10960996974e-05,1793243348560198912
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.977976815,635,879,788,805,653,631,652,0.401571702705,-0.00543568381649,0.0499438775517,0.999999989818,0.000107265910067,-8.91960164829e-05,-3.00263905896e-05,1793243348576865536
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.402650421,635,879,788,805,653,631,652,0.40168563818,-0.00543841702063,0.049941104229,0.999999989331,0.000106377295917,-9.56996734877e-05,-2.93861293725e-05,1793243348593532160
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.177890114,635,879,788,805,653,631,652,0.401810664702,-0.00544216015453,0.0499406654116,0.999999989314,0.000104719297922,-9.79366124684e-05,-2.85380636893e-05,1793243348610198528
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.770589035,635,879,788,805,653,631,652,0.401961553602,-0.00544825826859,0.0499456702549,0.999999990432,0.000101267230741,-9.022430617e-05,-2.72054342229e-05,1793243348626865152
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.354289459,788,805,653,631,652,0.402128930301,-0.00545507542184,0.0499478806882,0.999999991048,9.67770528663e-05,-8.87207662936e-05,-2.58145195354e-05,1793243348643532032
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.93230752,788,805,653,631,652,0.402306718817,-0.00546234663839,0.0499483264929,0.999999991351,9.1631322958e-05,-9.11379706993e-05,-2.43867984545e-05,1793243348660198656
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.492320853,787.492320853,805.507679147,653,631,652,0.402512952401,-0.0054695012832,0.0499471220733,0.999999991378,8.84917341332e-05,-9.43801773942e-05,-2.24744683288e-05,1793243348676865280
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.915384345,787,806,653,631,652,0.402728123267,-0.00547659848255,0.0499464451338,0.999999991478,8.56288850402e-05,-9.63721502713e-05,-2.0594089653e-05,1793243348693532160
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.327041905,787,806,653,631,652,0.40297403711,-0.00548344575681,0.0499502114514,0.999999992309,8.28293389901e-05,-9.02698707746e-05,-1.9286594806e-05,1793243348710199040
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.257068307,714,679.257068307,661,635,878.257068307,787.257068307,805.742931693,653,631,652,0.403242791909,-0.00549199947265,0.0499567857824,0.999999993654,7.93328306652e-05,-7.81151691679e-05,-1.72406370971e-05,1793243348726865408
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.83588146,714,679.83588146,661,635,878.83588146,787.83588146,805.16411854,653,631,652,0.403540134269,-0.0055026889581,0.0499668746027,0.999999995384,7.4964009515e-05,-5.83852999066e-05,-1.42704246532e-05,1793243348743532032
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.587640764,714,680,661,635,879,787.587640764,805,652.587640764,631,652,0.403864373045,-0.0055130469478,0.0499740795772,0.999999996529,7.09466840975e-05,-4.21304504355e-05,-1.15649847332e-05,1793243348760198912
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.012087245,714,680,661,635,879,787.012087245,805,652.012087245,631,652,0.404199256273,-0.00552327374528,0.0499801432477,0.999999997339,6.70684658687e-05,-2.72508667681e-05,-8.96433060966e-06,1793243348776865792
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.563308185,680,661.563308185,635,879,787.563308185,805,652.563308185,631,652,0.404579497703,-0.00552956280948,0.0499886463468,0.999999997465,6.97198558685e-05,-1.33372381121e-05,-5.51489429324e-06,1793243348793532160
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.858885784,680,661.717771568,635,879,788,805.141114216,652.858885784,631,652,0.404962531578,-0.00553365506959,0.0499935807764,0.999999997182,7.48797331941e-05,-4.9721411325e-06,-2.27301727093e-06,1793243348810198528
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.273479512,680,660.546959025,635,879,788,805.726520488,652.273479512,631,652,0.405351293811,-0.00553109673725,0.0499871146442,0.999999996074,8.74964689237e-05,-1.40111207586e-05,2.5804130834e-07,1793243348826865408
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.311312535,635,879,788,805.688687465,652.311312535,631,652,0.405749946092,-0.00552424034953,0.049972514044,0.999999993593,0.000104876655984,-4.25637012464e-05,1.84919768615e-06,1793243348843532288
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.895566132,635,879,788,805.104433868,652.895566132,631,652,0.406157269447,-0.00551361567189,0.049950781606,0.999999988112,0.000126433166519,-8.82246941203e-05,2.61630174351e-06,1793243348860199168
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.473692735,679.526307265,660.526307265,635,879,787.526307265,805,652.526307265,631,652,0.406617707006,-0.00551441631299,0.0499351950335,0.999999984244,0.000138830233278,-0.000110506892887,5.11329370396e-06,1793243348876865536
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.949708293,679,660,635,879,787,805.050291707,652.050291707,631,652,0.407095828997,-0.00551764042683,0.0499225282179,0.999999980991,0.00014901790232,-0.000125487824319,8.04490574814e-06,1793243348893532160
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.37513215,679,660,635,879,787,805.62486785,652.62486785,631,652,0.407637793244,-0.00552020491797,0.0499263545263,0.999999980724,0.000156955644676,-0.000117400419799,1.15822672179e-05,1793243348910198784
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.205484403,660.205484403,635,879,787,805.794515597,653,631,652,0.408197649971,-0.00552352681032,0.0499385569485,0.999999981923,0.000164366145901,-9.42987457253e-05,1.56878130013e-05,1793243348926865408
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.797462262,660.797462262,635,879,787,805.202537738,653,631,652,0.408791160443,-0.00552827329051,0.0499665139154,0.999999984276,0.000170784964075,-4.29568899491e-05,2.08620504616e-05,1793243348943531776
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.380154273,745,714,679.619845727,660.619845727,635,879,787,805.380154273,653,631,652,0.409397706692,-0.00553158269814,0.0499847779639,0.999999983717,0.000177812205095,-1.68524474138e-05,2.57645990705e-05,1793243348960198656
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958016938,745,714,679.041983062,660.041983062,635,879,787,805.958016938,653,631,652,0.410011032493,-0.00553414472141,0.0499980009756,0.999999982385,0.000185155871003,-3.87333143129e-06,3.05258492e-05,1793243348976865280
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.535457189,714,679,660,635,879.535457189,787.535457189,806,653,631,652.535457189,0.410622151769,-0.00553074241631,0.0499861910223,0.999999978492,0.000202507137482,-2.9962027804e-05,3.32972942932e-05,1793243348993532160
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.885343243,745.885343243,714,679.114656757,659.885343243,635,879.885343243,788,805.885343243,652.885343243,631,652.885343243,0.411238268988,-0.00552765587036,0.0499693350175,0.999999973377,0.000218793234126,-6.40214046107e-05,3.57203061878e-05,1793243349010199040
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.298766383,745.298766383,714,679.701233617,659.298766383,635,879.298766383,788,805.298766383,652.298766383,631,652.298766383,0.411875668785,-0.00552779222731,0.0499397819091,0.999999966435,0.000227468103548,-0.000118289797409,3.73508203485e-05,1793243349026865408
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.285681562,680,659.571363125,634.714318438,879,787.714318438,805.285681562,652,631,652,0.412578838748,-0.00553145147632,0.0499381815405,0.999999966912,0.000227196315129,-0.00011418388451,3.89912470507e-05,1793243349043531776
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.867919624,680,660.735839249,634.132080376,879,787.132080376,805.867919624,652,631,652,0.413350282605,-0.00553876772208,0.0499655979751,0.999999974267,0.000217637300527,-4.94815586977e-05,4.06419637967e-05,1793243349060198400
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.558667929,679.558667929,661.441332071,634,879.441332071,787.441332071,805.558667929,652,631,652,0.414086155775,-0.00554539364296,0.0499740611407,0.999999987209,0.000151808736018,-4.20781186728e-05,2.76529285824e-05,1793243349076865280
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.012312501,661.975374999,634.012312501,880,787.987687499,805.012312501,652,631,652,0.414811944801,-0.00555165375828,0.0499762427956,0.999999996013,7.156535594e-05,-5.22980843047e-05,1.07941621987e-05,1793243349093531904
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.590533582,660.818932836,634.590533582,880,787.409466418,805.590533582,652,631,652,0.415553942996,-0.00555041021173,0.0499453111205,0.999999991089,8.76208778101e-05,-9.98112594035e-05,1.35016898418e-05,1793243349110198784
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.172195907,714,679.827804093,660,635,880,787,805.827804093,652,631,651.827804093,0.416317710685,-0.00554949678224,0.04992551923,0.999999986334,0.000103540686618,-0.000127801200007,1.66777753997e-05,1793243349126865408
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.76220803,714,679.23779197,660,635,880,787,805.23779197,652,631,651.23779197,0.417134299837,-0.005549384349,0.0499327569193,0.999999986806,0.00011913120065,-0.000108419954195,2.0990769973e-05,1793243349143532032
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,679,660.692726489,635,879.653636755,787.346363245,805.692726489,652.346363245,631,651.346363245,0.417976559673,-0.0055488080958,0.0499541283569,0.99999998892,0.00012909129643,-6.986937241e-05,2.47698590237e-05,1793243349160198656
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,679,661.853128604,635,879.073435698,787.926564302,806.853128604,652.926564302,631,651.926564302,0.418836150347,-0.00554791870707,0.0499850418137,0.999999990288,0.000135250166157,-1.83771305882e-05,2.81884959256e-05,1793243349176865280
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679,660.998630485,634.499315243,879.500684757,787.499315243,805.998630485,652.499315243,631,652,0.419635244127,-0.00554759138291,0.0499719843287,0.999999989888,0.000129379107827,-5.22999916105e-05,2.73653722357e-05,1793243349193531904
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.074420124,745.925579876,714,679,660,634,879.925579876,787,805,652.074420124,631,652,0.42044144196,-0.00554773298622,0.0499572072311,0.999999988444,0.000122756639569,-8.57392186102e-05,2.6285617859e-05,1793243349210198528
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.651505795,745.348494205,714,679,660,634,879.348494205,787,805,652.651505795,631,652,0.421354836947,-0.005550491785,0.0499738534087,0.999999991552,0.000122833590183,-3.23083973112e-05,2.76242585169e-05,1793243349226865152
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.234063322,660.468126645,634.234063322,879.234063322,787,805.234063322,652.765936678,631,652,0.422259684229,-0.00555285708942,0.0499879116475,0.999999992065,0.000122439598993,7.09780809232e-06,2.87804479765e-05,1793243349243531776
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.824962939,661.649925878,634.824962939,879.824962939,787,805.824962939,652.175037061,631,652,0.423151500426,-0.00555462250076,0.0499980245014,0.999999991884,0.000121327643837,2.51230895716e-05,2.96584856086e-05,1793243349260198656
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.596236389,745.403763611,714,679.596236389,661.596236389,635,880,787,806,652,631.403763611,652,0.424016980937,-0.00555515564846,0.0499846072488,0.999999992524,0.000118683784776,8.52921665013e-07,2.94297760507e-05,1793243349276865280
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022528213,745.977471787,714,679.022528213,661.022528213,635,880,787,806,652,631.977471787,652,0.424871376674,-0.00555517013488,0.0499612861469,0.99999999208,0.000115395145507,-4.12194503593e-05,2.87352352396e-05,1793243349293531648
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.555784931,745.444215069,714,679,661,634.444215069,879.444215069,787,806,652,631.444215069,651.444215069,0.42578327932,-0.00555656392917,0.0499797620256,0.999999992932,0.000113817302283,-1.62103195047e-05,3.02970697174e-05,1793243349310198528
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.863046735,745.136953265,714,679,661.136953265,634.136953265,879.136953265,787,806.136953265,652,631,651.136953265,0.426687738628,-0.00555727793503,0.0499937055351,0.99999999307,0.000113270043582,-3.24978099075e-06,3.19341615019e-05,1793243349326865152
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.273056166,745.726943834,714,679,661.726943834,634.726943834,879.726943834,787,806.726943834,652,631,651.726943834,0.427559800287,-0.0055555567308,0.0499870049132,0.999999991953,0.00011590061855,-3.92154261195e-05,3.35151274331e-05,1793243349343531776
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.688815326,714,679.311184674,661.688815326,635,880,787,806.377630653,652,631,652,0.428431410496,-0.00555427468188,0.0499671179429,0.999999989645,0.000118393515899,-7.46658110062e-05,3.34424032218e-05,1793243349360198400
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.109528221,714,679.890471779,661.109528221,635,880,787,805.219056441,652,631,652,0.429302631709,-0.00555337098909,0.0499358702202,0.999999986183,0.00012076779638,-0.000109672269433,3.19449353987e-05,1793243349376865024
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.539802592,661,634.539802592,880,787.460197408,805.460197408,652,631,652,0.430205915406,-0.00555507025518,0.0499425698945,0.999999988494,0.000118815441908,-8.86437708456e-05,3.22052169491e-05,1793243349393532160
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.028230666,745.028230666,714,679,661,634.028230666,880,787.971769334,806,652,631,652,0.431113450546,-0.00555730597489,0.0499564318047,0.999999991061,0.000115785857077,-5.82570718175e-05,3.28213381848e-05,1793243349410199040
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.606729597,745.606729597,714,679,661,634.606729597,880,787.393270403,806,652,631,652,0.431958138842,-0.00555816852737,0.0499374398147,0.999999988256,0.000111422271691,-0.000100123236729,3.23850092714e-05,1793243349426865408
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809355935,745.809355935,714,679.190644065,661,634.809355935,880,787,806,652,631.190644065,652,0.432823576834,-0.00555983756799,0.0499274703025,0.999999986551,0.000107511351982,-0.000119561123737,3.23084527253e-05,1793243349443532032
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.213943287,745.213943287,714,679.786056713,661,634.213943287,880,787,806,652,631.786056713,652,0.433733069991,-0.00556321891525,0.0499366569854,0.999999989814,0.000104561515145,-9.13801102712e-05,3.29957518626e-05,1793243349460198656
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.369516012,745,714,680,661,634,880,787.369516012,806,652,631.630483988,652,0.434619255201,-0.00556411088652,0.0499565584136,0.999999992082,0.000104570544884,-6.077439374e-05,3.47414570486e-05,1793243349476865280
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.946271361,745,714,680,661,634,880,787.946271361,806,652,631.053728639,652,0.435492368328,-0.00556360671612,0.0499824690984,0.999999993254,0.000106239025281,-2.88088085606e-05,3.70807585544e-05,1793243349493531648
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679.478347838,661,634,880.521652162,787.478347838,806,651.478347838,631,652,0.436283438593,-0.00556130865194,0.0499630109203,0.99999999,0.000110893731757,-7.92751821814e-05,3.76540700373e-05,1793243349510198272
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.900413107,745,714,679,661,634,880.900413107,787,806,651.099586893,631,652,0.43707589864,-0.00555968910045,0.0499448159253,0.999999985474,0.000113941306613,-0.00012097981541,3.7856592795e-05,1793243349526865152
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.309172707,745,714,679,661,634,880.309172707,787,806,651.690827293,631,652,0.437916828191,-0.00556232909708,0.049955866128,0.999999990516,0.000107540113486,-7.76227420584e-05,3.71241851123e-05,1793243349543532032
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.274332399,679.274332399,661.274332399,634.274332399,880,787,806.274332399,652,631,652,0.438746451964,-0.00556343123153,0.04996619682,0.999999992684,0.000103870785772,-4.97994700346e-05,3.69107114684e-05,1793243349560198656
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.84935886,679.84935886,661.84935886,634.84935886,880,787,806.84935886,652,631,652,0.439563683486,-0.00556284772449,0.0499757388599,0.99999999322,0.000103195839573,-3.90027053915e-05,3.7266038348e-05,1793243349576865280
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.426365882,745,715,680,661.573634118,634.573634118,880,787,807,652,631,652,0.440320034327,-0.00556359669836,0.0499613292398,0.99999999222,0.000103110269157,-5.96266103565e-05,3.70654536782e-05,1793243349593532160
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.004050262,714.995949738,680,661,634,880,787,806.995949738,652,631,651.995949738,0.441054839407,-0.0055648367429,0.0499386657534,0.999999989859,0.000103202283889,-9.10280543164e-05,3.66775214337e-05,1793243349610198528
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.578115807,714.421884193,680,661,634,880,787,806.421884193,652,631,651.421884193,0.441798732606,-0.0055686225489,0.0499509175501,0.999999991985,9.88440417199e-05,-6.95632847212e-05,3.76942115112e-05,1793243349626865152
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.847720741,714,680,661,634,880,787.152279259,806,652,631,651.152279259,0.442533147949,-0.00557115726075,0.0499651687996,0.999999993512,9.66479870329e-05,-4.60221317451e-05,3.89411924916e-05,1793243349643532032
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.273285736,714,680,661,634,880,787.726714264,806,652,631,651.726714264,0.443241288505,-0.00557022363121,0.0499849630293,0.999999993982,0.000100446049583,-1.67247259734e-05,4.08265970316e-05,1793243349660198656
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.686432081,745.313567919,714,680,661,634.313567919,880,787.686432081,806.313567919,652,631,652,0.443909048169,-0.00556831765818,0.0499785160129,0.999999993164,0.000104857321592,-3.08831169179e-05,4.15036853911e-05,1793243349676865536
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.088308834,745.911691166,714,680,661,634.911691166,880,787.088308834,806.911691166,652,631,652,0.444540163105,-0.00556552930693,0.0499482556969,0.999999989557,0.000109825066005,-8.44765975611e-05,4.1084255763e-05,1793243349693532672
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.490937612,746,714,680,661,634.509062388,880,787,806.509062388,652,631.490937612,652,0.44516671205,-0.00556454983978,0.0499349064428,0.999999988546,0.00011261489555,-9.26630595867e-05,4.04889574755e-05,1793243349710199040
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714,680,661,634,880,787,806,651.931616483,632,651.931616483,0.44579052805,-0.0055646502803,0.049928351557,0.999999988769,0.00011445891495,-8.79747903033e-05,4.02729122539e-05,1793243349726865664
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714,680,661,634,880,787,806,651.342992964,632,651.342992964,0.446399569676,-0.00557058259501,0.0499512009269,0.999999991778,0.000111977534027,-4.51763271253e-05,4.31738603301e-05,1793243349743532544
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.758538628,745.758538628,714.241461372,680,660.758538628,634,880,787.241461372,806,651.241461372,632,651.241461372,0.446972195581,-0.00557440456922,0.049957916314,0.999999992441,0.00011017403845,-3.09463118589e-05,4.49602404273e-05,1793243349760199168
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.179906097,745.179906097,714.820093903,680,660.179906097,634,880,787.820093903,806,651.820093903,632,651.820093903,0.447493971351,-0.00557527971154,0.0499421025731,0.999999991402,0.000109317126914,-5.66086302406e-05,4.51902630084e-05,1793243349776865792
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.603578302,680,660,634,880.396421698,787.603578302,806.396421698,652,631.603578302,652,0.447969437001,-0.00557409688601,0.0499039891679,0.999999986122,0.000112194309216,-0.000114891235074,4.4366200979e-05,1793243349793532416
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.028290359,680,660,634,880.971709641,787.028290359,806.971709641,652,631.028290359,652,0.448424007479,-0.00557198550144,0.0498558141092,0.999999974605,0.000116756321406,-0.000187892178723,4.30665337391e-05,1793243349810199040
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.548199759,745.548199759,714.548199759,680,660,633.451800241,880.451800241,787,807,651.451800241,631,651.451800241,0.448856677047,-0.00556958721172,0.0498329386083,0.99999996633,0.000124050826392,-0.000223769868,4.33301192124e-05,1793243349826865664
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,714.87228636,680,660.12771364,633,880.12771364,787,807,651.12771364,631,651.12771364,0.449284416393,-0.00556783115549,0.0498177957855,0.999999959809,0.000130263917685,-0.00024797993294,4.38153036017e-05,1793243349843532032
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,714.282046676,680,660.717953324,633,880.717953324,787,807,651.717953324,631,651.717953324,0.449698402809,-0.00556845474208,0.0498259187598,0.99999996222,0.000132048765187,-0.000236888105479,4.48102211544e-05,1793243349860199168
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.698516288,714,680,661,633,880.698516288,787,807,652,631,652,0.450102985469,-0.00557271867615,0.0498340594671,0.999999964944,0.000130343691926,-0.000225692706752,4.67533403236e-05,1793243349876866048
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.12112603,714,680,661,633,880.12112603,787,807,652,631,652,0.45049896214,-0.00558031411919,0.0498422164027,0.999999967919,0.000125444774419,-0.000214402524158,4.95642178643e-05,1793243349893532928
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.564641488,745.435358512,714,680,660.564641488,632.564641488,880,787,807,652,631,652,0.450832473558,-0.00558300420957,0.0498340416799,0.999999963541,0.000123451298646,-0.000234849533274,5.02258058449e-05,1793243349910199296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.013706867,745.986293133,714,680,660.013706867,632.013706867,880,787,807,652,631,652,0.451149402105,-0.00558439205912,0.049821531336,0.99999995649,0.000122229140389,-0.00026372192295,5.03168145131e-05,1793243349926865152
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.590453558,746,714,680.590453558,660,632,880,787,806.409546442,652,631,652,0.451424162783,-0.00558486497955,0.0497995421465,0.999999944561,0.000122679573316,-0.000305428576417,5.04011629137e-05,1793243349943531776
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.80897475,745.80897475,714,680.80897475,660,631.80897475,880,787,806.19102525,652,631,652,0.451684225934,-0.00558461016445,0.0497779831594,0.999999931358,0.000123779731995,-0.000345591503726,5.02877974862e-05,1793243349960198400
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.218740941,745.218740941,714,680.218740941,660,631.218740941,880,787,806.781259059,652,631,652,0.451915822232,-0.00558288329626,0.0497578286317,0.999999917903,0.000126148519038,-0.000381843994169,4.97616007891e-05,1793243349976865280
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.36387459,745,714.36387459,680,659.63612541,631.36387459,879.63612541,786.63612541,807,652,630.63612541,652,0.452142265409,-0.00558189179915,0.0497438740126,0.999999909203,0.000128146993797,-0.000403352993774,4.97826167635e-05,1793243349993532160
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.942004411,745,714.942004411,680,659.057995589,631.942004411,879.057995589,786.057995589,807,652,630.057995589,652,0.452365674367,-0.00558133330025,0.0497335699977,0.9999999037,0.000129927422983,-0.00041618079164,5.01258403598e-05,1793243350010199296
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.483563744,745.516436256,715,680,659,631.483563744,879.516436256,786.516436256,807,652,630.516436256,652,0.452574561837,-0.00557859470105,0.0497354676175,0.999999907069,0.00012422494115,-0.000410135198859,4.71157962291e-05,1793243350026865920
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.90938585,715,680,659,631,880.09061415,787,807,652,630.90938585,652,0.452775257246,-0.00557642365026,0.0497380334654,0.999999912022,0.00010846269897,-0.000403108960473,4.11692911764e-05,1793243350043532288
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.334361075,715,680,659,631,880.665638925,787,807,652,630.334361075,652,0.452940814929,-0.0055785861251,0.0497368985418,0.999999917989,4.33827142481e-05,-0.000402090182679,2.15236555201e-05,1793243350060198656
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.247653051,715,680,659.247653051,631,880.752346949,787,807,652,630.247653051,652,0.453091322484,-0.00558098197069,0.0497349630997,0.999999918015,3.93567245421e-06,-0.000404782462468,1.02625357788e-05,1793243350076865280
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.422065089,745.577934911,715,680,660,630.577934911,880,786.577934911,807,652,630.577934911,651.577934911,0.453331769513,-0.00558531314916,0.0497256136031,0.99999991036,3.15515133432e-07,-0.000423268361555,1.10870035386e-05,1793243350110198528
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.152666746,714,680,659.152666746,630,880,786,807,652,630,652,0.453600768378,-0.00558643296264,0.0497087246757,0.999999900256,7.78087875474e-06,-0.000446408563635,1.2112570337e-05,1793243350160199424
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.741892478,714,680,659.741892478,630,880,786,807,652,630,652,0.453665077856,-0.00558802789994,0.049705659757,0.999999898962,4.88333241609e-06,-0.000449353522043,1.15193080415e-05,1793243350176866304
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765.902901756,746,714,680.902901756,660,630.902901756,880,786,807,652,630,652,0.453767993853,-0.00559080388009,0.0496980646936,0.999999893883,4.02493600336e-06,-0.000460513881704,1.20044520357e-05,1793243350210198784
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+230,3.833333333,POSE1_TO_POSE2_PRESS,765.615780048,745.384219952,715,681,659.615780048,629.384219952,880.384219952,786,807,652,630.384219952,652,0.453904445394,-0.00558330980977,0.0496908854348,0.999999889377,1.18071801739e-05,-0.000470067324198,1.19417346582e-05,1793243350310199040
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.037775618,745.962224382,715,681,659.037775618,629.962224382,880.962224382,786,807,652,630.962224382,652,0.453913378382,-0.00558574522868,0.0496908946035,0.999999889177,9.03929626654e-06,-0.000470532378743,1.28186842072e-05,1793243350326865664
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714.460229529,681,659.539770471,630,879.920459057,786,807.539770471,652,631,652,0.453917685853,-0.00558339253836,0.0496895315067,0.9999998886,1.22134426702e-05,-0.000471690609574,1.25629637377e-05,1793243350343532288
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714.119457694,681,660,630,879.119457694,786,807.880542306,652,631,652,0.453921125524,-0.00558103619647,0.0496884097187,0.99999988801,1.53796362567e-05,-0.000472853897948,1.23606709905e-05,1793243350360198656
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714.707672433,681,660,630,879.707672433,786,807.292327567,652,631,652,0.453922429098,-0.00557997933333,0.0496886113716,0.999999887512,1.68841909366e-05,-0.00047384683175,1.26788237473e-05,1793243350376865280
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.709156761,715,680.709156761,659.709156761,630,880,786,807,652,631,652,0.453922864772,-0.00557969684158,0.0496882248297,0.999999886727,1.71509239946e-05,-0.000475489031255,1.27585955928e-05,1793243350393531904
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.130969138,715,680.130969138,659.130969138,630,880,786,807,652,631,652,0.453922442987,-0.00558017940539,0.0496872571689,0.999999885656,1.61947266552e-05,-0.000477772685888,1.2602854297e-05,1793243350410198528
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.444622416,745.444622416,714.555377584,680,659,630,880,786,807,651.555377584,631,652,0.453924128683,-0.00557792778812,0.0496872063855,0.999999885981,1.80617650775e-05,-0.000477034014743,1.22611138578e-05,1793243350426865664
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.98044736,745.98044736,714.01955264,680,659,630,880,786,807,651.01955264,630.98044736,652,0.45392635951,-0.00557491422567,0.0496874177541,0.999999886664,2.0822488642e-05,-0.000475496221897,1.19005997437e-05,1793243350443532288
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.402691625,745.402691625,714.597308375,680,659,630,880,786,807,651.597308375,630.402691625,652,0.45392653341,-0.00557300740966,0.0496874476069,0.999999886112,2.54929257154e-05,-0.000476412890581,1.25591797667e-05,1793243350460198912
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.178627412,745,715,680,659,630,880,786,807,652.178627412,630,652,0.453926250542,-0.00557174146308,0.0496869061528,0.999999885422,2.81710829084e-05,-0.000477703517922,1.27455555407e-05,1793243350476865792
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.768142909,745,715,680,659,630,880,786,807,652.768142909,630,652,0.453924916994,-0.00557194967788,0.0496850505486,0.999999884455,2.62664937781e-05,-0.000479854344422,1.18457424441e-05,1793243350493532160
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.648001047,745,715,680,659,629.648001047,880,786.351998953,807.351998953,652.648001047,630,652,0.453924423953,-0.0055738386121,0.0496842598524,0.999999883854,2.45466043361e-05,-0.00048118398582,1.22996037289e-05,1793243350510198528
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.067813845,745,715,680,659,629.067813845,880,786.932186155,807.932186155,652.067813845,630,652,0.453924475782,-0.00557681709619,0.0496841594977,0.999999883491,2.29464491264e-05,-0.000481981282395,1.36310034141e-05,1793243350526865152
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.50741796,715,680.50741796,659,629,880,786.49258204,806.985164081,652,630.50741796,651.49258204,0.453925364431,-0.00557378485295,0.049684533511,0.99999988382,2.49067626571e-05,-0.000481219370828,1.29524241301e-05,1793243350543532032
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,715,680.916004166,659,629.083995834,880,786,806,652,631,651.083995834,0.453926293593,-0.00557068621944,0.0496848243282,0.999999884191,2.68800943309e-05,-0.000480361025352,1.21991074197e-05,1793243350560198656
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,715,680.327399861,659,629.672600139,880,786,806,652,631,651.672600139,0.453926800772,-0.00557196795012,0.0496842381646,0.999999884302,2.61006585694e-05,-0.00048016309558,1.25949624531e-05,1793243350576865536
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.742801619,715,680,659,629.742801619,880,786.257198381,806.257198381,652,631,652,0.453926211512,-0.00557287964308,0.0496835379904,0.999999883831,2.56319490679e-05,-0.000481158597371,1.29217086628e-05,1793243350593532416
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.163224594,715,680,659,629.163224594,880,786.836775406,806.836775406,652,631,652,0.453924247948,-0.00557332752201,0.0496826949125,0.999999882628,2.55527112371e-05,-0.000483649974992,1.31618322624e-05,1793243350610199296
+249,4.150000000,HOLD_POSE2,766,746,715,681,659,630,880,787,807,652,630,652,0.453929183383,-0.0055737905517,0.049685872298,0.999999884792,2.63082354502e-05,-0.000479101455292,1.36492539854e-05,1793243350643881984
+250,4.166666667,HOLD_POSE2,766,746,715,681,659,629.425564876,880,786.425564876,806.425564876,651.425564876,630,652,0.453927130021,-0.00557199103037,0.0496844314433,0.999999883881,2.63003176913e-05,-0.000481020724566,1.28690088007e-05,1793243350660548352
+251,4.183333333,HOLD_POSE2,765.846265978,745.846265978,714.846265978,680.846265978,659,629.153734022,880,786,806.153734022,651.153734022,630,652,0.453925661811,-0.00557065229698,0.0496832527128,0.999999883132,2.63801386939e-05,-0.000482583834709,1.23276397021e-05,1793243350677214720
+252,4.200000000,HOLD_POSE2,765.253063213,745.253063213,714.253063213,680.253063213,659,629.746936787,880,786,806.746936787,651.746936787,630,652,0.453925866335,-0.00557063078559,0.0496828232987,0.999999882859,2.67107723822e-05,-0.000483128817999,1.24691288547e-05,1793243350693881088
+253,4.216666667,HOLD_POSE2,765,745.330952452,714.330952452,680,659,630,879.669047548,786,806.669047548,652,630,652,0.453926203134,-0.00557107113076,0.0496829284168,0.999999882831,2.69711289189e-05,-0.000483169517407,1.255339678e-05,1793243350710547712
+254,4.233333333,HOLD_POSE2,765,745.908132898,714.908132898,680,659,630,879.091867102,786,806.091867102,652,630,652,0.453926638346,-0.00557185509635,0.049683431226,0.999999882986,2.71791993691e-05,-0.000482835030536,1.25950922133e-05,1793243350727214336
+255,4.250000000,HOLD_POSE2,765.483758285,746,715,680,659,630,879.483758285,786,806,652,630,652,0.453927468564,-0.00557247889535,0.0496841596614,0.999999883252,2.68212438995e-05,-0.000482296625736,1.28821241803e-05,1793243350743881216
+256,4.266666667,HOLD_POSE2,765.941122244,746,715,680,659.058877756,629.941122244,880,786,806.058877756,652,630.058877756,652,0.453928253264,-0.00557283894622,0.0496848857496,0.99999988353,2.64793130873e-05,-0.000481731744601,1.31626788498e-05,1793243350760547840
+257,4.283333333,HOLD_POSE2,765.367851005,746,715,680,659.632148995,629.367851005,880,786,806.632148995,652,630.632148995,652,0.453927987039,-0.00557115960876,0.0496852181914,0.999999883734,2.72134753686e-05,-0.000481272788051,1.29809071155e-05,1793243350777214464
+258,4.300000000,HOLD_POSE2,765,746,715,680,659.787813545,629.212186455,880,786.212186455,806.787813545,652,630.787813545,652,0.453927624636,-0.00557063680496,0.0496848314248,0.999999883525,2.74377639465e-05,-0.000481697450191,1.28257901725e-05,1793243350793881088
+259,4.316666667,HOLD_POSE2,765,746,715,680,659.195659714,629.804340286,880,786.804340286,806.195659714,652,630.195659714,652,0.453927090006,-0.00557218503395,0.0496831567545,0.999999882576,2.67490093668e-05,-0.000483704429574,1.27184046235e-05,1793243350810547456
+260,4.333333333,HOLD_POSE2,765,746,715,680,659,630,880,786.611713223,806.388286777,652,630,652,0.453926105529,-0.00557246339103,0.0496816787586,0.999999881788,2.58793969166e-05,-0.000485381888249,1.25990563317e-05,1793243350827214336
+261,4.350000000,HOLD_POSE2,765,746,715,680,659,630,880,786.031816794,806.968183206,652,630,652,0.453924899063,-0.00557211509873,0.0496802978162,0.999999881077,2.49205356436e-05,-0.000486896737012,1.24738047208e-05,1793243350843880960
+262,4.366666667,HOLD_POSE2,765,745.456304301,715,680,659,630,880,786,806.456304301,652,630,652,0.453924902265,-0.00557097157415,0.0496806518401,0.999999881088,2.63351368985e-05,-0.000486799885308,1.25166800799e-05,1793243350860547840
+263,4.383333333,HOLD_POSE2,765,745,714.87865493,680,659,630,880,786,806.12134507,652,630.12134507,652,0.45392529581,-0.00556994586185,0.0496812576362,0.999999881323,2.74301142352e-05,-0.000486257232041,1.25089283053e-05,1793243350877214976
+264,4.400000000,HOLD_POSE2,765,745,714.291832135,680,659,630,880,786,806.708167865,652,630.708167865,652,0.453926917332,-0.0055695491609,0.0496824428771,0.999999882262,2.6770487092e-05,-0.000484363391451,1.22695324493e-05,1793243350893881856
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,630,880,786,807,652,631,652,0.453926957254,-0.00557155530179,0.049682253291,0.999999881926,2.76555341209e-05,-0.000484991212437,1.29336008447e-05,1793243350931051008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.580103073,680,659.580103073,630,880.580103073,786.580103073,807,652,630.419896927,652,0.453928256507,-0.00556875498687,0.049682273159,0.999999882201,2.96985234936e-05,-0.000484318535925,1.23428092743e-05,1793243350947717376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.841462874,630,880.841462874,787,807,652,630,652,0.453928847465,-0.0055670136509,0.0496822476811,0.999999882329,3.08768222952e-05,-0.00048398815536,1.20070943954e-05,1793243350964383744
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.267403162,630,880.267403162,787,807,652,630,652,0.453927581999,-0.00556804787661,0.0496821033527,0.999999882083,2.9788785124e-05,-0.000484554925378,1.23399302134e-05,1793243350981050368
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.315361623,745,715,680,659,629.684638377,880,786.684638377,807,651.684638377,630,652,0.453928434448,-0.00556946360977,0.0496830889252,0.999999882751,2.83273012263e-05,-0.000483253720736,1.27057529866e-05,1793243350997716736
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.905717159,745,715,680,659,629.094282841,880,786.094282841,807,651.094282841,630,652,0.453931133709,-0.00557121201563,0.0496850597662,0.999999884207,2.65401735329e-05,-0.00048032365058,1.31003402161e-05,1793243351014383360
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.484388668,715,680.484388668,659,629,880,786,807,651.484388668,630.484388668,652,0.453930000399,-0.00557121526973,0.0496841477763,0.999999883415,2.82641728186e-05,-0.000481860222834,1.34955463061e-05,1793243351031050240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.938953213,745.938953213,715,680.938953213,659,629,880.061046787,786,807,652,631,652,0.45392782494,-0.00557088655397,0.0496825959685,0.999999882128,3.02936101454e-05,-0.000484392449258,1.37694475476e-05,1793243351047716608
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.360538559,745.360538559,715,680.360538559,659,629,880.639461441,786,807,652,631,652,0.453922990585,-0.00557055538967,0.0496802652166,0.999999880333,2.92561231269e-05,-0.000488168210016,1.30143006565e-05,1793243351064383232
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.221472422,714.778527578,680,659,629,880.778527578,786.221472422,807,652,630.778527578,652,0.453914020452,-0.00557011235476,0.0496756478906,0.999999876804,2.87994184884e-05,-0.00049538706705,1.24518930844e-05,1793243351081049856
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.809434498,714.190565502,680,659,629,880.190565502,786.809434498,807,652,630.190565502,652,0.453898206488,-0.00556948419787,0.0496672467722,0.99999987031,2.93037850054e-05,-0.000508303514162,1.22084280801e-05,1793243351097716736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.60866704,714.39133296,680,659,629.39133296,880,786.60866704,807,652,630,652,0.453866627819,-0.00556845252685,0.0496530716563,0.999999857812,2.93604557969e-05,-0.000532336475186,1.14870951664e-05,1793243351114383360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.029676242,714.970323758,680,659,629.970323758,880,786.029676242,807,652,630,652,0.453827489421,-0.00556722735664,0.049636127706,0.999999841765,2.92024408577e-05,-0.000561700194156,1.05366078502e-05,1793243351131049728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.54433505,745.54433505,714.45566495,680.54433505,659.54433505,630,880,786,807,652,630,652,0.453765164806,-0.00556384472097,0.0496157516739,0.999999822103,3.1152057941e-05,-0.000595604736927,8.90056382372e-06,1793243351147716608
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.880619072,746,714.119380928,680.880619072,660,630,880.119380928,786,807.119380928,652,630,652,0.453699889532,-0.00556065349868,0.0495966159405,0.999999803585,3.30781126367e-05,-0.000625845360796,7.37202581138e-06,1793243351164383488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.300542388,746,714.699457612,680.300542388,660,630,880.699457612,786,807.699457612,652,630,652,0.453628061422,-0.00555865073839,0.0495829820879,0.999999793945,3.44738380382e-05,-0.000641000111072,6.4012830755e-06,1793243351181050368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.7167861,715,680,659.7167861,630,880.7167861,786,807.7167861,652,630,652,0.453549761433,-0.00555656924078,0.0495747981099,0.999999787222,3.58701031606e-05,-0.000651334692045,5.68629302523e-06,1793243351197716992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.129073707,715,680,659.129073707,630,880.129073707,786,807.129073707,652,630,652,0.453464503181,-0.00555440308857,0.0495724735861,0.999999783804,3.72669484877e-05,-0.000656486849011,5.2462764989e-06,1793243351214383360
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.54695138,745,715,680,659,630,880,786,807,652,630,652,0.453358275068,-0.00555093647913,0.0495695684519,0.999999778493,3.99701280052e-05,-0.000664371660294,5.09663349609e-06,1793243351231049984
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.033171879,745,714.966828121,680,659,630,880,786,807,652,630.033171879,652,0.453244330673,-0.00554706721353,0.0495663261894,0.999999772398,4.30168454395e-05,-0.000673296587071,4.96588860881e-06,1793243351247716352
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.606362422,745,714.393637578,680,659,630,880,786,807,652,630.606362422,652,0.453100842697,-0.00554260096063,0.0495602557321,0.999999763216,4.56712146915e-05,-0.000686634383246,3.81245343133e-06,1793243351264382976
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.184724333,680,659,630,880,786.184724333,807,652,630.815275667,652,0.452949953932,-0.00553679030847,0.0495535998174,0.999999753693,4.95708548491e-05,-0.000700106603199,2.56787728366e-06,1793243351281049600
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.774423459,680,659,630,880,786.774423459,807,652,630.225576541,652,0.452782840293,-0.00552803230392,0.0495456603939,0.999999743612,5.62005266051e-05,-0.000713873521422,1.12349114404e-06,1793243351297716224
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.642788022,679.642788022,659,630,880,786.642788022,807,652,630,652,0.45259484618,-0.00552199754177,0.0495420906316,0.99999973688,5.93905888675e-05,-0.000722988049047,3.52205297834e-07,1793243351314383360
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.064280618,679.064280618,659,630,880,786.064280618,807,652,630,652,0.452393916445,-0.00551764984731,0.0495412279056,0.999999732292,6.04497886036e-05,-0.000729220388142,-2.09014640745e-09,1793243351331050240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.51310205,745.51310205,714,679.51310205,659.51310205,630.51310205,880,786,807,652,630.51310205,652,0.45217326779,-0.00550849124936,0.0495503712401,0.999999739567,6.74253166353e-05,-0.00071855405464,-6.42722850431e-07,1793243351347716864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.909830361,714.090169639,680.090169639,660,631,880,786,807,652,631,652,0.451943149205,-0.00549859285126,0.0495607696099,0.999999748209,7.53610719016e-05,-0.000705621009799,-1.36051017118e-06,1793243351364383232
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.333702896,714.666297104,680.666297104,660,631,880,786,807,652,631,652,0.451675278096,-0.00548794847404,0.0495711908007,0.999999757096,8.44860497429e-05,-0.000691856365907,-2.30120866799e-06,1793243351381049600
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.753000914,745,714.753000914,680.753000914,660,631,880.246999086,786,807,652,631,651.753000914,0.451401518035,-0.0054781843096,0.0495818401601,0.99999976902,9.238045982e-05,-0.000673358837645,-3.61121928925e-06,1793243351397716480
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.415145353,745.415145353,714,680,659.584854647,631.415145353,880.584854647,786.415145353,806.584854647,652,631,651.415145353,0.450812622131,-0.00546474641583,0.0496108691837,0.999999807702,9.86330424882e-05,-0.000612231186009,-6.35862822873e-06,1793243351431050240
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.368212317,680.631787683,660,633.631787683,880,787,806.631787683,651.631787683,631.631787683,652,0.44686114293,-0.00543310542712,0.0497362705818,0.999999923051,7.77123701212e-05,-0.000383841361473,-2.29154836084e-05,1793243351581049600
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.083305167,634.083305167,880,787,806,652,631,652,0.433209190735,-0.00538433696827,0.0497798458538,0.999999926882,0.000168091206163,-0.000343106757017,-1.60998184522e-05,1793243351881049600
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.014093087,634,880,788,805,653,631,652,0.412365297599,-0.00536868985712,0.0497767185698,0.999999928476,0.000106587820503,-0.000359187422921,-5.16850506968e-05,1793243352281049344
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.589685287,634,880,788,805,653,631,652,0.411691878582,-0.00537192778377,0.049806200611,0.99999994115,0.000102733124563,-0.000323565706417,-4.95187960709e-05,1793243352297716224
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.835594623,660.835594623,634,879.835594623,788,805,653,631,652,0.411015524058,-0.00537423098686,0.0498224673012,0.999999947038,0.000100332621085,-0.000305812764629,-4.83252808986e-05,1793243352314382848
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.263039493,660.263039493,634,879.263039493,788,805,653,631,652,0.410331881762,-0.00537421366315,0.0498059258115,0.999999938365,0.000101542268374,-0.000332420506055,-4.95466703789e-05,1793243352331049728
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.319098282,714,679,660,634.319098282,879,788,805,653,631,652,0.409690103831,-0.00537429639868,0.0497939698445,0.999999932411,0.000106333117885,-0.00034842047166,-4.9746533904e-05,1793243352347716864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.90937976,714,679,660,634.90937976,879,788,805,653,631,652,0.409083904045,-0.00537446416877,0.0497859108493,0.999999929122,0.000114167424253,-0.000355405499901,-4.90782614753e-05,1793243352364384000
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.509089281,714,679,660.490910719,635,879,788,805,653,631,651.509089281,0.408515068708,-0.00537350003347,0.0498077968699,0.999999940986,0.000115970615043,-0.000319754207733,-4.83298971948e-05,1793243352381050368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.070232707,714,679.070232707,660.929767293,634.929767293,879,787.929767293,805,653,631,651.070232707,0.407956373987,-0.00537301213,0.0498319471413,0.999999952345,0.000115641327327,-0.000282239403642,-4.77284956535e-05,1793243352397716736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.645086028,714,679.645086028,660.354913972,634.354913972,879,787.354913972,805,653,631,651.645086028,0.407421850057,-0.00537742091991,0.0498333448954,0.999999951864,0.000107849324399,-0.000286894360543,-4.82873860945e-05,1793243352414383104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.774903726,714,679.774903726,660,634,879,787,805,652.774903726,631,652,0.406891868716,-0.00538012481085,0.0498244875826,0.999999946325,0.000103404886592,-0.000306964102257,-4.93035437745e-05,1793243352431049728
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.186571857,714,679.186571857,660,634,879,787,805,652.186571857,631,652,0.406369217757,-0.00538007752304,0.0497990817715,0.999999931331,0.000104362381579,-0.000351908526367,-5.10575888823e-05,1793243352447716096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.39306072,879,787.39306072,805,652,630.60693928,652,0.405880016322,-0.00537871345865,0.0497808782579,0.999999921227,0.000103673242274,-0.00037942792649,-5.32203760111e-05,1793243352464382720
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.968653516,879,787.968653516,805,652,630.031346484,652,0.405406348346,-0.00537673790104,0.0497660193913,0.999999913689,0.000102219428416,-0.000398855385482,-5.55729775685e-05,1793243352481049600
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.548667863,635,879,788,805,652,630.548667863,652,0.404998605857,-0.00537780960043,0.0497789261715,0.999999922276,9.94505824222e-05,-0.000377418080136,-5.57992241655e-05,1793243352497716480
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805.127790162,652,631,652,0.404610874451,-0.00537999767178,0.0497968090844,0.999999932863,9.55729599571e-05,-0.000349381937998,-5.54206106181e-05,1793243352514383360
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805.70289865,652,631,652,0.404279898738,-0.00538547914795,0.0498265126814,0.999999947731,8.80792853084e-05,-0.000306485891777,-5.33534318501e-05,1793243352531050240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.285339537,679,661,635,879,788,805.714660463,652.285339537,631,652,0.403961445279,-0.00538888517534,0.0498495355142,0.999999957953,8.29037312284e-05,-0.000272968452386,-5.20476221106e-05,1793243352547716864
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.875616395,679,661,635,879,788,805.124383605,652.875616395,631,652,0.403656374152,-0.00539007320699,0.0498654187306,0.999999964336,8.02055121745e-05,-0.000249473767256,-5.15554741783e-05,1793243352564382976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.541909872,679.458090128,660.541909872,635,879,787.541909872,805,653,631,652,0.403350230132,-0.00538870263872,0.0498614304925,0.999999961337,7.98077197841e-05,-0.000261229719547,-5.21061029372e-05,1793243352581049600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.962128707,660,635,878.962128707,787.037871293,805,652.962128707,631,652,0.403045687222,-0.00538664901291,0.0498514684775,0.999999955276,8.0637929923e-05,-0.000283106648449,-5.28789846652e-05,1793243352597715968
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.390928005,660,635,878.390928005,787.609071995,805,652.390928005,631,652,0.402767726005,-0.00538459586995,0.0498320918971,0.999999944937,9.01126185708e-05,-0.0003149795404,-5.28611767127e-05,1793243352614382592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.186658393,714,679,660.186658393,634.813341607,878.186658393,788,805.186658393,652.186658393,631,652,0.402508741669,-0.00538202232763,0.0498163436901,0.999999934223,0.000114868971831,-0.000340476539156,-4.93493738411e-05,1793243352631049728
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.778092334,714,679,660.778092334,634.221907666,878.778092334,788,805.778092334,652.778092334,631,652,0.402290909428,-0.00537832028058,0.049808463746,0.999999922341,0.000172764172031,-0.000352147176199,-3.8260715275e-05,1793243352647716864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.638271926,714,679.361728074,660.638271926,634.361728074,878.638271926,788,806,652.638271926,631,652.361728074,0.402105063142,-0.00537822027027,0.0498097349552,0.999999921341,0.000188286709768,-0.000347347194975,-3.48674308386e-05,1793243352664383488
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,635,878.517226384,788,805.482773616,652.517226384,631,652.482773616,0.401796081492,-0.00538349579582,0.0498208765057,0.999999932087,0.000172551981612,-0.000323595767338,-3.65690389189e-05,1793243352697716992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.093547956,634.906452044,879,788,805,653,631,652,0.401662012115,-0.00538653742727,0.0498257930499,0.999999936164,0.000166965773333,-0.000313726339927,-3.70045413654e-05,1793243352714383360
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.670132563,634.329867437,879,788,805,653,631,652,0.401556346131,-0.00538801958689,0.0498349162139,0.999999942556,0.000160120257985,-0.000296361305353,-3.76875545793e-05,1793243352731049984
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.158789543,661,634,878.158789543,788,805,653,631,652,0.401368524796,-0.0053924814992,0.0498402622004,0.999999947553,0.000149158506897,-0.000284739193988,-3.96070801453e-05,1793243352764383232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.576458838,634,878.423541162,787.576458838,805,653,631,652,0.40129177531,-0.00539483877316,0.0498393864935,0.99999994822,0.000143239734791,-0.000285354567914,-4.0185257851e-05,1793243352781050112
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.00333215,634,879,787.00333215,805,653,631,652,0.401219751787,-0.00539713512744,0.0498381678096,0.999999948725,0.000136962238112,-0.000286608129788,-4.05812568629e-05,1793243352797716992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.577624903,634,879,787.577624903,805,653,631,652,0.401170276158,-0.00539997516907,0.0498391521152,0.99999995031,0.000131473515897,-0.000283587246784,-4.08978729506e-05,1793243352814383360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745.152258206,714,679,661,634.152258206,878.847741794,788,805,653,631,652,0.401125472198,-0.00540201139205,0.0498404716363,0.999999951734,0.00012810837822,-0.000280058086449,-4.10717516888e-05,1793243352831049984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745.727838241,714,679,661,634.727838241,878.272161759,788,805,653,631,652,0.401093656835,-0.00540181276634,0.0498427231532,0.999999952787,0.000130647420358,-0.000275115768727,-4.08487792836e-05,1793243352847716352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745.687832147,714,679,660.687832147,634.687832147,878.312167853,787.687832147,805,653,631,652,0.401067981653,-0.00540200433931,0.0498453440831,0.99999995416,0.000130958514352,-0.000269936089909,-4.07897059522e-05,1793243352864383232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.095654225,714,679,660.095654225,634.095654225,878.904345775,787.095654225,805,653,631,652,0.401047814122,-0.00540254591485,0.0498482963713,0.999999955817,0.000129271171225,-0.000264543501041,-4.0877647705e-05,1793243352881049600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.481634252,634.481634252,879,787.481634252,805,652.518365748,630.518365748,652,0.401032251675,-0.00540337089326,0.0498485594842,0.99999995605,0.00012890273142,-0.00026388405595,-4.06118185513e-05,1793243352897716224
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634.944089479,879,788,805,652.055910521,630.055910521,652,0.401017979294,-0.0054042984184,0.0498482257433,0.999999956009,0.000128547048033,-0.000264263384576,-4.02906539106e-05,1793243352914382848
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634.371142547,879,788,805,652.628857453,630.628857453,652,0.40100743281,-0.00540566936293,0.0498471633871,0.999999955934,0.000125959672027,-0.00026581663415,-4.00880218113e-05,1793243352931049984
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634,879,788,805.203867789,653,631,652,0.401000436307,-0.00540657542781,0.049847127173,0.99999995617,0.000124599091877,-0.000265580637694,-4.00353457924e-05,1793243352947716864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634,879,788,805.782672942,653,631,652,0.400999968647,-0.00540662652308,0.0498489781573,0.999999956979,0.00012549473689,-0.00026205400268,-4.02584570382e-05,1793243352964383488
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634,878.629594525,787.629594525,805.629594525,653,631,652,0.401000295754,-0.00540604629138,0.0498509719448,0.999999957882,0.000125908819945,-0.000258370226521,-4.03361604438e-05,1793243352981050112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634,878.036494712,787.036494712,805.036494712,653,631,652,0.401001100689,-0.00540508649471,0.0498530515879,0.999999958836,0.000126033379381,-0.000254591974442,-4.032644207e-05,1793243352997716480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.457148285,634.542851715,878,787,805.542851715,653,631,652,0.400998215092,-0.00540559292004,0.0498520105545,0.999999958568,0.000124893672259,-0.000256208537388,-4.02825470951e-05,1793243353014383104
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.118923051,635,878.118923051,787,806,653,631,652,0.400995511901,-0.00540605150811,0.0498510461298,0.999999958249,0.000124245232182,-0.000257772740393,-4.0238367972e-05,1793243353031049728
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.686049529,635,878.686049529,787,806,653,631,652,0.400994408144,-0.00540596748504,0.0498511415861,0.999999958052,0.000125760719418,-0.000257806488496,-4.02015633593e-05,1793243353047716352
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787,805.733272388,653,631,652,0.400993974113,-0.00540629202066,0.0498515751464,0.999999958186,0.000126148348494,-0.000257115814551,-4.00795914653e-05,1793243353064383232
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787,805.13578958,653,631,652,0.400994370575,-0.00540712318888,0.0498524279723,0.999999958729,0.000125137378866,-0.000255526822082,-3.98520080006e-05,1793243353081050112
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.552153926,634.552153926,878.552153926,787.447846074,805,653,631,652,0.400994040688,-0.00540683896653,0.0498525402495,0.999999958662,0.000126263940149,-0.000255228173148,-3.98954623907e-05,1793243353097716736
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.027163063,634.027163063,878.027163063,787.972836937,805,653,631,652,0.400993511291,-0.00540620400825,0.0498524068281,0.999999958413,0.000127960673198,-0.000255340875406,-4.00183507233e-05,1793243353114383360
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.351684056,634,878.351684056,788,805,653,631,652.648315944,0.400993700002,-0.00540754347626,0.0498527906174,0.999999959123,0.000124385130618,-0.000254343478375,-3.98977952533e-05,1793243353181049600
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.491506408,634,878.491506408,788,805,653,630.491506408,652,0.400994015728,-0.00540753124004,0.0498535884753,0.999999959487,0.000124324983332,-0.000252905104762,-4.009257819e-05,1793243353214383104
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10e51f491aacbcb0815381a4cacd47adc1137dbb
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.580744401724,1.74707383563e-06,1.04004094969,0.551316120956,0.00867657408027,1.03967874629
+396,6.600000000,pose2_to_pose3_retreat,0.580744323396,1.75988742619e-06,1.04004092432,0.551316042684,0.00867658708724,1.03967872105
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+398,6.633333333,pose2_to_pose3_retreat,0.580744205164,1.77922902448e-06,1.04004088602,0.551315924535,0.00867660672074,1.03967868295
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+400,6.666666667,pose2_to_pose3_retreat,0.580744106734,1.79533112513e-06,1.04004085414,0.551315826176,0.00867662306585,1.03967865123
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..649516553b548f37e5654a4118c04838be6dae05
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a18d4fe239b9a851872bc1638f0f697ddb64e3e503422de193907d306cd08a4
+size 26071318
diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a7ea097a98b15a7c35be3e84c0618e993743bdc3
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+18,0.300000000,BASELINE,765,745,714,679,660.443456987,635,879,788,805,652.443456987,631,652,0.400994161405,-0.00541041742398,0.049855801493,0.999999961094,0.000121156191797,-0.000248185126291,-3.92109560536e-05,1793243353758519296
+19,0.316666667,BASELINE,765,745.020815798,714,679,660.979184202,635,879,788,805.020815798,653,631,652,0.400995440504,-0.00541183325737,0.0498560661092,0.999999961444,0.000121613910194,-0.000246558489288,-3.91196683411e-05,1793243353775185920
+20,0.333333333,BASELINE,765,745.610326437,714,679,660.389673563,635,879,788,805.610326437,653,631,652,0.400997059973,-0.00541088453093,0.0498581194651,0.999999962049,0.000121161356725,-0.000244346951699,-3.89457661198e-05,1793243353791852544
+21,0.350000000,BASELINE,765.197601392,745.802398608,714,679,660.197601392,635,879,788,806,653,631,652,0.40099744772,-0.00541031273915,0.049858840545,0.999999962154,0.000121033196282,-0.000243990195397,-3.88847793656e-05,1793243353808519424
+22,0.366666667,BASELINE,765.780516792,745.219483208,714,679,660.780516792,635,879,788,806,653,631,652,0.400995433664,-0.00541047595344,0.0498569637451,0.999999961286,0.000121537588003,-0.000247250181155,-3.90439728178e-05,1793243353825186048
+23,0.383333333,BASELINE,765.642622861,745.357377139,714,679,661,635,879,788,806,653,631,652,0.400994620471,-0.00541076991525,0.0498565164075,0.999999961103,0.000121046809694,-0.000248232562884,-3.90110388009e-05,1793243353841852672
+24,0.400000000,BASELINE,765.069419213,745.930580787,714,679,661,635,879,788,806,653,631,652,0.4009945325,-0.00541114283786,0.0498569323478,0.999999961338,0.000119955030283,-0.000247839458729,-3.88620755516e-05,1793243353858519552
+25,0.416666667,BASELINE,765,745.494423866,714,679.505576134,661,635,879,787.494423866,805.494423866,653,630.494423866,652,0.400995320825,-0.00540943761116,0.0498573274186,0.999999961267,0.000122993754942,-0.000246609243499,-3.90194604801e-05,1793243353875186688
+26,0.433333333,BASELINE,765,745,714,679.917113769,661,635,879,787.082886231,805,653,630.082886231,652,0.400996120707,-0.00540788028493,0.0498576723296,0.999999961208,0.000125755877792,-0.000245424380409,-3.91850250925e-05,1793243353891853824
+27,0.450000000,BASELINE,765,745,714,679.32715282,661,635,879,787.67284718,805,653,630.67284718,652,0.400996252581,-0.00540897963891,0.04985772797,0.99999996156,0.000123343839562,-0.000245222648071,-3.91423811149e-05,1793243353908520192
+28,0.466666667,BASELINE,765,745,714,679,660.741580918,635,879,788,805.258419082,653,631,652,0.400995749558,-0.00540968166949,0.0498573692674,0.999999961541,0.000122075576133,-0.000245931524107,-3.91605251909e-05,1793243353925187072
+29,0.483333333,BASELINE,765,745,714,679,660.161472691,635,879,788,805.838527309,653,631,652,0.400994456191,-0.00540988909789,0.0498564947763,0.999999961063,0.000122231123876,-0.000247773957427,-3.92543403725e-05,1793243353941853440
+30,0.500000000,BASELINE,765,745.416598276,714,679,660.416598276,635,879,788,806,653,631,652,0.400994452858,-0.00540976529866,0.0498570836939,0.999999961206,0.000122108135228,-0.0002472278579,-3.94538692776e-05,1793243353958519808
+31,0.516666667,BASELINE,765,745.993883433,714,679,660.993883433,635,879,788,806,653,631,652,0.400994947106,-0.005409513741,0.0498582370657,0.999999961586,0.000121877711795,-0.000245760472962,-3.96941732138e-05,1793243353975186176
+32,0.533333333,BASELINE,765,745.420441561,714,679,660.420441561,635,879,788,806,653,631,652,0.400995792024,-0.00540889435155,0.0498579886468,0.999999961455,0.000122919756322,-0.000245811445475,-3.94623206901e-05,1793243353991852800
+33,0.550000000,BASELINE,765,745.163339344,714,679,660.163339344,635,878.836660656,788,805.836660656,652.836660656,631,652,0.400996331447,-0.00540886939903,0.0498577681298,0.999999961385,0.000123219813208,-0.000245986617757,-3.92227015976e-05,1793243354008519424
+34,0.566666667,BASELINE,765,745.742074688,714,679,660.742074688,635,878.257925312,788,805.257925312,652.257925312,631,652,0.400996084402,-0.00541036620483,0.049857656748,0.999999961482,0.000121598231438,-0.000246436297048,-3.89761898257e-05,1793243354025185792
+35,0.583333333,BASELINE,765,745.679860741,714,679.320139259,661,635,878.320139259,788,805,652,630.679860741,652,0.400994467965,-0.00541124384343,0.0498567860487,0.999999961157,0.000121092790484,-0.000248025111811,-3.88050480433e-05,1793243354041852672
+36,0.600000000,BASELINE,765,745.102335398,714,679.897664602,661,635,878.897664602,788,805,652,630.102335398,652,0.400991750562,-0.00541162368313,0.0498553048719,0.99999996049,0.000121484706068,-0.000250529770617,-3.86945023214e-05,1793243354058519552
+37,0.616666667,BASELINE,765,745,714,679.526900504,661,635,878.526900504,788,805.473099496,652.473099496,630.473099496,652,0.400993364934,-0.00541098951324,0.0498561968202,0.999999961031,0.000121893240078,-0.000248148947851,-3.8750674187e-05,1793243354075186432
+38,0.633333333,BASELINE,765,745,714,679,661,634.950778102,878,787.950778102,806,653,631,652,0.400995691706,-0.00541023062569,0.049857503065,0.999999961757,0.000122239944743,-0.000245022467271,-3.88241614149e-05,1793243354091853056
+39,0.650000000,BASELINE,765,745,714,679,661,634.362188514,878,787.362188514,806,653,631,652,0.400995602503,-0.00541049801109,0.0498577488932,0.99999996175,0.000121869914056,-0.000245254180123,-3.86939591533e-05,1793243354108519936
+40,0.666666667,BASELINE,765.222665171,745,714,679,661,634.222665171,878.222665171,787,805.777334829,652.777334829,631,652,0.400995706803,-0.00541088127982,0.0498579700699,0.999999961909,0.000120911957048,-0.00024507160749,-3.87585588357e-05,1793243354125186560
+41,0.683333333,BASELINE,765.801542254,745,714,679,661,634.801542254,878.801542254,787,805.198457746,652.198457746,631,652,0.400996120661,-0.00541144993464,0.0498581518101,0.999999962329,0.000119013456205,-0.000244226275487,-3.91347958253e-05,1793243354141852928
+42,0.700000000,BASELINE,765.621242059,745.378757941,714,679.378757941,660.621242059,635,879,787.378757941,805,652,631,652,0.400995722407,-0.00541176423828,0.0498579783033,0.999999962186,0.000119699184486,-0.000244504613268,-3.89528850173e-05,1793243354158519296
+43,0.716666667,BASELINE,765.04489311,745.95510689,714,679.95510689,660.04489311,635,879,787.95510689,805,652,631,652,0.40099490049,-0.00541194585159,0.0498576194708,0.999999961747,0.000121733057339,-0.000245369148807,-3.84797988197e-05,1793243354175185920
+44,0.733333333,BASELINE,764.469817396,746,714,680,660,635,879,787.469817396,805,652.530182604,631,652,0.400994866298,-0.00540923747899,0.0498572259135,0.999999961155,0.000125611181391,-0.000245755078962,-3.8939003149e-05,1793243354191852800
+45,0.750000000,BASELINE,764.108600616,745.891399384,714,679.782798769,660,634.891399384,879,787.108600616,805,653,631,652.108600616,0.40099497873,-0.00540730514219,0.0498571291876,0.999999960796,0.000128233846037,-0.00024580523942,-3.92895832443e-05,1793243354208519680
+46,0.766666667,BASELINE,764.702432508,745.297567492,714,678.595134985,660,634.297567492,879,787.702432508,805,653,631,652.702432508,0.400995448977,-0.00540993090957,0.0498583718208,0.999999961592,0.000124551009966,-0.000244535806214,-3.88029579712e-05,1793243354225186304
+47,0.783333333,BASELINE,765,745,714,678.287605937,660,634.287605937,878.712394063,788,805,653,631,652.712394063,0.400995359746,-0.00541097325504,0.0498584182256,0.999999961822,0.000122874965583,-0.000244467546279,-3.86402793968e-05,1793243354241852928
+48,0.800000000,BASELINE,765,745,714,678.86408289,660,634.86408289,878.13591711,788,805,653,631,652.13591711,0.400994708576,-0.005410425214,0.0498572631402,0.999999961495,0.000123214539622,-0.000245605743009,-3.88029723919e-05,1793243354258519808
+49,0.816666667,BASELINE,765,745,714,679,660.438577727,634.561422273,878.438577727,788,805,653,631,652,0.400994990659,-0.00541024658316,0.0498571943733,0.999999961512,0.000123170812618,-0.000245526005551,-3.90054356727e-05,1793243354275186432
+50,0.833333333,BASELINE,765,745,713.987209417,679.012790583,661,634.012790583,879,787.987209417,805,653,631,652,0.400995542137,-0.00541017306388,0.0498574519572,0.999999961631,0.000123018001075,-0.000245084747222,-3.92174633825e-05,1793243354291853312
+51,0.850000000,BASELINE,765,745,713.398148643,679.601851357,661,634.601851357,879,787.398148643,805,653,631,652,0.400995259071,-0.00540970058136,0.0498573135454,0.999999961546,0.000123278231264,-0.000245284338608,-3.93076153667e-05,1793243354308519680
+52,0.866666667,BASELINE,765,745,713.187483661,679.812516339,661,634.812516339,879,787.187483661,805,653,631,652,0.400994498145,-0.00540945807787,0.0498569756691,0.999999961338,0.000123712814662,-0.00024591621384,-3.93058024998e-05,1793243354325186304
+53,0.883333333,BASELINE,765,745,713.765965831,679.234034169,661,634.234034169,879,787.765965831,805,653,631,652,0.400992740639,-0.0054096951973,0.0498562218077,0.999999960868,0.000124511012906,-0.000247449620096,-3.91121962759e-05,1793243354341852928
+54,0.900000000,BASELINE,765,745.343300789,714,679,661,634.343300789,879,788,805,653,631,652,0.400993137082,-0.00540848909308,0.0498565974074,0.999999960809,0.000125996561249,-0.000246919928826,-3.91975479626e-05,1793243354358519552
+55,0.916666667,BASELINE,765,745.919856255,714,679,661,634.919856255,879,788,805,653,631,652,0.40099499702,-0.00540630239494,0.0498577404158,0.999999961026,0.000127949127496,-0.00024498847216,-3.94724367603e-05,1793243354375185920
+56,0.933333333,BASELINE,765,745.507901007,714,679,660.507901007,635,878.507901007,788,805,653,631,652,0.400995879347,-0.0054074314602,0.0498578839865,0.999999961228,0.000127281017508,-0.00024454556466,-3.92569816778e-05,1793243354391852544
+57,0.950000000,BASELINE,765,745,714,679,660.066193231,634.933806769,878.132386461,788,805,653,631,652,0.400996589242,-0.00540885734447,0.0498578623657,0.999999961421,0.000126297121134,-0.000244306324513,-3.90026786722e-05,1793243354408519680
+58,0.966666667,BASELINE,765,745,714,679,660.660618779,634.339381221,879.321237558,788,805,653,631,652,0.400997182619,-0.00540837997563,0.0498578101317,0.999999961564,0.000126169588826,-0.000243774586764,-3.90701053447e-05,1793243354425186560
+59,0.983333333,BASELINE,765,745,714,679,661,634,879.751957466,788,805,653,631,652,0.400996863868,-0.00540862212355,0.049857784918,0.999999961649,0.000125388230652,-0.000243847259078,-3.8976274794e-05,1793243354441853440
+60,1.000000000,BASELINE,765,745,714,679,661,634,879.173850747,788,805,653,631,652,0.400995331369,-0.00540982171492,0.0498577956595,0.999999961652,0.000123736842228,-0.000244724205132,-3.86678631751e-05,1793243354458520064
+61,1.016666667,BASELINE,765,745,714,679,661,634.403770799,879,787.596229201,805,653,631,652,0.400995992066,-0.00541011167512,0.0498585612365,0.999999961914,0.000123554043317,-0.000243752004372,-3.86308949688e-05,1793243354475186432
+62,1.033333333,BASELINE,765,745,714,679,661,634.981183662,879,787.018816338,805,653,631,652,0.400997595951,-0.00541001044738,0.0498596514313,0.999999962284,0.000124002812989,-0.000241984576002,-3.87106613099e-05,1793243354491853056
+63,1.050000000,BASELINE,765,745,714,679,661,635,879,787.568006601,805,653,631,652,0.400997427317,-0.00541094951458,0.0498592362593,0.999999962392,0.000122122477952,-0.000242507372472,-3.86312164707e-05,1793243354508519680
+64,1.066666667,BASELINE,765,745,714,679.152939837,661,635,878.847060163,788,805,653,631,652,0.400997091957,-0.00541171440129,0.0498588838568,0.999999962429,0.000120816379901,-0.000243019631512,-3.85561443114e-05,1793243354525186048
+65,1.083333333,BASELINE,765,745,714,679.731728708,661,635,878.268271292,788,805,653,631,652,0.400996458612,-0.00541189672326,0.0498588474241,0.999999962304,0.000121327654479,-0.00024328774207,-3.85081804893e-05,1793243354541853184
+66,1.100000000,BASELINE,765,745.309156428,714,679.690843572,661,635,878.309156428,788,805,653,631,652,0.400995968795,-0.00541123449694,0.0498587842985,0.999999962027,0.000122094013358,-0.000244016824979,-3.86752555933e-05,1793243354558520064
+67,1.116666667,BASELINE,765,745.885408152,714,679.114591848,661,635,878.885408152,788,805,653,631,652,0.400995602977,-0.00540984262421,0.0498586981116,0.999999961616,0.000123080751961,-0.000245144164343,-3.90281133025e-05,1793243354575187200
+68,1.133333333,BASELINE,765,745.538531957,714,679,661,635,878.538531957,787.538531957,805,653,631,652,0.400995684409,-0.00541098872562,0.0498583224476,0.999999961774,0.000122070926615,-0.000245028166017,-3.8875487885e-05,1793243354591853568
+69,1.150000000,BASELINE,765,745.038382569,714,679.038382569,661,635,878,787,805,653,631,652,0.400995880148,-0.00541255430393,0.0498579389217,0.999999962052,0.000120767127693,-0.000244583022008,-3.8615999107e-05,1793243354608519424
+70,1.166666667,BASELINE,765,745.628260373,714,679.628260373,661,635,878,787,805,653,631,652,0.40099612321,-0.00541109545862,0.0498584748486,0.999999962038,0.0001223601047,-0.000243842923257,-3.86238510312e-05,1793243354625186560
+71,1.183333333,BASELINE,765,745.785428675,714,679.785428675,661.214571325,635,878.214571325,787.214571325,805.214571325,653,631,652,0.400996344233,-0.00541056365225,0.0498588836639,0.999999962151,0.00012265935072,-0.000243227678268,-3.8640945896e-05,1793243354641853184
+72,1.200000000,BASELINE,765,745.205196066,714,679.205196066,661.794803934,635,878.794803934,787.794803934,805.794803934,653,631,652,0.4009965277,-0.00541161165714,0.0498590758623,0.999999962479,0.000120753887999,-0.000242825202446,-3.86737921003e-05,1793243354658519552
+73,1.216666667,BASELINE,765,745.371198726,714,679,661.628801274,635,879,788,805.628801274,653,631,652,0.400996863392,-0.00541278473976,0.0498587031909,0.999999962481,0.000120352988484,-0.000243030454548,-3.85823615997e-05,1793243354675186176
+74,1.233333333,BASELINE,765,745.945493676,714,679,661.054506324,635,879,788,805.054506324,653,631,652,0.400997282372,-0.00541402625685,0.049858021459,0.999999962306,0.000120775289933,-0.000243568216562,-3.84229348252e-05,1793243354691853056
+75,1.250000000,BASELINE,765,746,714,679,661,635,879,788,805.520838086,652.479161914,631,652,0.400996278296,-0.00541217577461,0.0498580858502,0.999999962099,0.000121273054506,-0.000244153844696,-3.85193261867e-05,1793243354708519680
+76,1.266666667,BASELINE,765,745.900953665,714,679,661,635,878.900953665,788,806,652.099046335,631,652,0.400995428473,-0.00541055318999,0.0498583011692,0.999999961982,0.000121557474648,-0.000244479026407,-3.860173662e-05,1793243354725186304
+77,1.283333333,BASELINE,765,745.309042284,714,679,661,635,878.309042284,788,806,652.690957716,631,652,0.400996088796,-0.00541167807433,0.0498588781894,0.999999962328,0.000120740893126,-0.000243483222269,-3.84810888275e-05,1793243354741852928
+78,1.300000000,BASELINE,765,745,714,679,660.726223893,635,878.547552213,787.726223893,805.726223893,653,631,652,0.40099644241,-0.00541134261462,0.0498591648428,0.999999962382,0.000121009512989,-0.000243110977659,-3.86031709834e-05,1793243354758519296
+79,1.316666667,BASELINE,765,745,714,679,660.153339884,635,879.693320232,787.153339884,805.153339884,653,631,652,0.400996460936,-0.00540941168893,0.0498591342625,0.999999962115,0.000122463745171,-0.000243419988996,-3.89904422708e-05,1793243354775185920
+80,1.333333333,BASELINE,764.576086252,745.423913748,714,679,660.423913748,635,879.576086252,787.423913748,805,653,631.423913748,652.423913748,0.40099593318,-0.0054100954861,0.0498589185659,0.999999962165,0.000122726939078,-0.000243090549198,-3.89146436429e-05,1793243354791852544
+81,1.350000000,BASELINE,764.00280247,745.99719753,714,679,660.99719753,635,879,787.99719753,805,652.99719753,631.99719753,653,0.400995206877,-0.00541172430062,0.0498586326948,0.999999962329,0.000122558733626,-0.00024253936721,-3.86716985859e-05,1793243354808519424
+82,1.366666667,BASELINE,764.589606485,745.410393515,714,679,660.410393515,635,879,787.410393515,805,652.410393515,631.410393515,653,0.400994713129,-0.00541113540515,0.0498578225142,0.999999961787,0.000123206415172,-0.000244406827381,-3.88667413295e-05,1793243354825186048
+83,1.383333333,BASELINE,765.175527932,745,714,679,660.175527932,635,878.824472068,787.175527932,805,652,631,653,0.400994368959,-0.00541051361189,0.0498572551065,0.999999961418,0.000123552370132,-0.000245715665868,-3.90086818085e-05,1793243354841852672
+84,1.400000000,BASELINE,765.759396328,745,714,679,660.759396328,635,878.240603672,787.759396328,805,652,631,653,0.400994372762,-0.00540981528652,0.0498572524745,0.999999961459,0.000123196401755,-0.000245724951807,-3.90270875535e-05,1793243354858519296
+85,1.416666667,BASELINE,765.66206196,745,714,679,661,634.66206196,878.33793804,788,805,652,631,652.66206196,0.400994686977,-0.0054100772245,0.0498575963188,0.999999961609,0.000123341598539,-0.000245082320469,-3.87753409532e-05,1793243354875186432
+86,1.433333333,BASELINE,765.087253901,745,714,679,661,634.087253901,878.912746099,788,805,652,631,652.087253901,0.400995218769,-0.00541101223736,0.0498581830178,0.999999961834,0.000123838075717,-0.000243982742475,-3.83342371818e-05,1793243354891853568
+87,1.450000000,BASELINE,765,745,714,679.487716107,660.512283893,634.487716107,879,788,805,652,631,652,0.400995798111,-0.00540961381715,0.0498587463846,0.999999961755,0.000125757007,-0.000243290772723,-3.85284684622e-05,1793243354908519936
+88,1.466666667,BASELINE,765,745.064262897,714,679.935737103,660.064262897,634.935737103,879,787.935737103,805.064262897,652,631,652,0.400996239184,-0.00540837074026,0.0498591721133,0.999999961653,0.000127152180445,-0.000242945155098,-3.87832134403e-05,1793243354925186560
+89,1.483333333,BASELINE,765,745.653452787,714,679.346547213,660.653452787,634.346547213,879,787.346547213,805.653452787,652,631,652,0.400995481303,-0.00541180768608,0.0498585076632,0.999999961818,0.000122189670631,-0.000244832831595,-3.86035005429e-05,1793243354941853696
+90,1.500000000,BASELINE,765,745.761306112,714.238693888,679,661,634.238693888,879,787.238693888,806,652.238693888,631,652,0.400995257176,-0.00541297768692,0.0498582072235,0.999999961912,0.000120192843972,-0.000245437424818,-3.85928543779e-05,1793243354958520576
+91,1.516666667,BASELINE,765,745.181704799,714.818295201,679,661,634.818295201,879,787.818295201,806,652.818295201,631,652,0.400995795366,-0.00541090999091,0.0498584266707,0.999999961932,0.000122431666221,-0.000244209492487,-3.8823672745e-05,1793243354975187200
+92,1.533333333,BASELINE,765,745.394582865,714.605417135,679,661,635,879.394582865,788,805.605417135,653,631,652,0.400995645502,-0.00541298584266,0.0498584751272,0.99999996218,0.000120564742332,-0.000244176881858,-3.85012326596e-05,1793243354991853824
+93,1.550000000,BASELINE,765,745.969357358,714.030642642,679,661,635,879.969357358,788,805.030642642,653,631,652,0.40099518143,-0.00541695390162,0.0498584454984,0.99999996252,0.000116822873871,-0.000244690131017,-3.79261396034e-05,1793243355008520192
+94,1.566666667,BASELINE,765,745.453614159,714,679,660.453614159,635,878.907228317,788,805,653,631,652,0.400994874859,-0.00541334162732,0.0498578556788,0.999999962071,0.000119936640973,-0.000244925401301,-3.85222515501e-05,1793243355025186816
+95,1.583333333,BASELINE,765,745,714,679,660.126382893,635,878,787.873617107,805,653,631,652,0.400994697995,-0.00541047770225,0.0498574636199,0.999999961738,0.000122387555358,-0.000245000222978,-3.89865504009e-05,1793243355041853440
+96,1.600000000,BASELINE,765,745,714,679,660.716813921,635,878,787.283186079,805,653,631,652,0.400994964812,-0.00541192895661,0.049857913525,0.999999962031,0.000120987062087,-0.000244543394251,-3.87246876543e-05,1793243355058519808
+97,1.616666667,BASELINE,765,745,714,679,661,635,878.300455601,787.300455601,805.300455601,653,631,652,0.400995765646,-0.00541251782236,0.0498585584753,0.999999962306,0.000120441062381,-0.000243718299823,-3.85129906032e-05,1793243355075186176
+98,1.633333333,BASELINE,765,745,714,679,661,635,878.877839538,787.877839538,805.877839538,653,631,652,0.400997058682,-0.00541231182902,0.049859383198,0.999999962566,0.000120682644954,-0.000242553776876,-3.83475310237e-05,1793243355091853056
+99,1.650000000,BASELINE,764.55026951,745,714,679,661,635,879,788,805.55026951,653,631,652,0.400995348937,-0.00541138422885,0.0498583230268,0.999999962108,0.000121949987031,-0.000243777312175,-3.85257873955e-05,1793243355108519424
+100,1.666666667,BASELINE,764.020108389,745.020108389,714,679,660.979891611,635,879,788,805,653,631,652,0.400993012537,-0.00541032279874,0.0498568515051,0.999999961497,0.000123414414603,-0.000245500911404,-3.87864285206e-05,1793243355125186048
+101,1.683333333,BASELINE,764.589421448,745.589421448,714,679,660.410578552,635,879,788,805,653,631,652,0.400995569118,-0.00541089505414,0.0498579600582,0.999999962098,0.000122743577309,-0.000243379551681,-3.87779799534e-05,1793243355141852928
+102,1.700000000,BASELINE,765,745.831861868,714,679,660.168138132,635,878.831861868,787.831861868,805.168138132,652.831861868,631,652,0.400996746057,-0.00541158792287,0.0498584414859,0.99999996236,0.000122208896367,-0.000242582597606,-3.87163809898e-05,1793243355158520064
+103,1.716666667,BASELINE,765,745.228822106,714,679,660.771177894,635,878.228822106,787.228822106,805.771177894,652.228822106,631,652,0.400994354449,-0.00541259276677,0.0498573008077,0.999999961749,0.000122026393939,-0.000245211316365,-3.8517304623e-05,1793243355175186688
+104,1.733333333,BASELINE,765,745.357897775,714,679,661,635,878.357897775,787.357897775,805.642102225,652.357897775,631,652,0.400994619541,-0.00541164661748,0.0498576392294,0.99999996173,0.000122612557942,-0.000244967574228,-3.86993790187e-05,1793243355191853312
+105,1.750000000,BASELINE,765,745.934638629,714,679,661,635,878.934638629,787.934638629,805.065361371,652.934638629,631,652,0.40099650912,-0.00540950749815,0.0498588820735,0.999999962071,0.00012366873694,-0.000242967414093,-3.91145149336e-05,1793243355208519936
+106,1.766666667,BASELINE,765,745.491079476,714,679.508920524,660.491079476,635,878.491079476,787.491079476,805.508920524,653,631,652,0.400996623367,-0.00540988384819,0.0498591370178,0.999999962122,0.000123767074753,-0.000242746048659,-3.88951178464e-05,1793243355225186304
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,879,788,805,653,631,652,0.400994858109,-0.00541181354015,0.0498569875828,0.999999961883,0.000122321866558,-0.000244452184746,-3.89132044725e-05,1793243355268533248
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.446486198,745,714,679,661,635,879,787.446486198,805,653,631,652,0.400995872302,-0.00541092641249,0.0498582603836,0.999999962093,0.000122920003734,-0.000243295452944,-3.88757257295e-05,1793243355285199872
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.879458918,878.758917837,787,805,653,631,652,0.400996620661,-0.00541015889052,0.0498591978553,0.999999962224,0.000123462187113,-0.00024249374093,-3.88131698807e-05,1793243355301866496
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.256057378,877.512114755,787,805,653,631,652,0.400996260042,-0.00540989032659,0.049858736437,0.999999962027,0.000123770948592,-0.000243173062335,-3.86460000183e-05,1793243355318533120
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,678.659936575,661,634,877.68012685,787.340063425,805,653,631,652,0.400996473269,-0.00541010476012,0.0498588715644,0.999999962049,0.000123806661251,-0.000243065619439,-3.86347678837e-05,1793243355335199744
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,678.082831855,661,634,878.834336289,787.917168145,805,653,631,652,0.400997086495,-0.00541065586717,0.0498594225141,0.999999962224,0.000123652045144,-0.00024240976225,-3.87322321911e-05,1793243355351866624
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.493152994,745,714,678.506847006,661,634,878.493152994,788,805,652.493152994,631,652,0.400997207609,-0.00541185409906,0.049859324282,0.999999962531,0.000121604112963,-0.000242183320052,-3.86961963473e-05,1793243355368533504
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.095883209,745,714,679,660.904116791,634.095883209,878.095883209,787.904116791,805,652.095883209,631,652,0.400997291385,-0.00541274316316,0.0498592674105,0.999999962751,0.000120250018098,-0.000241964255215,-3.86056553686e-05,1793243355385199872
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.671170383,745,714,679,660.328829617,634.671170383,878.671170383,787.328829617,805,652.671170383,631,652,0.40099760081,-0.00541154420444,0.0498599612832,0.99999996244,0.000123951422786,-0.000241422271522,-3.83544547145e-05,1793243355401866496
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,652.753596076,631,652,0.401001499973,-0.00541052045004,0.0498614652663,0.99999996276,0.000126030083292,-0.000239019182785,-3.82910539005e-05,1793243355418533120
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,652.17843414,631,652,0.401010188651,-0.00540973045751,0.0498640501182,0.99999996392,0.000125943639378,-0.0002341329632,-3.84782201482e-05,1793243355435200000
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.408102498,714,679,660.408102498,635,878.591897502,787,805,652.408102498,631,652,0.401037263626,-0.00541087229061,0.0498747584289,0.999999968642,0.000124956997803,-0.000213722347142,-3.77439363991e-05,1793243355451866624
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.999755127,714,679,660.999755127,635,878.000244873,787,805,652.999755127,631,652,0.401072608111,-0.00541288299076,0.0498891203856,0.999999974337,0.000123565478941,-0.000186329403736,-3.65952168862e-05,1793243355468533248
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.422180629,714,679,660.422180629,634.422180629,878.577819371,787.577819371,805,652.422180629,631,652,0.401136799679,-0.00541405654165,0.0499083664752,0.999999981209,0.000123812479909,-0.000144804662385,-3.58285021118e-05,1793243355485199872
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.154759613,634.154759613,879,787.845240387,805,652.154759613,631,652,0.401203024243,-0.00541615539009,0.0499259289964,0.999999985758,0.000122701370558,-0.000110566022056,-3.47052060395e-05,1793243355501866496
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.728670969,634.728670969,879,787.271329031,805,652.728670969,631,652,0.401274722644,-0.0054207612583,0.0499389262594,0.999999987901,0.000117910111208,-9.60769346984e-05,-3.26157149034e-05,1793243355518532864
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.31138424,745,714,679,660.68861576,635,878.68861576,787.31138424,805,652.68861576,630.68861576,652,0.401353413974,-0.00542429048771,0.0499472091827,0.999999989256,0.000115478187547,-8.4720159353e-05,-3.12233767078e-05,1793243355535199488
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.901990251,745,714,679,660.098009749,635,878.098009749,787.901990251,805,652.098009749,630.098009749,652,0.401438375936,-0.00542685428263,0.0499512647034,0.999999990004,0.0001151619072,-7.61721645212e-05,-3.04561835736e-05,1793243355551866368
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.519669842,745,714.480330158,679,660,634.519669842,878,787.519669842,805,652,630.480330158,652,0.401533392781,-0.00543092486698,0.049949425411,0.999999989956,0.000112826323489,-8.04875438082e-05,-2.96523625878e-05,1793243355568533248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.056000415,745,714.943999585,679,660,634.056000415,878.056000415,787.056000415,805,652.056000415,631,652,0.40163285662,-0.00543527160535,0.0499465458041,0.999999989733,0.000110051216119,-8.71247721567e-05,-2.88521454551e-05,1793243355585199872
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.629553232,745,714.370446768,679,660,634.629553232,878.629553232,787.629553232,805,652.629553232,631,652,0.401754930103,-0.00543939981503,0.0499448912239,0.999999989695,0.000106927210671,-9.15668475508e-05,-2.81525872227e-05,1793243355601866496
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.794068798,745,714,679,660,635,879,787.794068798,805,653,631,652,0.401891931319,-0.00544379544316,0.049945938729,0.999999989857,0.000105465795736,-9.17983993138e-05,-2.71219412217e-05,1793243355618533376
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.212538077,745,714,679,660,635,879,787.212538077,805,653,631,652,0.402056159329,-0.00544867881746,0.0499519145886,0.999999990389,0.000107036792915,-8.43503437868e-05,-2.5487421741e-05,1793243355635199744
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.372846302,635,879,787.372846302,805,653,631,652,0.402231948176,-0.00545451238607,0.0499522885286,0.999999990523,0.000104687813515,-8.61203273585e-05,-2.40214251472e-05,1793243355651866368
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.960450424,635,879,787.960450424,805,653,631,652,0.402414396029,-0.00546089326287,0.0499494357884,0.999999990392,0.000100080945088,-9.31998599708e-05,-2.26524968352e-05,1793243355668532736
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.542333818,714,679,660.457666182,635,878.457666182,787.457666182,805,653,631,652,0.402633616252,-0.00546845644314,0.0499500191396,0.999999990903,9.71351039263e-05,-9.11946296105e-05,-2.10414038509e-05,1793243355685199360
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.87716346,714,679,660,634.87716346,878,787,805,653,631,652,0.402863925338,-0.0054764053014,0.0499519250978,0.999999991587,9.38504932537e-05,-8.74431544129e-05,-1.92958333476e-05,1793243355701866240
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.300238397,714,679,660,634.300238397,878,787,805,653,631,652,0.403125416938,-0.00548546449477,0.0499578036899,0.999999992732,8.88704500186e-05,-7.96598626347e-05,-1.71177421578e-05,1793243355718533120
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.274994016,660,634.274994016,878.274994016,787.274994016,805,653,631,652,0.403410317125,-0.00549525468194,0.0499648045025,0.999999994165,8.44059031062e-05,-6.57872561539e-05,-1.47471554235e-05,1793243355735199744
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.848389666,660,634.848389666,878.848389666,787.848389666,805,653,631,652,0.403720618437,-0.00550583808489,0.0499730230592,0.999999995659,8.05007320775e-05,-4.53070101583e-05,-1.21676879626e-05,1793243355751866624
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.433519928,714,679.566480072,660.433519928,635,879,787.566480072,805,653,631,652,0.404058040349,-0.00551570195968,0.0499813827428,0.999999996567,7.7257729224e-05,-2.84610410238e-05,-9.31504098998e-06,1793243355768532992
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.977507175,714,679,661,635,879,787.022492825,805.022492825,653,631,652,0.404406752599,-0.00552513029272,0.0499896830396,0.999999997118,7.45333872551e-05,-1.29559957388e-05,-6.34392763481e-06,1793243355785199360
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.397832278,714,679,661,635,879,787.602167722,805.602167722,653,631,652,0.40479365933,-0.00553017634455,0.0499952556298,0.999999996893,7.87610589647e-05,1.69229679659e-06,-2.8706375384e-06,1793243355801866240
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.818886009,634.818886009,879,788,805.818886009,652.818886009,631,652,0.405182459303,-0.00553177482242,0.0499947343226,0.999999996227,8.68085190127e-05,3.21949564709e-06,1.23413707246e-07,1793243355818532864
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.241533899,634.241533899,879,788,805.241533899,652.241533899,631,652,0.405575401229,-0.00552583075575,0.0499808808893,0.999999994384,0.000103212846674,-2.39594138112e-05,2.06899386101e-06,1793243355835199488
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713.659276634,679,660,634,879.340723366,788,805,652.340723366,631,652,0.405986495028,-0.00551862068321,0.0499626874097,0.999999990637,0.00012340475381,-5.90165759897e-05,3.82851144603e-06,1793243355851866368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713.073491323,679,660,634,879.926508677,788,805,652.926508677,631,652,0.406410644424,-0.00551050004773,0.0499413723927,0.999999984306,0.000146320841928,-9.9740097004e-05,5.45420554661e-06,1793243355868533248
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.505539316,745,713.505539316,679,660.505539316,634,879.494460684,787.494460684,805,652.494460684,631,652,0.406883069838,-0.0055120255517,0.0499278491934,0.999999980371,0.000155760484256,-0.000122202868691,7.93807163517e-06,1793243355885199872
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.916361382,745,714,679,660.916361382,634.083638618,879,787,805,652,631,652,0.407374821465,-0.00551510555347,0.0499196580744,0.999999977687,0.000163023101748,-0.000133919554396,1.07348303722e-05,1793243355901866752
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.338039118,745,714,679,660.338039118,634.661960882,879,787,805,652,631,652,0.407939918029,-0.00551919521102,0.0499363925933,0.999999980878,0.000168844016762,-9.75718667889e-05,1.46540702359e-05,1793243355918533120
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.239096209,714,679,660.239096209,635,879,787,805,652.239096209,631,652,0.408519457466,-0.00552456290453,0.0499565311509,0.999999983008,0.000173349849829,-5.97068435479e-05,1.9222734736e-05,1793243355935199488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.814561678,714,679,660.814561678,635,879,787,805,652.814561678,631,652,0.409119315629,-0.00553172858533,0.049981458633,0.999999984012,0.000176005577405,-1.9707179489e-05,2.4705033245e-05,1793243355951866112
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.600780465,714,679,660.600780465,635,879,787,805,652.600780465,631,652,0.409737026612,-0.00553427651083,0.0499933025905,0.999999982459,0.000184983656313,-3.12221567561e-06,2.9210630576e-05,1793243355968532736
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.011752105,714,679,660.011752105,635,879,787,805,652.011752105,631,652,0.410363225696,-0.00553462892556,0.0499989259891,0.999999980046,0.000196967695513,2.33023381856e-06,3.32518554373e-05,1793243355985199360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.568685774,660,635,879,787.568685774,805,652.568685774,630.431314226,652,0.410965830697,-0.00552965209838,0.049974028071,0.999999975049,0.000214040160837,-5.30128499131e-05,3.57633151538e-05,1793243356001866240
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.852439697,660,635,879,787.852439697,805,652.852439697,630.147560303,652,0.411586929862,-0.00552620564152,0.0499516768163,0.999999968119,0.000229423151085,-9.83192290132e-05,3.82214723311e-05,1793243356018532864
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.277585886,660,635,879,787.277585886,805,652.277585886,630.722414114,652,0.412262973753,-0.00552750487383,0.0499384992457,0.99999996431,0.000239613925071,-0.000110978162021,4.06154607551e-05,1793243356035199744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.304181645,714,679,660.304181645,635,879,787.304181645,805,652.304181645,631,652,0.412984032602,-0.00553109918839,0.0499485241362,0.999999966509,0.000240916072751,-8.42941693525e-05,4.28436038752e-05,1793243356051866368
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.892405207,714,679,660.892405207,635,879,787.892405207,805,652.892405207,631,652,0.413747126066,-0.005536836629,0.0499802152619,0.999999971415,0.000233918106479,-2.0872129285e-05,4.49168823872e-05,1793243356068532992
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.472451776,745.527548224,714,679,661,634.527548224,879,788,805,652.527548224,631,652,0.41449779594,-0.00554236060923,0.0499763383284,0.999999986978,0.00015548055103,-3.3542137167e-05,2.72955256587e-05,1793243356085199616
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.949376708,634.050623292,879,787.949376708,805,652,631,652,0.415246209451,-0.00554768115104,0.0499634083237,0.99999999546,7.02642112752e-05,-6.39210925218e-05,7.52253166606e-06,1793243356101866240
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.371668436,634.628331564,879,787.371668436,805,652,631,652,0.41600008778,-0.00555138105609,0.0499391219003,0.999999991524,8.09817295826e-05,-0.00010132587799,1.12518469455e-05,1793243356118532864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.795648224,745,714,679,660,634.795648224,879.204351776,787,805,652,631,652,0.416779483861,-0.00555289923349,0.0499300133935,0.999999989142,9.48045969147e-05,-0.000111767019904,1.53664968184e-05,1793243356135199488
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.222673081,745,714,679,660,634.222673081,879.777326919,787,805,652,631,652,0.417604910517,-0.00555048186476,0.0499482838267,0.999999990566,0.000114229099414,-7.35693406129e-05,2.01762387232e-05,1793243356151866112
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.36253861,714,679,660.36253861,634.36253861,880,787,805,652,631,652,0.418434140633,-0.00554857847183,0.0499669576674,0.999999990948,0.000125415914238,-4.24591590087e-05,2.3899272208e-05,1793243356168532736
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.955528565,714,679,660.955528565,634.955528565,880,787,805,652,631,652,0.419265788427,-0.00554700179293,0.0499858879374,0.999999990883,0.000131366358603,-1.585421869e-05,2.6931528281e-05,1793243356185199616
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679,660.466052488,635,879.466052488,787,805.533947512,652,631,652,0.420102856512,-0.00554477548069,0.0499670715569,0.999999990236,0.000128285839122,-4.91658287735e-05,2.55536449031e-05,1793243356201866496
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.889197259,714,679,660,634.889197259,879,787,806,652,631,652,0.420955852279,-0.00554356245163,0.0499545739448,0.999999989479,0.000125579527801,-6.83336176337e-05,2.45344863889e-05,1793243356218533120
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.313944937,714,679,660,634.313944937,879,787,806,652,631,652,0.421873769513,-0.00554681755463,0.0499813905137,0.999999991488,0.000127510885522,-7.85282973518e-06,2.65177416839e-05,1793243356235199488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.261265886,745.261265886,714,679,660.261265886,634.261265886,879.261265886,787,805.738734114,652,631,652,0.422766663086,-0.00554947636365,0.0499927068439,0.999999991342,0.000127380138639,1.76709185186e-05,2.78837000781e-05,1793243356251866112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.836426929,745.836426929,714,679,660.836426929,634.836426929,879.836426929,787,805.163573071,652,631,652,0.423629492366,-0.00555141876195,0.0499854005787,0.999999991809,0.00012477189849,1.19590640977e-06,2.85080139379e-05,1793243356268532736
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.577700183,745.577700183,714,679,661,635,880,787,805.422299817,652,631,652,0.424497317902,-0.00555263156997,0.0499755956553,0.999999992181,0.000121151797536,-1.21324032627e-05,2.85132241374e-05,1793243356285199360
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.012186326,745,714,679,660.987813674,634.987813674,880,787,806,652,630.987813674,652,0.42536875622,-0.00555358897424,0.0499655689832,0.999999992462,0.000117159034061,-2.34012043665e-05,2.83362312293e-05,1793243356301865984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.590758476,745,714,679,660.409241524,634.409241524,880,787,806,652,630.409241524,652,0.426315823397,-0.00555615214916,0.0499913885649,0.999999992952,0.000114535971905,2.9275549457e-06,3.11263738488e-05,1793243356318532608
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.168650872,634,880,787,806,652,630.168650872,652,0.427229325855,-0.00555719636531,0.0500003926283,0.999999992991,0.000113701225212,1.36980143774e-06,3.29903097112e-05,1793243356335199232
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.74490039,634,880,787,806,652,630.74490039,652,0.428061708399,-0.00555456953276,0.0499687566247,0.999999990318,0.000117188513413,-6.75846098312e-05,3.26157711921e-05,1793243356351866112
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.678075662,745,714,678.678075662,660.678075662,634,880,787,806,652,631,652,0.428939906478,-0.00555432261471,0.0499498726608,0.999999988042,0.000117615579378,-9.51444057562e-05,3.21048790825e-05,1793243356368532480
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.100436588,745,714,678.100436588,660.100436588,634,880,787,806,652,631,652,0.429854497252,-0.00555596613853,0.049941118049,0.999999988787,0.000115611813682,-8.98231396424e-05,3.14856770866e-05,1793243356385199104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,678.486932536,660.973865072,634,879.513067464,787,806,652,631,652,0.430746614431,-0.00555752534422,0.0499456584452,0.999999990191,0.000112207170174,-7.75116595675e-05,3.19362846827e-05,1793243356401865984
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.925761585,634,879,787,806,652,631,652,0.431632984477,-0.00555856382207,0.0499497387551,0.999999991108,0.000109127133222,-6.94673572712e-05,3.23871933933e-05,1793243356418532608
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.352642694,634,879,787,806,652,631,652,0.432512519028,-0.00555622227525,0.0499319234899,0.999999988438,0.000110209779188,-9.99850131457e-05,3.13270394837e-05,1793243356435199232
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.222246221,745,714,679,660.777753779,634,879.222246221,787,806,652,631,651.777753779,0.433400135751,-0.0055564382945,0.0499312055072,0.999999988351,0.000109801220161,-0.00010123675574,3.15048848206e-05,1793243356451866112
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.799966307,745,714,679,660.200033693,634,879.799966307,787,806,652,631,651.200033693,0.434300679719,-0.00556074503718,0.0499578339355,0.999999992158,0.000107007539033,-5.56788551726e-05,3.36628598466e-05,1793243356468532736
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679.386606707,660.386606707,634.386606707,879.613393293,787,806,652,631,651.386606707,0.43515387157,-0.00556168401597,0.049971878588,0.999999992727,0.000107776531797,-4.0605374518e-05,3.57860017236e-05,1793243356485199360
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.977971529,660.977971529,634.977971529,879.022028471,787,806,652,631,651.977971529,0.435981984314,-0.00556083932915,0.0499792585067,0.999999992316,0.00011043242013,-4.1677328716e-05,3.78906948516e-05,1793243356501865984
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.442474317,745,714,680,660.442474317,634.442474317,879.557525683,787,806,652,631,651.442474317,0.436791456216,-0.00555723817499,0.0499530853865,0.999999988439,0.000113489663691,-9.42013916717e-05,3.6979307174e-05,1793243356518532608
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,651.135817863,0.437620536772,-0.00555512707456,0.0499389455517,0.999999985783,0.000114057051422,-0.00011886243663,3.60071892985e-05,1793243356535199232
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,651.711502895,0.4385154588,-0.00555818715236,0.0499679818513,0.999999992611,0.000106510362966,-4.6837403394e-05,3.52163276971e-05,1793243356551866112
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.706687089,660.293312911,634,880,787.293312911,806,651.706687089,631,652,0.439337572905,-0.00556073869813,0.0499764685244,0.999999993834,0.000102689865862,-2.34975019649e-05,3.51461238718e-05,1793243356568532992
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.118724203,660.881275797,634,880,787.881275797,806,651.118724203,631,652,0.44008654714,-0.00556277939357,0.0499643118939,0.999999992891,0.000102612546718,-4.90646672939e-05,3.57998630999e-05,1793243356585199616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.458934389,745.458934389,714,679,661,634,880,787.541065611,805.541065611,651.458934389,631,652,0.440829422716,-0.00556467713134,0.0499506134282,0.999999991549,0.000102630867115,-7.11056320538e-05,3.62247036305e-05,1793243356601866240
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.965701182,714,679.034298818,661,634,880,787,805.034298818,652,631,651.965701182,0.441572763301,-0.00556652208511,0.0499389325425,0.999999990186,0.00010261453422,-8.80488597133e-05,3.66815980377e-05,1793243356618532864
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.385354804,714,679.614645196,661,634,880,787,805.614645196,652,631,651.385354804,0.442348071907,-0.00556810254255,0.0499655827714,0.999999993365,0.000101661268179,-3.80383212564e-05,3.85708190004e-05,1793243356635199488
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,651.806577035,631,651.193422965,0.443098254248,-0.00556851645549,0.0499842233103,0.999999993958,0.000102156209406,-5.93552494974e-06,4.01723167614e-05,1793243356651866368
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,651.230899146,631,651.769100854,0.443798780586,-0.00556662496832,0.0499870345885,0.999999993542,0.000105513191358,-9.22315334679e-06,4.12051978946e-05,1793243356668532992
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.646737066,745.353262934,714,679.646737066,661,634,880,787,806.353262934,651,631,652,0.444442490759,-0.00556480349325,0.0499657506723,0.999999992036,0.000109503092393,-4.7361101114e-05,4.11618303593e-05,1793243356685199872
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.056893139,745.943106861,714,679.056893139,661,634,880,787,806.943106861,651,631,652,0.445048150974,-0.00556302890556,0.049928330149,0.999999986773,0.000113916860253,-0.000108838387099,4.0397696444e-05,1793243356701866752
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.478859775,745.478859775,714,679.521140225,661,634,880,787,806.478859775,651.521140225,631.521140225,652,0.445691985493,-0.00556369264767,0.0499319628857,0.999999988964,0.000115687445755,-8.39061608829e-05,4.05988671379e-05,1793243356718533120
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.098281214,745,714,680,660.901718786,634,880,787,806,652,631.901718786,651.901718786,0.446333507051,-0.00556535855273,0.0499412815189,0.999999991084,0.000116259302304,-5.10893221693e-05,4.12932760198e-05,1793243356735199744
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.67722399,745,714,680,660.32277601,634,880,787,806,652,631.32277601,651.32277601,0.446943786393,-0.00557065269525,0.049956974715,0.999999992417,0.000112348531727,-2.48245575374e-05,4.38959815644e-05,1793243356751866368
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.254844206,745,714.254844206,680,660.254844206,634,880,787,806.254844206,652,631,651,0.447503855297,-0.00557322710811,0.0499463990183,0.999999991956,0.000111759524039,-3.99436899641e-05,4.47579764678e-05,1793243356768532992
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.830797922,745,714.830797922,680,660.830797922,634,880,787,806.830797922,652,631,651,0.448000657857,-0.00557237459918,0.0499027239165,0.999999986657,0.000115356013358,-0.000107207478397,4.34266359524e-05,1793243356785199872
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.650993539,745,714.650993539,680.349006461,660.650993539,633.650993539,880,787,807,652,631,651.349006461,0.448447821129,-0.00556950575608,0.0498688463219,0.999999979163,0.000120631680285,-0.000159186652293,4.22127251013e-05,1793243356801867008
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.156806015,745,714.156806015,680.843193985,660.156806015,633.156806015,880,787,807,652,631,651.843193985,0.4488743353,-0.00556579815038,0.0498390443287,0.99999997017,0.000126605858272,-0.000204807678454,4.10476629606e-05,1793243356818534144
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714.848005867,680.151994133,660,633,879.848005867,787,807,652,630.848005867,652,0.449792174122,-0.0055702516704,0.0498283949383,0.999999965152,0.000123857049157,-0.000229169297115,4.28573752495e-05,1793243356851866624
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714.266670924,680.733329076,660,633,879.266670924,787,807,652,630.266670924,652,0.450233808268,-0.00557789623956,0.049840508861,0.999999969148,0.000118922533423,-0.000213258429878,4.56232962014e-05,1793243356868533248
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.093177619,745,714,680.093177619,660,632.093177619,879.906822381,787,806.093177619,652,630.906822381,651.093177619,0.45099215276,-0.00558575128121,0.0498282473867,0.999999962154,0.000111968694846,-0.00024685571827,4.70773927539e-05,1793243356901866496
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.486593596,745,714.486593596,680,660,632,880,787,806,651.513406404,630.513406404,651.486593596,0.451310993855,-0.00558491995742,0.0498109952254,0.999999953305,0.000112224434514,-0.000280398278534,4.66030879448e-05,1793243356918533376
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.935339054,745,715,680.064660946,660,632,880,787,806.064660946,651.064660946,630.064660946,651.935339054,0.451615972207,-0.00558346818271,0.0497915096631,0.99999994231,0.000112060706866,-0.00031738343283,4.57219695493e-05,1793243356935200000
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.357971258,745,715,680.642028742,660,632,880,787,806.642028742,651.642028742,630.642028742,651.357971258,0.451873309225,-0.00558254646442,0.0497628067775,0.999999924827,0.000103649003826,-0.000371208197666,4.25022233787e-05,1793243356951866624
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.217874384,745,714.782125616,680.782125616,659.782125616,631.782125616,880,786.782125616,807,652,630.782125616,651,0.452132612924,-0.00558281105965,0.0497417644072,0.999999913297,7.63633510956e-05,-0.000407946848563,3.39708490679e-05,1793243356968532992
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765.622546331,745,714.377453669,680,659,631,880.377453669,786,807,652,630.377453669,651.377453669,0.452645333057,-0.00558521578009,0.0497341896202,0.999999915537,1.49674531666e-07,-0.00041085880142,1.09995542204e-05,1793243357001866240
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.028968271,745,714.971031729,680,659,631,880.971031729,786,807,652,630.971031729,651.971031729,0.452888495033,-0.0055842775933,0.0497406045366,0.99999992134,4.89020234569e-06,-0.000396430501329,1.17677005304e-05,1793243357018532864
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.455834788,680,659.544165212,630.455834788,880.455834788,786,807,652,630.455834788,652,0.453086175241,-0.00558457966756,0.049739715889,0.999999921206,8.62991019632e-06,-0.000396667629764,1.29471426087e-05,1793243357035199744
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.882641525,630.117358475,880.117358475,786,807,652,630.117358475,652,0.453272542887,-0.0055852281106,0.0497364255997,0.999999919393,1.14389430214e-05,-0.000401108073853,1.39650274011e-05,1793243357051866624
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.305100592,630.694899408,880.694899408,786,807,652,630.694899408,652,0.453423702247,-0.00558698520576,0.0497251874139,0.999999912026,1.07999897969e-05,-0.000419080006096,1.42666736368e-05,1793243357068533504
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.271205134,714.271205134,680,659,630.728794866,880.728794866,786,807,652,630.728794866,652,0.453564419321,-0.00558843332857,0.0497143614007,0.999999905313,1.17701586345e-05,-0.000434761804903,1.47609036758e-05,1793243357085200128
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.846127542,714.846127542,680,659,630.153872458,880.153872458,786,807,652,630.153872458,652,0.453693442279,-0.00558953543922,0.049703996972,0.999999899477,1.45423515297e-05,-0.000447878927482,1.54708044964e-05,1793243357101867008
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714.564337086,680,659,630,880,786,806.564337086,652,630,652,0.453806497987,-0.00558830479025,0.0496970060215,0.999999894993,1.58350018984e-05,-0.000457750859388,1.50771211669e-05,1793243357118533632
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714.029472709,680.029472709,659,630,880,786.029472709,806.029472709,652,630,652,0.453912681135,-0.00558639911943,0.0496915285314,0.999999891174,1.65955895634e-05,-0.00046601516481,1.43653054561e-05,1793243357135200000
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714.603585877,680.603585877,659,630,880,786.603585877,806.603585877,652,630,652,0.453999694864,-0.00558777325701,0.0496912368382,0.999999890926,1.75157524033e-05,-0.000466487165634,1.52274204076e-05,1793243357151866624
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.179269708,745.820730292,714.820730292,681,659,630,880,786.820730292,807,652,630.179269708,652,0.454081042875,-0.00558875309217,0.0496911510431,0.999999890938,1.8353484077e-05,-0.000466399132386,1.61114048634e-05,1793243357168533504
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.758457326,745.241542674,714.241542674,681,659,630,880,786.241542674,807,652,630.758457326,652,0.454149751692,-0.00558885331064,0.049691524569,0.999999891533,1.90073267819e-05,-0.000465061765547,1.70441760656e-05,1793243357185200128
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.664702261,745,714,680.664702261,659,630,880,786,807,652,630.664702261,652,0.454205177567,-0.00558728474386,0.0496895943616,0.999999889679,2.10225645398e-05,-0.000468937600373,1.72288769868e-05,1793243357201867264
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.08954092,745,714,680.08954092,659,630,880,786,807,652,630.08954092,652,0.454251101165,-0.00558452236993,0.0496860161211,0.999999886023,2.40117102722e-05,-0.000476542828881,1.68784272684e-05,1793243357218534656
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.911644945,715,680,659,629.911644945,880,786,806.911644945,652,630,652,0.454315470776,-0.00558502144701,0.0496786036472,0.999999881203,2.59189883604e-05,-0.000486457347919,1.67857839257e-05,1793243357251867392
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.335287864,715,680,659,629.335287864,880,786,806.335287864,652,630,652,0.454339852249,-0.00558341034143,0.0496776086335,0.999999881084,2.78118311122e-05,-0.000486601353587,1.66534247947e-05,1793243357268534016
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.759705888,680,659,629,880,786,806.240294112,652.240294112,630,652,0.454360742971,-0.00558240128721,0.0496781454179,0.999999881423,2.89434366672e-05,-0.000485832337929,1.68582876334e-05,1793243357285200640
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.18520199,680,659,629,880,786,806.81479801,652.81479801,630,652,0.45437677863,-0.005582229588,0.0496808126826,0.999999882397,2.90162857484e-05,-0.00048379345902,1.7532171052e-05,1793243357301867264
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.40212672,714.40212672,680,659,629,880,786,807,652.59787328,630.40212672,652,0.454386255454,-0.00558160704,0.0496795586769,0.999999881348,2.93553056881e-05,-0.000485932753578,1.76581473086e-05,1793243357318533632
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.99555654,714.99555654,680,659,629,880,786,807,652.00444346,630.99555654,652,0.454392612052,-0.00558077001043,0.0496764392116,0.999999879323,2.98209506621e-05,-0.000490059723966,1.75234685479e-05,1793243357335199744
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.573715494,746,715,680,659,629.573715494,880.573715494,786,807,652,630.426284506,652,0.454395117247,-0.00557935747185,0.0496758688287,0.999999878325,3.28159363937e-05,-0.000491922068544,1.68854488158e-05,1793243357351866624
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.84871552,746,715,680,659,629.84871552,880.84871552,786,807,652,630,652,0.454397701461,-0.00557856249332,0.0496752454403,0.999999877536,3.44049868289e-05,-0.000493427488756,1.65572448524e-05,1793243357368533504
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.272480212,746,715,680,659,629.272480212,880.272480212,786,807,652,630,652,0.454400589253,-0.00557951440735,0.0496744191433,0.999999877335,3.19912317886e-05,-0.000493978315965,1.71099651034e-05,1793243357385200384
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.689873231,715,680,659,629,880.310126769,786,807,652,630,652,0.454401095784,-0.00557893401264,0.049673148891,0.999999876381,3.20512866932e-05,-0.000495889083548,1.74443288282e-05,1793243357401867008
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.101550542,715,680,659,629,880.898449458,786,807,652,630,652,0.45439946623,-0.00557697907677,0.049671480393,0.999999874746,3.43304462288e-05,-0.000499019771243,1.75828182156e-05,1793243357418533120
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.478278632,715,680,659,629,880.521721368,786,807,652,630,652,0.454399006027,-0.00557602246508,0.0496702164659,0.999999873651,3.61706550395e-05,-0.000501079641725,1.75795271471e-05,1793243357435200256
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.056146192,746,715,680,659,629,880,786,806.943853808,652,630,652,0.454398992802,-0.00557548177778,0.0496692351837,0.999999872845,3.75193993074e-05,-0.000502587559306,1.75283452664e-05,1793243357451867136
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.632257367,746,715,680,659,629,880,786,806.367742633,652,630,652,0.454400859808,-0.00557686415304,0.0496700898138,0.999999873705,3.51647934889e-05,-0.000501052724493,1.73075725925e-05,1793243357468534016
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.787670837,715,680.212329163,659,629,880,786,806,652,630,652,0.454402049089,-0.00557681911451,0.0496705248841,0.999999874157,3.41931021885e-05,-0.000500227583576,1.70156537915e-05,1793243357485200896
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.200609109,715,680.799390891,659,629,880,786,806,652,630,652,0.454402042279,-0.00557425488154,0.0496702194874,0.999999873899,3.56620701233e-05,-0.000500654957528,1.65981716087e-05,1793243357501867520
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.618388415,745,715,680.618388415,659,629,880,786,806.381611585,652,630,652,0.454400950034,-0.00557275953987,0.0496687490783,0.999999872989,3.64405636906e-05,-0.00050242077988,1.63708837545e-05,1793243357518534144
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.038680739,745,715,680.038680739,659,629,880,786,806.961319261,652,630,652,0.454399294335,-0.00557181906401,0.0496666739066,0.999999871736,3.68606292214e-05,-0.000504881396104,1.62423265457e-05,1793243357535201024
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.540756714,715,680,659,629,880,786,807,652,630,652,0.454400709971,-0.00557324168451,0.0496675844388,0.999999871893,3.72260756082e-05,-0.00050453776111,1.64487596623e-05,1793243357551867392
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.881092814,715,680,659,629,880,786.118907186,807,652,630,651.881092814,0.454401989169,-0.00557403103765,0.0496683013423,0.999999872031,3.81328115585e-05,-0.000504190875868,1.65954139378e-05,1793243357568534272
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+247,4.116666667,HOLD_POSE2,766,745,715,680,659,629,880,787,807,652,630,652,0.454403063527,-0.00557313688863,0.0496692533366,0.999999872719,3.94526819169e-05,-0.000502713411591,1.68944093702e-05,1793243357623201536
+248,4.133333333,HOLD_POSE2,765.405204315,745.594795685,715,680.594795685,659,629,880,786.405204315,807,652,630,652,0.454402055013,-0.00557258933148,0.0496680556598,0.999999871647,3.89687731219e-05,-0.000504877745567,1.69213142395e-05,1793243357639868416
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+250,4.166666667,HOLD_POSE2,765,746,714.241352596,681,659,629,880,786,806.241352596,652,630.758647404,652,0.454401097202,-0.00557385937343,0.0496667283703,0.999999870651,3.90026404653e-05,-0.000506818630373,1.76571685496e-05,1793243357673202176
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+259,4.316666667,HOLD_POSE2,765,746,714.965482859,680,659,629,880,786,807,652,630,651.965482859,0.454403563942,-0.00556981995772,0.0496667372666,0.999999870884,4.37508328813e-05,-0.000505995252923,1.69428821344e-05,1793243357823201280
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+261,4.350000000,HOLD_POSE2,765.85486665,745.85486665,714.14513335,680,659,629,880,786,807,652,630.14513335,652,0.454401560174,-0.00557139691012,0.0496651457136,0.999999869546,3.94272164084e-05,-0.000508991582681,1.67634756113e-05,1793243357856534528
+262,4.366666667,HOLD_POSE2,765.273971224,745.273971224,714.726028776,680,659,629,880,786,807,652,630.726028776,652,0.454401916804,-0.00557000652862,0.0496651320898,0.999999869613,4.19789401844e-05,-0.00050865785264,1.6682602352e-05,1793243357873200896
+263,4.383333333,HOLD_POSE2,765,745.304461426,715,680.304461426,659,629,880,786,807,652,630.695538574,652,0.454402841008,-0.00557001012163,0.0496660203821,0.999999870163,4.29812267972e-05,-0.000507487759298,1.68165591578e-05,1793243357889867520
+264,4.400000000,HOLD_POSE2,765,745.880695683,715,680.880695683,659,629,880,786,807,652,630.119304317,652,0.454404271849,-0.00557125802475,0.0496677137562,0.999999871145,4.26004318941e-05,-0.000505571099081,1.71422807372e-05,1793243357906534144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,629,880,786,807,652,630,652,0.454402959563,-0.00557019918603,0.0496667839478,0.99999986998,4.16984061634e-05,-0.000507932943398,1.74917151715e-05,1793243357939118080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.573565327,715,680,658,629,880,786,807,652,630,651.426434673,0.454403674393,-0.00557071013611,0.0496666931671,0.999999870486,3.97555755767e-05,-0.000507108816612,1.6998077646e-05,1793243357955784960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.153307449,746,715,680,658.153307449,629,879.846692551,786,807,652,630,651.153307449,0.454404173667,-0.00557132863566,0.049666631732,0.999999870784,3.79702503335e-05,-0.000506666013429,1.67112829925e-05,1793243357972451840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.750952165,746,715,680,658.750952165,629,879.249047835,786,807,652,630,651.750952165,0.454404048184,-0.00557225885035,0.0496666553508,0.999999870493,3.66414288338e-05,-0.000507328415899,1.70239894037e-05,1793243357989118720
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.335660878,659,629,879.671321756,786.335660878,807,651.664339122,630,651.664339122,0.454405203612,-0.00557205922495,0.0496672690878,0.999999870793,3.85035975184e-05,-0.000506595874268,1.70706253326e-05,1793243358005785088
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.911127698,659,629,880.822255395,786.911127698,807,651.088872302,630,651.088872302,0.45440727416,-0.0055710524087,0.0496683044223,0.999999871502,4.26455029321e-05,-0.000504866743755,1.69271727134e-05,1793243358022451456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.502878387,659,629,880.502878387,787,807,651.497121613,630,651.497121613,0.454405493218,-0.00556954182905,0.0496679228403,0.99999987082,4.24485355194e-05,-0.000506233268854,1.68940074958e-05,1793243358039118080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.91658946,746,715,680.08341054,659,629,880,787,807,652,630,652,0.454403078632,-0.00556851642402,0.0496672223326,0.999999869959,4.15602564317e-05,-0.000508003354254,1.69255980563e-05,1793243358055784960
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.762867625,659,629,880,786.762867625,806.762867625,652,630,652,0.45439284371,-0.00557144558204,0.0496618992735,0.999999866404,4.05007123999e-05,-0.000515039818929,1.68913193594e-05,1793243358089117440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.185242764,659,629,880,786.185242764,806.185242764,652,630,652,0.454375663304,-0.00556933568711,0.0496530220657,0.999999859178,3.9043167e-05,-0.000529031774446,1.56640648671e-05,1793243358105784320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.390682201,746,715,680,659,629,880,786,806.390682201,652,630,651.609317799,0.454343028868,-0.00556841438334,0.0496378644145,0.999999845756,3.96187163621e-05,-0.000553798980513,1.49694025733e-05,1793243358122450944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.965804701,746,715,680,659,629,880,786,806.965804701,652,630,651.034195299,0.454303098614,-0.00556805421094,0.0496197417776,0.999999828722,4.11540856023e-05,-0.000583653162003,1.45261758889e-05,1793243358139117312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.442530345,680,659,629.557469655,880,786,807,652,630.557469655,651.557469655,0.454243088653,-0.00556557496802,0.0496001141497,0.999999809581,4.30542286281e-05,-0.000615477786742,1.31085212812e-05,1793243358155783680
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.277690708,746,714,680,659,629.277690708,880,786,807,652,630.277690708,652,0.454106433879,-0.00556090614421,0.049569105985,0.999999781876,4.48421917584e-05,-0.000658888938253,1.01085265501e-05,1793243358189117440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714.297113694,680.297113694,659,629,880,786,807,652,630,652,0.454025052455,-0.00555597135261,0.0495601421129,0.999999773395,4.88656472328e-05,-0.000671373948806,8.85981067121e-06,1793243358205784064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.870536766,680.870536766,659,629,880,786,807,652,630,652,0.453935435521,-0.00554846382064,0.0495549234478,0.999999766528,5.63696100727e-05,-0.000680958743809,7.85627260522e-06,1793243358222450432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.540900722,659,629,880.459099278,786.459099278,807,652,630.459099278,652,0.453828832384,-0.005546090703,0.0495513629845,0.999999760687,5.71470410313e-05,-0.000689423126314,7.43872199592e-06,1793243358239117056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.949114544,715,680,659,629,880.949114544,786.949114544,806.949114544,652,630.949114544,652,0.453714407015,-0.00554484842287,0.0495479077728,0.999999754684,5.63535275764e-05,-0.000698144409013,7.14416041892e-06,1793243358255783680
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,629.207950854,880,786,806.207950854,652,630.207950854,652,0.453415277774,-0.00553468935551,0.0495321699076,0.999999731887,6.29704197146e-05,-0.000729541565493,5.45481418439e-06,1793243358289117184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,629.782493999,880,786,806.782493999,652,630.782493999,652,0.453241540131,-0.0055294673391,0.0495221083079,0.999999716993,6.64831354386e-05,-0.000749383041642,4.37169694756e-06,1793243358305783808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.356858045,745.356858045,715,680.356858045,659.356858045,630.356858045,880,786.356858045,807,652,631,652,0.453048640278,-0.00552335332654,0.0495158698229,0.999999707452,7.08734524276e-05,-0.000761615652487,3.72634070767e-06,1793243358322450432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.931113038,745.931113038,715,680.931113038,659.931113038,630.931113038,880,786.931113038,807,652,631,652,0.452844066844,-0.00551669591184,0.0495119603679,0.999999701277,7.57984020633e-05,-0.000769212965303,3.34766717085e-06,1793243358339117312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.477728173,746,715,680.477728173,659.477728173,630.477728173,880.522271827,786.477728173,807,652,630.477728173,652,0.452625473474,-0.00550829951392,0.0495236447584,0.999999712251,8.09510788689e-05,-0.000754280402361,2.6035346041e-06,1793243358355783680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.888273888,714.888273888,680.111726112,659.111726112,630.111726112,880.888273888,786,807,652,630.111726112,652,0.452399180709,-0.00549947262389,0.0495382484169,0.999999725948,8.68099929864e-05,-0.000735230322778,1.87033376223e-06,1793243358372450560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.315366346,714.315366346,680.684633654,659.684633654,630.684633654,880.315366346,786,807,652,630.684633654,652,0.452148994882,-0.00548984720918,0.0495561281517,0.99999974207,9.54559718592e-05,-0.000711860682635,1.38788583607e-06,1793243358389117440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.258997174,745.258997174,714.258997174,681,659.741002826,631,880,786.258997174,807,652,631,652,0.451876895255,-0.0054801385199,0.0495714033539,0.999999755755,0.000102666944338,-0.000691338172372,4.64261916519e-07,1793243358405784064
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.013227245,745.986772755,714.986772755,681,660,631,880.013227245,786.013227245,806.013227245,652,631,651.013227245,0.450901601934,-0.00545111065188,0.0495928258333,0.999999783169,0.000122388538012,-0.000647039868861,-4.79685090801e-06,1793243358455784192
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.77422634,634,880,787.22577366,806,652,631,652,0.437158028275,-0.00539968920078,0.0497783144095,0.999999935524,-1.56241978457e-05,-0.000353369740443,-6.19557266351e-05,1793243358822450688
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.65108817,745.34891183,714,680,661,633.65108817,880,787,806,652,631,652,0.436299444965,-0.0054001819997,0.0497885943874,0.999999939484,-2.71221404084e-05,-0.000340810079214,-6.43786468882e-05,1793243358839117312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.076211715,745.923788285,714,680,661,633.076211715,880,787,806,652,631,652,0.435437853158,-0.00540191845528,0.0498104057269,0.999999949856,-3.92285233848e-05,-0.000307279853621,-6.57865492232e-05,1793243358855784192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.506994517,745.493005483,714,679.493005483,660.493005483,633.506994517,880,787.506994517,806.506994517,652,631,652,0.434558024962,-0.00539655744635,0.0497927672376,0.999999940972,-2.71896438057e-05,-0.000336279577594,-6.50605020214e-05,1793243358872450816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.091306971,679.091306971,660.091306971,634,880.091306971,787.908693029,807,652,631,652,0.433671983513,-0.00539039817319,0.049775944684,0.999999931884,1.71220955306e-06,-0.000364180659807,-6.00057655422e-05,1793243358889117696
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.674720066,679.674720066,660.674720066,634,880.674720066,787.325279934,807,652,631,652,0.432767476855,-0.00538578276027,0.0497960144261,0.999999938284,0.000101609984857,-0.000334654729248,-3.33789466754e-05,1793243358905784064
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.169429484,680,661,634,879.338858968,787,806.169429484,652.830570516,631,651.169429484,0.43095340369,-0.00537376070269,0.0498088235773,0.999999942154,0.000143787827213,-0.000307081052878,-2.67866081433e-05,1793243358939117056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.415426981,680,660.584573019,634,879.415426981,787,806,652.584573019,631.415426981,651.415426981,0.430027261878,-0.00537454618699,0.0497864430155,0.999999933192,0.000125874981085,-0.000341606285642,-3.28164373255e-05,1793243358955783680
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.417546071,745,714.417546071,680,660.582453929,634,879.417546071,787,806,652,631.417546071,652,0.428169347933,-0.00537893789233,0.0497743924645,0.99999992669,9.17915958566e-05,-0.000369425494265,-4.14641586488e-05,1793243358989116928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.161116169,745,714,680,660.838883831,634,879,787,806,652,631.161116169,652,0.42723026637,-0.00537809839303,0.0497846051784,0.999999931162,8.45971028083e-05,-0.000358644425915,-4.35233076566e-05,1793243359005783808
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634.315470701,879,787.315470701,806,652,631.684529299,651.684529299,0.425350123649,-0.00537184655576,0.0497810290909,0.999999932812,9.48546543602e-05,-0.000351256452687,-4.47017636677e-05,1793243359039117568
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634.887413889,879,787.887413889,806,652,631.112586111,651.112586111,0.424508311029,-0.00537232193245,0.0498128551575,0.999999955978,9.50312491803e-05,-0.000277540977796,-4.45340661248e-05,1793243359055784192
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.935093979,634.064906021,879,787.064906021,806,652.935093979,631,651.064906021,0.422754191159,-0.00537288666539,0.0498495149478,0.99999997086,8.99663032166e-05,-0.000219528907338,-4.46350763829e-05,1793243359089117696
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.355193292,634.644806708,879,787.644806708,806,652.355193292,631,651.644806708,0.421801680099,-0.00537409482069,0.0498165269405,0.999999955189,8.79339149897e-05,-0.000282430062888,-4.60837384258e-05,1793243359105784320
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.777352539,879,787.777352539,805.777352539,652,631,652,0.420872225225,-0.00537428901995,0.0498008976941,0.999999944481,8.74146607964e-05,-0.000318148209232,-4.66757216433e-05,1793243359122451200
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.202767818,879,787.202767818,805.202767818,652,631,652,0.419979214953,-0.00537288046632,0.0498127073126,0.999999946631,8.92872069477e-05,-0.000310898377177,-4.59135591819e-05,1793243359139117824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.372138603,634.372138603,879,787,805,652,631,652,0.419087313325,-0.00536761882087,0.0498078160263,0.999999939543,9.72083485231e-05,-0.000330683547719,-4.59564666927e-05,1793243359155784448
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.921460996,634.460730498,879,787,805,652,631,652,0.417382900263,-0.00536431690304,0.0497850301907,0.999999926146,0.000102541445599,-0.000367292106596,-4.78485457079e-05,1793243359189117952
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.705346084,745,714,680,660.410692169,634,879.705346084,787,805.705346084,652,631,652,0.415810123742,-0.00537169623509,0.0498108415841,0.999999946965,9.18791511917e-05,-0.000308605591999,-4.88971630406e-05,1793243359222450944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.718010639,745,714,680,660.718010639,634,879.718010639,787.281989361,805.436021278,652,631,652,0.415015940663,-0.00537237602286,0.0498188146376,0.999999951293,9.26697985152e-05,-0.000294006538796,-4.88527340805e-05,1793243359239117568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.140944649,745,714,680,660.140944649,634,879.140944649,787.859055351,804.281889298,652,631,652,0.414201112018,-0.00537091831485,0.0498075859886,0.999999944827,9.83512354583e-05,-0.00031350522322,-4.88629919551e-05,1793243359255784448
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.999879998,745,714,680,660,634.999879998,879,787.000120002,804.999879998,652,631,652,0.412668337226,-0.00536400410331,0.0497666644438,0.999999919915,0.000111362196652,-0.000380878629662,-5.19586282152e-05,1793243359289117696
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.403177532,745,714,679.403177532,660,634.403177532,879,787,805.596822468,652,631,652,0.411998328063,-0.00536780495288,0.0497967417271,0.999999935333,0.000106831544285,-0.000339694117144,-5.02934735077e-05,1793243359305784320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.18618607,634,879,787,805.81381393,652,631,652,0.411323444023,-0.0053708508755,0.0498171409675,0.999999944581,0.000103476317187,-0.00031259955499,-4.91113994542e-05,1793243359322450944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.759768431,634,879,787,805.240231569,652,631,652,0.410638377418,-0.00537232272178,0.0498173804388,0.999999943975,0.000102571680223,-0.000314855564751,-4.89359712043e-05,1793243359339117568
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.090262258,634,879,787,805,652.909737742,631,652,0.409306128534,-0.00537010312791,0.0497865487946,0.999999925648,0.00011573380917,-0.000364565622436,-4.90107679511e-05,1793243359372451072
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787.498632556,805,653,631,652,0.408740927975,-0.0053705271796,0.0497999671912,0.999999934947,0.000116494712427,-0.000337860730371,-4.8829885673e-05,1793243359389117440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.088058329,634.088058329,879.088058329,788,805.088058329,653,631,652,0.408195984668,-0.00537179865906,0.0498184728088,0.999999945983,0.000115394571472,-0.000303909307035,-4.85537097323e-05,1793243359405783808
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.393312796,679.393312796,660.606687204,634.606687204,879,788,805,653,631,652,0.406076197955,-0.00537657089885,0.0497934494802,0.999999927027,0.000104356219615,-0.000363717164704,-5.25900982203e-05,1793243359472450816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.970833496,679.970833496,660.029166504,634.029166504,879,788,805,653,631,652,0.405573598247,-0.00537491195942,0.0497726774557,0.999999914429,0.000106419048058,-0.000396009275797,-5.472155866e-05,1793243359489117440
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.120332451,714.879667549,680,660.120332451,635,879,787.120332451,805,653,631,652,0.403791853335,-0.00538702365977,0.0498676870939,0.999999964438,8.36306221901e-05,-0.000247869041213,-5.18775334772e-05,1793243359572450560
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2f2e176333d31b6a29b0c0a41c0be07b5f3b70e
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.58074602264,1.87445584132e-06,1.04004081064,0.55131774218,0.00867670244135,1.03967860553
+398,6.633333333,pose2_to_pose3_retreat,0.580745665116,1.87873272559e-06,1.04004086783,0.551317384389,0.00867670570438,1.03967866009
+399,6.650000000,pose2_to_pose3_retreat,0.580745350478,1.88249658227e-06,1.04004091816,0.551317069517,0.008676708576,1.0396787081
+400,6.666666667,pose2_to_pose3_retreat,0.580745181573,1.88451710213e-06,1.04004094518,0.551316900487,0.00867671011754,1.03967873387
+401,6.683333333,pose2_to_pose3_retreat,0.580745152295,1.88486734606e-06,1.04004094987,0.551316871186,0.00867671038476,1.03967873834
+402,6.700000000,pose2_to_pose3_retreat,0.580744793562,1.88915868784e-06,1.04004100725,0.551316512186,0.00867671365882,1.03967879308
+403,6.716666667,pose2_to_pose3_retreat,0.580744334422,1.88040531875e-06,1.0400408767,0.551316053536,0.00867670683373,1.03967866896
+404,6.733333333,pose2_to_pose3_retreat,0.580743907858,1.87086967432e-06,1.04004073531,0.55131562751,0.00867669940777,1.03967853452
+405,6.750000000,pose2_to_pose3_retreat,0.580743655256,1.84230825739e-06,1.04004069956,0.551315375812,0.00867667400552,1.03967850101
+406,6.766666667,pose2_to_pose3_retreat,0.580743570321,1.82621254594e-06,1.04004070113,0.551315291347,0.00867665951315,1.0396785028
+407,6.783333333,pose2_to_pose3_retreat,0.580743537898,1.82006805182e-06,1.04004070173,0.551315259103,0.00867665398073,1.03967850349
+408,6.800000000,pose2_to_pose3_retreat,0.580743470293,1.81906986277e-06,1.0400407725,0.551315191627,0.00867665334883,1.03967857257
+409,6.816666667,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051286,1.03967877686
diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9912b09df2222a95cab215de2e0b9575789c7569
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6031020f96aefeda31b7d55ca2f899dadc22ad9dfdeb310e04f373a5277268c
+size 25787270
diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa59654591f168f7746d17b25f05120746409576
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,765,744.421508559,714,679.421508559,658.421508559,634,878.578491441,787,805,652,631,652,0.401030737162,-0.00549345855056,0.0698559434973,0.999999988336,4.27530917883e-05,-0.00014580266477,1.55266538217e-05,1793243361918436096
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+3,0.050000000,BASELINE,765,744.728816738,714,679,658.728816738,634,879,787,805,652,631,652,0.401029520724,-0.00549336819969,0.069855085502,0.999999988074,4.27006201118e-05,-0.000147593655941,1.56408957012e-05,1793243361951769344
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+29,0.483333333,BASELINE,765,745,714,680,658.833078282,634.166921718,879,787.166921718,805,652,630.833078282,652,0.401031133002,-0.00549379082902,0.069858168904,0.99999998855,4.3221273528e-05,-0.000144187652196,1.55464517914e-05,1793243362385102848
+30,0.500000000,BASELINE,765,745,714.415645984,680,659,634,879,787,805,652,631,652,0.401029251573,-0.00549311631589,0.0698571381971,0.999999988284,4.34731672688e-05,-0.000145963312316,1.53857933065e-05,1793243362401769472
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+33,0.550000000,BASELINE,765,745,714.857623588,679.857623588,658.857623588,635,878.857623588,787,805.857623588,652,631,652,0.401029931805,-0.0054940293174,0.069857693708,0.999999988326,4.4333110953e-05,-0.000145371936603,1.57899087617e-05,1793243362451770112
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+50,0.833333333,BASELINE,765.987083989,745,714,680,659,634.987083989,879,787,805,652,631,652,0.401030606849,-0.00549410501845,0.0698594732255,0.999999988676,4.38708725153e-05,-0.000143126837337,1.54411416221e-05,1793243362735102464
+51,0.850000000,BASELINE,765.410247162,745,714,680,659,634.410247162,879,787,805,652,631,652,0.401028810637,-0.00549284522504,0.069857795343,0.999999988396,4.2324082227e-05,-0.000145597199666,1.47365354657e-05,1793243362751769856
+52,0.866666667,BASELINE,765,745.165728215,714,680,658.834271785,634.165728215,879.165728215,787,804.834271785,652,631,652,0.401028171954,-0.00549227401243,0.0698571934403,0.999999988284,4.1846110223e-05,-0.000146527486711,1.4535893786e-05,1793243362768436480
+53,0.883333333,BASELINE,765,745.739582132,714,680,658.260417868,634.739582132,879.739582132,787,804.260417868,652,631,652,0.401030383826,-0.00549339851306,0.069859241268,0.999999988591,4.40002321561e-05,-0.000143665152602,1.55763254131e-05,1793243362785102848
+54,0.900000000,BASELINE,765.32482418,745.67517582,714.32482418,679.67517582,658.32482418,635,879.350351639,787,804.32482418,652,631,652,0.401030407505,-0.00549391096337,0.0698591222295,0.999999988489,4.54294028439e-05,-0.000143890452659,1.59280547296e-05,1793243362801769216
+55,0.916666667,BASELINE,765.91952801,745.08047199,714.91952801,679.08047199,658.91952801,635,878.160943981,787,804.91952801,652,631,652,0.401028613125,-0.0054939148926,0.0698572028535,0.999999988049,4.62562488447e-05,-0.000146681108754,1.57075767841e-05,1793243362818435840
+56,0.933333333,BASELINE,765.500183641,745,715,679,659,635,878.499816359,787,805,652,631,652,0.401028213232,-0.00549327477502,0.0698571788501,0.999999988049,4.58933859721e-05,-0.000146821772241,1.54907779864e-05,1793243362835102720
+57,0.950000000,BASELINE,765,745,715,679.077550498,658.922449502,635,879,787,805,652,631,652,0.401028140456,-0.00549262903376,0.0698574649138,0.999999988125,4.52766565872e-05,-0.000146517594359,1.52812872372e-05,1793243362851769600
+58,0.966666667,BASELINE,765,745,715,679.65336755,658.34663245,635,879,787,805,652,631,652,0.401028767337,-0.00549259472087,0.0698578374638,0.999999988247,4.42250195571e-05,-0.000146019734465,1.51150520098e-05,1793243362868436480
+59,0.983333333,BASELINE,765,745,714.766429868,680,658.233570132,634.766429868,879,787,805.233570132,652,631,652,0.401029195301,-0.0054925397555,0.0698580305738,0.999999988321,4.41437635984e-05,-0.000145532599814,1.51707658859e-05,1793243362885103104
+60,1.000000000,BASELINE,765,745,714.179594262,680,658.820405738,634.179594262,879,787,805.820405738,652,631,652,0.401029322414,-0.00549245355409,0.0698579522877,0.999999988321,4.55301700047e-05,-0.000145061686587,1.55621688707e-05,1793243362901768960
+61,1.016666667,BASELINE,765,745,714.402827785,679.597172215,658.597172215,634,879,787,805.597172215,652,631,652,0.401029279713,-0.00549253237329,0.0698582949042,0.999999988273,4.61140334601e-05,-0.000145199173344,1.56513771424e-05,1793243362918435328
+62,1.033333333,BASELINE,765,745,714.983303407,679.016696593,658.016696593,634,879,787,805.016696593,652,631,652,0.401029162124,-0.0054926839669,0.0698588231396,0.999999988204,4.63439738276e-05,-0.000145604965708,1.56073169333e-05,1793243362935101952
+63,1.050000000,BASELINE,765,745,715,679.560440383,658,634,879,787,805,652,631,652,0.401029226218,-0.00549369111298,0.0698586424927,0.999999988306,4.46143971819e-05,-0.000145436770297,1.56498158395e-05,1793243362951768320
+64,1.066666667,BASELINE,765,745,714.862955723,680,658.137044277,634.137044277,879,787.137044277,805,652,631,652,0.401029071724,-0.00549396319601,0.069858400451,0.999999988333,4.41801176985e-05,-0.00014538535549,1.5655169726e-05,1793243362968435200
+65,1.083333333,BASELINE,765,745,714.287740146,680,658.712259854,634.712259854,879,787.712259854,805,652,631,652,0.40102820113,-0.00549180405199,0.0698580292355,0.999999988101,4.80728342082e-05,-0.000145761673636,1.55335636963e-05,1793243362985101824
+66,1.100000000,BASELINE,765.294324354,745,714,680,659.294324354,635,879,787.705675646,805,652,631,652,0.401028508354,-0.00549138896016,0.0698580822352,0.999999988133,4.82792160191e-05,-0.000145467282191,1.55397075007e-05,1793243363001768448
+67,1.116666667,BASELINE,765.883244047,745,714,680,659.883244047,635,879,787.116755953,805,652,631,652,0.401029994479,-0.00549271952641,0.0698585598408,0.999999988433,4.47958688755e-05,-0.000144501563607,1.56737187666e-05,1793243363018435072
+68,1.133333333,BASELINE,765.535752504,745,714,679.535752504,659.535752504,634.535752504,879,787,805,652,631,652,0.401029063889,-0.0054932074001,0.0698579674368,0.999999988254,4.52865183438e-05,-0.000145570755989,1.57988900213e-05,1793243363035101952
+69,1.150000000,BASELINE,765,745,714,679.043061572,659,634.043061572,879,787,805.043061572,652,631,652,0.401027770992,-0.00549335573224,0.0698572677295,0.999999988001,4.66403251457e-05,-0.000146866980786,1.58763447326e-05,1793243363051768832
+70,1.166666667,BASELINE,765,745,714,679.619005914,659,634.619005914,879,787,805.619005914,652,631,652,0.401029389835,-0.00549188094991,0.0698585144365,0.999999988324,4.65149994209e-05,-0.000144745783521,1.53903626005e-05,1793243363068435200
+71,1.183333333,BASELINE,765.194835292,745,714,679.805164708,659,635,879,787,805.805164708,652,631,652,0.401030166707,-0.00549110742042,0.0698592133902,0.999999988516,4.60870372865e-05,-0.000143589979987,1.5048814559e-05,1793243363085102080
+72,1.200000000,BASELINE,765.770440095,745,714,679.229559905,659,635,879,787,805.229559905,652,631,652,0.401029298103,-0.0054917043595,0.0698588418615,0.999999988458,4.50676282886e-05,-0.000144320859426,1.49895361255e-05,1793243363101769984
+73,1.216666667,BASELINE,765.643801122,744.643801122,714,679.356198878,659,634.643801122,879,787,805,652,631,651.643801122,0.401029289787,-0.00549286477826,0.0698588319213,0.999999988484,4.41403206276e-05,-0.000144417067343,1.51064810084e-05,1793243363118436352
+74,1.233333333,BASELINE,765.051306406,744.051306406,714,679.948693594,659,634.051306406,879,787,805,652,631,651.051306406,0.401029852171,-0.0054943989991,0.0698590618524,0.999999988565,4.32741113739e-05,-0.000144092245709,1.53403292274e-05,1793243363135101696
+75,1.250000000,BASELINE,765,744.526721502,714,679.473278498,659,634.526721502,879,787,805,652,631,651.526721502,0.401028744761,-0.00549286074937,0.0698583957302,0.999999988166,4.65385929702e-05,-0.00014582869132,1.53544189833e-05,1793243363151768576
+76,1.266666667,BASELINE,765,745,714,679.102607399,659,635,879,787,805,652,631,652,0.401027685772,-0.0054915508988,0.069857716201,0.999999987802,4.92337601213e-05,-0.000147434074663,1.53642298437e-05,1793243363168434944
+77,1.283333333,BASELINE,765,745,714,679.674965772,659,635,879,787,805,652,631,652,0.401027573189,-0.00549262021276,0.0698573641996,0.999999987866,4.7529713693e-05,-0.000147544800351,1.54498314337e-05,1793243363185101568
+78,1.300000000,BASELINE,765,745,714.249849531,680,659,635,879,787.249849531,805,652,631,652,0.401028114249,-0.00549298511132,0.0698576235587,0.999999988048,4.63206146652e-05,-0.000146692227752,1.54599992629e-05,1793243363201768448
+79,1.316666667,BASELINE,765,745,714.828052118,680,659,635,879,787.828052118,805,652,631,652,0.40102951433,-0.00549242426484,0.0698586863697,0.999999988384,4.57619772313e-05,-0.000144573685447,1.53710317949e-05,1793243363218435328
+80,1.333333333,BASELINE,765,745,715,679.584277267,659,635,879,787.584277267,805,652,631,652,0.401030101632,-0.00549190308595,0.069859317034,0.999999988512,4.58781774376e-05,-0.000143656453674,1.53182087132e-05,1793243363235101696
+81,1.350000000,BASELINE,765,745,714.99276676,679,659,635,879,787,805,652,631,652,0.40103033217,-0.00549142080933,0.0698597511489,0.999999988551,4.62638335706e-05,-0.000143261274929,1.52803415817e-05,1793243363251768320
+82,1.366666667,BASELINE,765,745,714.414481378,679,659,635,879,787,805,652,631,652,0.401029555781,-0.00549268431388,0.0698591081908,0.999999988496,4.53728874006e-05,-0.000143939530472,1.52154575685e-05,1793243363268435200
+83,1.383333333,BASELINE,764.837759139,744.837759139,714,679,659,634.837759139,879.162240861,786.837759139,805.162240861,652,631,652,0.401029112006,-0.00549346637632,0.0698587037413,0.99999998842,4.46551733657e-05,-0.00014468882376,1.51694020837e-05,1793243363285101824
+84,1.400000000,BASELINE,764.264992075,744.264992075,714,679,659,634.264992075,879.735007925,786.264992075,805.735007925,652,631,652,0.40102950986,-0.00549303022185,0.0698589028018,0.999999988298,4.43757971174e-05,-0.000145617867571,1.51709893563e-05,1793243363301768704
+85,1.416666667,BASELINE,764.316548343,744.316548343,714,679,659,634.316548343,879.683451657,786.316548343,806,652,631,652,0.401029422489,-0.00549271698824,0.0698585410946,0.9999999882,4.50687900571e-05,-0.000146061662091,1.53373262183e-05,1793243363318435328
+86,1.433333333,BASELINE,764.90564252,744.90564252,714,679,659,634.90564252,879.09435748,786.90564252,806,652,631,652,0.401028917343,-0.00549250958862,0.0698576965705,0.999999988121,4.65989858517e-05,-0.000146087660424,1.56455112852e-05,1793243363335101952
+87,1.450000000,BASELINE,765,745,714,679,659,635,879.487448901,787,805.512551099,652,630.512551099,652,0.40102837207,-0.00549268716195,0.0698580773749,0.999999988152,4.62588798862e-05,-0.000145992566268,1.55597170997e-05,1793243363351768576
+88,1.466666667,BASELINE,765,745,714,679.067273424,658.932726576,634.932726576,879.932726576,787,805,652,630.067273424,651.932726576,0.401027924994,-0.00549283425361,0.0698586542056,0.999999988212,4.56376575054e-05,-0.000145796098677,1.54079295291e-05,1793243363368435200
+89,1.483333333,BASELINE,765,745,714,679.642627564,658.357372436,634.357372436,879.357372436,787,805,652,630.642627564,651.357372436,0.40102827736,-0.0054921966076,0.0698589465225,0.99999998833,4.5587344977e-05,-0.000145008435912,1.5325227228e-05,1793243363385101824
+90,1.500000000,BASELINE,765,745,714,680,658.222618079,634,879,787,805,652,631,651.222618079,0.401028830927,-0.00549201890651,0.0698591265265,0.999999988409,4.59141022102e-05,-0.000144359956504,1.53146116457e-05,1793243363401768704
+91,1.516666667,BASELINE,765,745,714,680,658.810209688,634,879,787,805,652,631,651.810209688,0.401029714357,-0.00549259526698,0.0698591223976,0.999999988424,4.68590504015e-05,-0.000143939662775,1.54221793947e-05,1793243363418435072
+92,1.533333333,BASELINE,765,745,714,680,658.607862413,634.392137587,879,787,805.392137587,652,631,652,0.40102861969,-0.00549322624299,0.0698584893228,0.999999988195,4.67230391926e-05,-0.000145553216165,1.55329576011e-05,1793243363435102208
+93,1.550000000,BASELINE,765,745,714,680,658.02863661,634.97136339,879,787,805.97136339,652,631,652,0.401026581277,-0.00549388327605,0.0698575561787,0.999999987844,4.60713040646e-05,-0.000148137114729,1.56452675212e-05,1793243363451769600
+94,1.566666667,BASELINE,765,745,714,680,658.549364722,635,879,787,805.450635278,652,631,651.450635278,0.401028771613,-0.00549238518752,0.069858819569,0.999999988234,4.72484232492e-05,-0.00014510748222,1.55728294694e-05,1793243363468436224
+95,1.583333333,BASELINE,765,745,714,680,658.87381973,635,879,787,805,652,631,651.12618027,0.401030467945,-0.00549136042101,0.0698597674122,0.99999998853,4.76871585755e-05,-0.000142924485494,1.54761990338e-05,1793243363485102592
+96,1.600000000,BASELINE,765,745,714,680,658.300976125,635,879,787,805,652,631,651.699023875,0.401029637,-0.00549240794277,0.069859193847,0.999999988383,4.51753875598e-05,-0.000144771999168,1.53279447517e-05,1793243363501769728
+97,1.616666667,BASELINE,765,745,714,680,658,634.71921891,878.71921891,787,804.71921891,652,630.71921891,652,0.401028996618,-0.00549275226018,0.0698589016311,0.999999988277,4.426129767e-05,-0.000145794974932,1.52133713541e-05,1793243363518436352
+98,1.633333333,BASELINE,765,745,714,680,658,634.127593745,878.127593745,787,804.127593745,652,630.127593745,652,0.401028567203,-0.0054923180817,0.0698589208886,0.999999988224,4.51159513695e-05,-0.000145905130126,1.51360850325e-05,1793243363535102720
+99,1.650000000,BASELINE,765,745,714.451341513,680,658.451341513,634.451341513,878.451341513,787,804.451341513,652,630.451341513,652,0.401028947162,-0.0054931844254,0.0698589277245,0.999999988323,4.42815688441e-05,-0.000145459330448,1.53041248975e-05,1793243363551769344
+100,1.666666667,BASELINE,765.026899913,745,714.973100087,679.973100087,659,635,879,787,805,652,631,652,0.401029448778,-0.00549433407415,0.0698588972072,0.999999988444,4.30465750436e-05,-0.000144973867585,1.55220952239e-05,1793243363568436224
+101,1.683333333,BASELINE,765.604761841,745,714.395238159,679.395238159,659,635,879,787,805,652,631,652,0.401027883843,-0.00549396198158,0.069858171577,0.999999988176,4.31187265361e-05,-0.000146807092888,1.53810919107e-05,1793243363585102848
+102,1.700000000,BASELINE,765.81394758,745,714,679.18605242,659,635,879,787,805,652,631,652,0.401027336676,-0.00549381663853,0.0698580487349,0.999999988096,4.25922593852e-05,-0.000147518107495,1.52221492799e-05,1793243363601769472
+103,1.716666667,BASELINE,765.22523672,745,714,679.77476328,659,635,879,787,805,652,631,652,0.401028992184,-0.00549416203147,0.0698592304595,0.999999988427,4.07702495589e-05,-0.00014580041061,1.50243820306e-05,1793243363618436352
+104,1.733333333,BASELINE,765.357374223,745,714,680,659.357374223,634.642625777,879,787,805,652,631,652,0.401030145953,-0.0054936813214,0.0698602345455,0.999999988609,4.15900534017e-05,-0.000144310400868,1.50595373352e-05,1793243363635102976
+105,1.750000000,BASELINE,765.93620524,745,714,680,659.93620524,634.06379476,879,787,805,652,631,652,0.401030988807,-0.00549268869385,0.069861128553,0.999999988695,4.40469297837e-05,-0.000142961483578,1.52390295064e-05,1793243363651769600
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680,659,635,879,787,805,653,631,652,0.40102868159,-0.00549102588966,0.0698579913731,0.999999987973,4.80263360175e-05,-0.000146711375099,1.49484333272e-05,1793243363682754560
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.419025562,714,679.419025562,659,634.419025562,879.580974438,787,805,652.419025562,631,652,0.401028373038,-0.00549286461635,0.0698584556402,0.99999998815,4.4255142129e-05,-0.000146670572874,1.51147670622e-05,1793243363699420672
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.835479641,745,714.164520359,679.164520359,659,634,879.835479641,787,805,652,631,652,0.401028190092,-0.00549409714126,0.069858817808,0.999999988276,4.1717666119e-05,-0.000146543670765,1.52233283731e-05,1793243363716087040
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.245280151,745,714.754719849,679.754719849,659,634,879.245280151,787,805,652,631,652,0.401028332138,-0.00549376118321,0.0698589158049,0.999999988301,4.23723045918e-05,-0.000146193994257,1.51824096472e-05,1793243363732753408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.339173846,745,714.660826154,680,658.660826154,634.339173846,879,787,805,652,631,652,0.401028547873,-0.00549329894016,0.0698589973291,0.999999988301,4.31686541481e-05,-0.000145957593666,1.51628083728e-05,1793243363749419776
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.919542055,745,714.080457945,680,658.080457945,634.919542055,879,787,805,652,631,652,0.401028816013,-0.00549274689294,0.0698590671393,0.999999988285,4.40657776928e-05,-0.000145801746224,1.51583664336e-05,1793243363766086400
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.504576212,745,714.495423788,679.504576212,658.495423788,634.504576212,879,787,805.495423788,652,631,652,0.401028556072,-0.0054916749193,0.0698588905458,0.999999988138,4.62587103724e-05,-0.000146117377858,1.53180867025e-05,1793243363782753024
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.929822375,715,679.070177625,659,634,879,787,805.859644749,652,631,652,0.401028159139,-0.00549080291589,0.0698586724417,0.999999987979,4.82229120917e-05,-0.000146547987747,1.54885721774e-05,1793243363799419904
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.357969609,715,679.642030391,659,634,879,787,804.715939218,652,631,652,0.401027390472,-0.00549195862416,0.0698584410893,0.999999987929,4.70611196562e-05,-0.000147258082324,1.55471395384e-05,1793243363816086528
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.222686802,714.777313198,680,659,634.222686802,879,787.222686802,804.222686802,652,631,652,0.401026979865,-0.00549295257721,0.0698581860024,0.999999987587,4.58074113663e-05,-0.000149951303571,1.55897658066e-05,1793243363832752896
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.818077541,714.181922459,680,659,634.818077541,879,787.818077541,804.818077541,652,631,652,0.401027168532,-0.00549367580551,0.0698578911916,0.99999998673,4.43998664998e-05,-0.000155963621852,1.56057119599e-05,1793243363849419520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.40133333,745,714,680,659,635,879,787.59866667,805,652,631,652,0.401038359822,-0.00549416199458,0.0698634323067,0.999999986896,4.29471210823e-05,-0.000155272281041,1.5911658355e-05,1793243363866086144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.979249895,745,714,680,659,635,879,787.020750105,805,652,631,652,0.401054392172,-0.00549454388848,0.0698715411794,0.99999998751,4.14744876869e-05,-0.000151631388041,1.63452023794e-05,1793243363882753024
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.446482497,745,714,680,659,635,879,787,805,652,631,652,0.401091894079,-0.0054955061118,0.0698849174309,0.999999989391,4.37536713113e-05,-0.000137879947399,1.71251437949e-05,1793243363899419648
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787.128164176,805,652,631,652,0.401134737158,-0.00549644184106,0.0698980462117,0.999999991212,4.54578272573e-05,-0.000123275979248,1.76720553542e-05,1793243363916086528
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787.704612199,805,652,631,652,0.401193465538,-0.0054972093059,0.0699096232644,0.999999993127,4.4661967861e-05,-0.000107007127645,1.73587684879e-05,1793243363932753152
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.287078953,680,658.712921047,635,879,787.712921047,805,652,631,652,0.401259386501,-0.00549839123415,0.0699178479586,0.999999994316,4.3245023877e-05,-9.6004630282e-05,1.67641153321e-05,1793243363949419776
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.875871221,680,658.124128779,635,879,787.124128779,805,652,631,652,0.401332866697,-0.0055000087538,0.0699225494009,0.999999994928,4.11753344664e-05,-9.05369499581e-05,1.58737527603e-05,1793243363966086656
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.543271615,680,658,635,879,787.456728385,805.456728385,652,631,652,0.401415507658,-0.00550196781703,0.0699209885564,0.999999994601,3.86464784523e-05,-9.54452076613e-05,1.39750930199e-05,1793243363982753280
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.035181347,680,658.035181347,635,879,787.964818653,805.929637306,652,631,652,0.401502126672,-0.00550390119652,0.0699178157228,0.999999993972,3.61457780449e-05,-0.000103009095701,1.17591760568e-05,1793243363999419904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.60927729,680,658.60927729,635,879,787.39072271,804.78144542,652,631,652,0.401612195959,-0.00550404353289,0.0699155757516,0.999999993397,3.595530493e-05,-0.000108793533646,8.80945897904e-06,1793243364016086272
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.811599261,679.811599261,659,635,879,787,804.188400739,652,631,652,0.401732606888,-0.00550504884201,0.0699153344305,0.999999993207,3.53721297055e-05,-0.000110890392256,6.10244293546e-06,1793243364032752896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.221763523,679.221763523,659,635,879,787,804.778236477,652,631,652,0.401875053262,-0.0055078929309,0.0699193517347,0.99999999389,3.39522042262e-05,-0.000105129938014,3.9125626594e-06,1793243364049419776
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.361494056,679.361494056,659.361494056,634.638505944,879,787,805,652,631,652,0.402039768812,-0.00551010397082,0.0699225622931,0.99999999422,3.20207498769e-05,-0.000102637314454,7.94723051522e-07,1793243364066086656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.94078835,679.94078835,659.94078835,634.05921165,879,787,805,652,631,652,0.402217901558,-0.00551193359888,0.0699252867874,0.999999994339,2.97810991507e-05,-0.000102113558943,-2.8822124394e-06,1793243364082753536
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.519107854,745,714.480892146,680,659.480892146,634,879,787,805,652,631,652,0.402423487616,-0.00551398687108,0.0699304473183,0.999999995026,2.61986503143e-05,-9.59723336099e-05,-7.10713030843e-06,1793243364099420160
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.903834431,745,714,679.903834431,659,634,879,787,805,652,631,652,0.402636989644,-0.0055162163194,0.0699348689196,0.999999995582,2.19611841009e-05,-9.06674019093e-05,-1.15292038421e-05,1793243364116086528
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.332463272,745,714,679.332463272,659,634,879,787,805,652,631,652,0.402874163672,-0.00551919052773,0.0699342685715,0.999999995453,1.52423778529e-05,-9.26554093471e-05,-1.66172378912e-05,1793243364132753408
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.247330693,659,634.247330693,879,787.247330693,805,652,631,652,0.403126993441,-0.00552221283192,0.0699351987785,0.999999995519,8.70905661482e-06,-9.18114438448e-05,-2.13558491396e-05,1793243364149419776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.838845769,659,634.838845769,879,787.838845769,805,652,631,652,0.403401609661,-0.00552530206591,0.0699382588997,0.999999995882,2.43385596192e-06,-8.70265162576e-05,-2.5608204742e-05,1793243364166086400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.422038392,680,659,635,879,788,805,652,631,652,0.403720964761,-0.00552837075628,0.0699462528819,0.999999996544,-2.75124066962e-05,-7.32741823318e-05,-2.8049093538e-05,1793243364182753024
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.997902512,680,658.997902512,635,879.002097488,788,805.002097488,652,631,652,0.404057122719,-0.00553142303713,0.0699560598688,0.99999999579,-6.61060132467e-05,-5.62323231329e-05,-2.98029582517e-05,1793243364199419648
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.422507254,680,658.422507254,635,879.577492746,788,805.577492746,652,631,652,0.404406894376,-0.00553209283961,0.0699564251709,0.999999996863,-4.54991341643e-05,-5.78959859133e-05,-2.91798094484e-05,1793243364216086528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.155897879,745,714.155897879,680,658.155897879,635,879.844102121,787.844102121,805.844102121,652,631,651.844102121,0.404768602598,-0.0055330572241,0.0699590845371,0.999999997616,-2.99625103138e-05,-5.49166969086e-05,-2.92242754252e-05,1793243364232753152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.742620731,745,714.742620731,680,658.742620731,635,879.257379269,787.257379269,805.257379269,652,631,651.257379269,0.405163297551,-0.00553483568807,0.0699680835673,0.999999998347,-2.8437578718e-05,-3.91065751975e-05,-3.11137000396e-05,1793243364249419776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.674429767,745,714.674429767,680,659,634.674429767,879,787,805,652,631,651.325570233,0.405577871352,-0.00553437563507,0.069971569021,0.999999998492,-2.97210957179e-05,-3.25246371633e-05,-3.27844407731e-05,1793243364266086400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.094429046,745,714.094429046,680,659,634.094429046,879,787,805,652,631,651.905570954,0.406007980353,-0.00553216619945,0.0699707456604,0.999999998312,-3.31993922966e-05,-3.315444794e-05,-3.42842820383e-05,1793243364282753024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.483208586,680.483208586,659,634.483208586,879,787,805.483208586,652,631,652,0.406461096107,-0.00552455863432,0.0699549270427,0.999999996998,-3.00508323492e-05,-6.14406045251e-05,-3.64113543664e-05,1793243364299419648
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680.939695045,659,635,879.060304955,787,805.939695045,652,631,652,0.406924592928,-0.00551659875479,0.0699373702269,0.999999994704,-2.5204573099e-05,-9.20135987464e-05,-3.86072858275e-05,1793243364316086272
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680.36329764,659,635,879.63670236,787,805.36329764,652,631,652,0.407438641934,-0.00551460775493,0.0699298941512,0.999999994423,-1.68582805772e-05,-9.61295272621e-05,-4.03486293678e-05,1793243364332753152
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.782651047,659.217348953,634.782651047,879.782651047,787,805,652,631,652,0.407973122115,-0.00551445446369,0.0699303168128,0.999999995125,-1.48586184582e-05,-8.82783486483e-05,-4.16661622202e-05,1793243364349419776
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.19476037,659.80523963,634.19476037,879.19476037,787,805,652,631,652,0.408542433825,-0.00551743414245,0.0699442054319,0.999999997025,-2.36788450061e-05,-6.00253576511e-05,-4.22611722935e-05,1793243364366086400
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.387499329,659.612500671,634.387499329,879,787,805.387499329,652,631,652,0.409140319379,-0.00551961342645,0.0699539417732,0.999999998049,-2.57465674776e-05,-3.74868344628e-05,-4.28330674813e-05,1793243364382753280
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679.966969374,659.033030626,634.966969374,879,787,805.966969374,652,631,652,0.409752360659,-0.00552139618747,0.0699616210377,0.999999998601,-2.44690373556e-05,-1.77793117776e-05,-4.33935113237e-05,1793243364399420160
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.542155696,745,714.457844304,680,659,635,879.542155696,787,805.457844304,652,631,651.457844304,0.410375431845,-0.0055202676515,0.0699520165316,0.99999999824,-2.01575415305e-05,-3.38824877241e-05,-4.43290723423e-05,1793243364416086784
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.117407817,680.117407817,659,635,879.882592183,787,805.117407817,652,631,651.234815634,0.411008427262,-0.00551925266193,0.0699447306159,0.999999997706,-1.71301451423e-05,-4.75921588974e-05,-4.50602498469e-05,1793243364432753408
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.693929658,680.693929658,659,635,879.306070342,787,805.693929658,652,631,652.387859315,0.411677623276,-0.00551936983968,0.0699505967892,0.99999999785,-1.98412679633e-05,-4.34775223019e-05,-4.49035338606e-05,1793243364449420032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.722752033,745,715,680.722752033,659,635,879.277247967,787.277247967,806,652,631,652.722752033,0.41237504105,-0.0055217606869,0.0699697678679,0.999999998536,-2.67690999468e-05,-1.4985056153e-05,-4.45723427506e-05,1793243364466086400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.131742075,745,715,680.131742075,659,635,879.868257925,787.868257925,806,652,631,652.131742075,0.413104397525,-0.0055267246497,0.0700039961311,0.999999997446,-3.84689890889e-05,4.10958414008e-05,-4.40436977219e-05,1793243364482753024
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.549785133,680,659,635,879.549785133,787.549785133,805.549785133,652,631,652,0.413849476617,-0.00552931547438,0.070021157994,0.999999996138,-3.76336222628e-05,6.62629650949e-05,-4.37872856146e-05,1793243364499419648
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.029297924,680,659,635,879,787,805,652,631,652,0.41459677435,-0.00553093591687,0.0700300351413,0.999999995513,-3.38238523429e-05,7.68755223628e-05,-4.38258436454e-05,1793243364516086016
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.603232265,680,659,635,879,787,805,652,631,652,0.415301476234,-0.00552717203675,0.0699759088618,0.999999997823,-4.15649905533e-05,-1.82286282898e-05,-4.78961018154e-05,1793243364532752896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.181705404,634.818294596,879.181705404,787,805.181705404,652,631,652,0.416026851695,-0.00552380867359,0.0699328530662,0.999999993504,-4.56998654503e-05,-9.09516463873e-05,-5.12946458564e-05,1793243364549419776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.770343227,634.229656773,879.770343227,787,805.770343227,652,631,652,0.416798525947,-0.00552134227534,0.0699145898156,0.999999991267,-4.17584510683e-05,-0.000113551722837,-5.31888749709e-05,1793243364566086400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.353592678,745,715,680,659.646407322,634.353592678,880,787.353592678,806,652,631,652,0.417613189736,-0.00552086145049,0.0699278927685,0.999999993674,-4.00742446663e-05,-9.06201778639e-05,-5.32354584119e-05,1793243364582753024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.933394918,745,715,680,659.066605082,634.933394918,880,787.933394918,806,652,631,652,0.418455355885,-0.0055216508887,0.0699613900799,0.999999997106,-3.98340784916e-05,-3.85599515435e-05,-5.21000174384e-05,1793243364599419392
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.491369039,745,714.491369039,680,659.508630961,635,880,787.491369039,805.491369039,651.491369039,631,652,0.419308484908,-0.00552460760387,0.0699829746654,0.999999997651,-4.44214881305e-05,-7.02012575677e-06,-5.17227164558e-05,1793243364616086272
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.916556517,880,787,805,651.083443483,631,652,0.42016946941,-0.00552795433888,0.0700027758799,0.999999997182,-5.01602599694e-05,2.14484780324e-05,-5.15793846458e-05,1793243364632753152
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.340746427,880,787,805,651.659253573,631,652,0.421068410173,-0.00553194270792,0.0700211769752,0.999999995767,-5.89957664889e-05,4.75096831046e-05,-5.22360227058e-05,1793243364649419776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.241407967,714.241407967,680.241407967,660,634.241407967,879.758592033,787,805.241407967,652,631,652,0.421934977675,-0.00553444606015,0.0700227420602,0.999999995346,-6.52474258257e-05,4.72392770093e-05,-5.31034935797e-05,1793243364666086400
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.832759102,714.832759102,680.832759102,660,634.832759102,879.167240898,787,805.832759102,652,631,652,0.422754617275,-0.00553479674376,0.0699999017945,0.999999996193,-6.77535610551e-05,8.79876975032e-06,-5.42765861975e-05,1793243364682753024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.584877049,715,681,660,635,879,787,806,652,631,651.584877049,0.42354658894,-0.00553160035176,0.0699358776316,0.999999991995,-7.01684179612e-05,-8.68160772886e-05,-5.95763706512e-05,1793243364699419648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.006057222,715,681,660,635,879,787,806,652,631,651.006057222,0.424327650162,-0.00552700522907,0.0698556132809,0.999999974149,-7.25472798004e-05,-0.000204976676975,-6.65034470632e-05,1793243364716086272
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.566923201,745,714.433076799,681,660,634.433076799,879,787,806,652,631,651.566923201,0.425243223171,-0.00553053801143,0.0698753710023,0.999999981879,-6.78698068632e-05,-0.000165841051099,-6.42857804028e-05,1793243364732752896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.855840302,745,714,680.855840302,660,634,879.144159698,787,806,652,631,652,0.426164720736,-0.00553361827194,0.0699056604643,0.999999989202,-6.70560805397e-05,-0.000115221618012,-6.18278711771e-05,1793243364749419776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.265231947,745,714,680.265231947,660,634,879.734768053,787,806,652,631,652,0.42710016061,-0.00553503091758,0.0699652898706,0.999999994603,-7.84391076319e-05,-3.41895776146e-05,-5.89254549123e-05,1793243364766086400
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.319334453,714,680,659.680665547,634,880,787,806,652,631,652,0.428028780388,-0.00553706102925,0.0700073532859,0.999999994812,-8.07465990431e-05,2.43160208358e-05,-5.71372463804e-05,1793243364782753024
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.898975697,714,680,659.101024303,634,880,787,806,652,631,652,0.428951840693,-0.00553959447083,0.0700350977086,0.999999993478,-7.56561298913e-05,6.44590934745e-05,-5.62572891631e-05,1793243364799419648
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.475302139,745.524697861,714,680,659.475302139,634.475302139,879.524697861,787,806,651.524697861,631,652,0.429834548752,-0.00554440086931,0.0700376444046,0.999999992275,-8.19676105045e-05,7.42668470717e-05,-5.67018086311e-05,1793243364816086528
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.949203252,714.050796748,680,660,634.949203252,879.050796748,787,806,651.050796748,631,652,0.430698709554,-0.00554878687566,0.0700285933823,0.999999992186,-8.94132536647e-05,6.56312071887e-05,-5.76720150423e-05,1793243364832753152
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.375070648,714.624929352,680,660,634.375070648,879.624929352,787,806,651.624929352,631,652,0.431459536322,-0.00554389896257,0.0699548516851,0.999999992374,-8.37488010878e-05,-6.70507143201e-05,-6.11779075945e-05,1793243364849419776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.800307116,744.199692884,714.800307116,680.199692884,660,634,880,787,806,652,631,652,0.432258215038,-0.00553967090892,0.0699016519147,0.999999982365,-7.9573625973e-05,-0.000157574290129,-6.41031365553e-05,1793243364866086400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.224354694,744.775645306,714.224354694,680.775645306,660,634,880,787,806,652,631,652,0.43312821419,-0.00553668615563,0.0698871570458,0.999999980545,-7.8204535384e-05,-0.000168663514559,-6.59342866818e-05,1793243364882753024
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.360745718,681,660.360745718,634.360745718,880,787,806,651.639254282,631,652,0.434018030878,-0.00553828025811,0.0699227982705,0.999999989258,-8.20798588917e-05,-0.000102616387,-6.49385727628e-05,1793243364899419904
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.95168343,681,660.95168343,634.95168343,880,787,806,651.04831657,631,652,0.434920493093,-0.00554279613056,0.0699904313586,0.999999994002,-8.93016444585e-05,1.26514811731e-05,-6.21390348971e-05,1793243364916086528
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.531119547,745,714.468880453,681,660.468880453,634.468880453,880,787,805.468880453,651.531119547,631,652,0.435761357912,-0.00554662942038,0.0700160923637,0.999999992925,-8.96761462404e-05,5.02433281189e-05,-5.98642080241e-05,1793243364932753152
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.891090886,745,714,681,660,634,880,787,805.108909114,651.891090886,631,652,0.43658901139,-0.00554977494121,0.0700309310597,0.999999991582,-9.0154511406e-05,7.26725090241e-05,-5.85382538252e-05,1793243364949419776
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.315965762,745,714,681,660,634,880,787,805.684034238,651.315965762,631,652,0.437383589265,-0.00555023645604,0.0700154404583,0.999999991958,-9.36874939678e-05,5.98016605832e-05,-6.10742096074e-05,1793243364966086400
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.265277405,660.265277405,634,880,787,806,651,631.265277405,651.734722595,0.438148337218,-0.00555024286703,0.0699877793771,0.999999993268,-9.3422300125e-05,2.70055690248e-05,-6.33059807647e-05,1793243364982753024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.853979614,660.853979614,634,880,787,806,651,631.853979614,651.146020386,0.438876716632,-0.0055496944178,0.0699452801126,0.999999993506,-8.85263892982e-05,-3.00832723518e-05,-6.51668913169e-05,1793243364999419648
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.563135889,660.563135889,634,880,787,806,651,631.563135889,651.436864111,0.439562099439,-0.00554762748917,0.0698989464203,0.999999988072,-8.67461884205e-05,-0.000109347999737,-6.61441292051e-05,1793243365016086272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.017641396,745,714,681.017641396,660,634,879.982358604,787,806,651.017641396,631,652,0.440235779321,-0.00554516783822,0.0698537556882,0.999999975721,-8.61616120865e-05,-0.000191488049741,-6.68311935981e-05,1793243365032752896
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.592472565,745,714,681.592472565,660,634,879.407527435,787,806,651.592472565,631,652,0.440987776211,-0.00554612416128,0.0698846123523,0.999999984689,-9.08798876997e-05,-0.000133410285949,-6.75596277494e-05,1793243365049419776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.829277957,745,714,681.829277957,660.170722043,634,879.170722043,787,806,651.829277957,631,652,0.441740619845,-0.00554836769462,0.0699270742325,0.999999991303,-9.52200698442e-05,-6.16572473125e-05,-6.72653846553e-05,1793243365066086400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.242701861,745,714,681.242701861,660.757298139,634,879.757298139,787,806,651.242701861,631,652,0.442495526178,-0.00555374668507,0.0699978047367,0.999999992114,-9.86392722626e-05,4.340678272e-05,-6.44800487433e-05,1793243365082753024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.658829817,634,880,787,806.341170183,651.341170183,631,651.658829817,0.443181655566,-0.00555678384823,0.0700278225337,0.999999989938,-9.73076817578e-05,8.24497988971e-05,-6.21076495581e-05,1793243365099419648
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.076866293,634,880,787,806.923133707,651.923133707,631,651.076866293,0.443819243062,-0.00555816818076,0.0700291058434,0.999999991104,-9.26230456155e-05,7.48960624006e-05,-6.0026696095e-05,1793243365116086272
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.499017803,660,634.499017803,880.499017803,787,807,652,631,651.499017803,0.444383316165,-0.00555848035091,0.069994104731,0.999999993655,-9.35016524646e-05,1.41625741243e-05,-6.12111264157e-05,1793243365132753152
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.925927003,880.925927003,787,807,651.925927003,631,651.925927003,0.44492976045,-0.00555820080992,0.0699527607099,0.999999992053,-9.44864947592e-05,-5.49639206341e-05,-6.28096528433e-05,1793243365149420032
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.350219838,880.350219838,787,807,651.350219838,631,651.350219838,0.44543258315,-0.00555501907203,0.0699058560505,0.999999985917,-9.0457330953e-05,-0.000126122395811,-6.38472167517e-05,1793243365166086656
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.230623528,745,714,681.769376472,659.769376472,633.769376472,880,787,807,651.230623528,631,651.230623528,0.445932157663,-0.00555373263454,0.0698671479839,0.999999977321,-8.94298107835e-05,-0.00018189624911,-6.5378008959e-05,1793243365182753024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.819444225,745,714,681.180555775,659.180555775,633.180555775,880,787,807,651.819444225,631,651.819444225,0.446426687149,-0.00555538991802,0.0698411706105,0.99999997053,-9.30643494732e-05,-0.000213775188318,-6.76748680261e-05,1793243365199419904
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681.402161474,659.402161474,633.402161474,880.402161474,786.597838526,807,652,631,652,0.446883980518,-0.00555607080527,0.0698200155306,0.999999961086,-9.72974962782e-05,-0.000252313352871,-6.85440349793e-05,1793243365216086272
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,681.982179514,659.982179514,633.982179514,880.982179514,786.017820486,807,652,631,652,0.447324806198,-0.00555631987985,0.0698009931154,0.999999949295,-0.000101795378695,-0.000293796573118,-6.87818028921e-05,1793243365232752896
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.278005019,745,714,683,659,633,880,786,806.278005019,651.721994981,630.278005019,652,0.448519198079,-0.00555940391277,0.0697545571546,0.99999992334,-0.000102707633141,-0.000371529686282,-6.88246951325e-05,1793243365282753024
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.305438228,745,714,682.694561772,658.694561772,632.694561772,880,786,806,651.694561772,630,651.694561772,0.448901298763,-0.00556115218735,0.0697556236388,0.999999923829,-0.000106222901943,-0.00036915991005,-6.91406020439e-05,1793243365299419648
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.885083993,745,714,682.114916007,658.114916007,632.114916007,880,786,806,651.114916007,630,651.114916007,0.449280793126,-0.00556311972481,0.0697614170942,0.999999927554,-0.00010678158317,-0.000358871510071,-6.8564838364e-05,1793243365316086016
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.536694402,745,714,681.536694402,658.463305598,632,880.463305598,786,806.463305598,651,630,651.463305598,0.449603435678,-0.00556621339846,0.0697573326398,0.999999923683,-0.000110604607748,-0.00036840201233,-6.84080440527e-05,1793243365332752896
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.040989351,745,714,681.081978703,658.959010649,632,881,786,807,651,630.040989351,652,0.449908137301,-0.0055693271727,0.0697498816544,0.999999917436,-0.000114827464552,-0.000383757758341,-6.83597476988e-05,1793243365349419520
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.616252797,745,714,682.232505594,658.383747203,632,881,786,807,651,630.616252797,652,0.45016222741,-0.00556907330388,0.0697303871921,0.999999906666,-0.000113740630824,-0.000411164212846,-6.83752857524e-05,1793243365366086144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.804077324,745,714,682.804077324,658,632,880.804077324,786,807,651,631,652,0.450399002502,-0.00556833595149,0.0697080375412,0.999999892593,-0.000112139813473,-0.000444455091744,-6.85394430907e-05,1793243365382752768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.215578205,745,714,682.215578205,658,632,880.215578205,786,807,651,631,652,0.450601082917,-0.00556662982785,0.0696799668612,0.9999998718,-0.000109509111044,-0.00048953677401,-6.90013935677e-05,1793243365399419648
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.367143247,745.367143247,714,682.367143247,658,632,880,786,807,651,630.632856753,651.632856753,0.450801642674,-0.00556654230899,0.0696578927223,0.999999854866,-0.000110658454062,-0.000522650738125,-6.97098568996e-05,1793243365416086272
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682,656.808229488,631,880,785,807,651.191770512,630.808229488,651.808229488,0.452305660111,-0.0055678784623,0.0695890889438,0.99999980238,-0.000111491657099,-0.000614822070032,-6.93123946215e-05,1793243365716087808
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631,880,784.608666651,806.608666651,651.391333349,630.608666651,652,0.452313414526,-0.00556769441978,0.0695890409164,0.999999802459,-0.000111708025841,-0.000614662636959,-6.92320602153e-05,1793243365732754432
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631,880,784.028566708,806.028566708,651.971433292,630.028566708,652,0.452319135693,-0.00556839560213,0.0695887975413,0.999999802039,-0.00011324851243,-0.000615078970655,-6.90967623006e-05,1793243365749420800
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682.548333399,657,631,879.451666601,784,806,652,630.548333399,652,0.452316931778,-0.0055682208857,0.0695847336975,0.99999979785,-0.000113040213562,-0.000621893457663,-6.90622661092e-05,1793243365766087424
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.127025077,714,683,657,631,879.127025077,784.127025077,806.127025077,652,631,652,0.452315104937,-0.00556804459512,0.0695811924937,0.99999979431,-0.000112732927768,-0.000627622884134,-6.90038454644e-05,1793243365782754048
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.712785188,714,683,657,631,879.712785188,784.712785188,806.712785188,652,631,652,0.452316122248,-0.00556802645783,0.0695802533638,0.999999793973,-0.000112395276031,-0.00062823696638,-6.88401695902e-05,1793243365799420672
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880,785,807,652,630.704581321,652,0.452318283752,-0.00556720105851,0.0695811127492,0.999999794763,-0.000111270655503,-0.000627204721691,-6.8606552042e-05,1793243365816087296
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880,785,807,652,630.12495572,652,0.452321546025,-0.00556559903445,0.0695837023924,0.999999796629,-0.000109388933254,-0.000624588631678,-6.83056472325e-05,1793243365832753920
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880.453801913,785,806.546198087,652,630,652,0.45232020665,-0.00556620808009,0.06958179809,0.99999979497,-0.000109389703838,-0.00062725234571,-6.81741685006e-05,1793243365849420800
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.967879564,714,683,657,631,880.967879564,784.967879564,806,652,630,652,0.452317819084,-0.00556736504612,0.0695788487322,0.99999979248,-0.000109843678181,-0.000631141369616,-6.80770966301e-05,1793243365866087680
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.392949863,714,683,657,631,880.392949863,784.392949863,806,652,630,652,0.452319089649,-0.00556751242156,0.0695791102789,0.999999792523,-0.000109213456017,-0.000631215834331,-6.77745971715e-05,1793243365882754048
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.186022419,745,714,683,657,631,880.186022419,784,806.186022419,652,630,652,0.452320350588,-0.00556690227886,0.0695792388651,0.999999792662,-0.000108456120685,-0.000631142010126,-6.76296921451e-05,1793243365899420672
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.773723829,745,714,683,657,631,880.773723829,784,806.773723829,652,630,652,0.452321590742,-0.00556465642407,0.0695790803491,0.999999793008,-0.000107424309396,-0.000630747985033,-6.78250814549e-05,1793243365916087552
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.64368236,745.35631764,714,683,657,631,880.64368236,784.35631764,807,652,630.35631764,652,0.452321495423,-0.00556386283591,0.0695788061394,0.999999793023,-0.000106234027834,-0.000630922281444,-6.78589173272e-05,1793243365932754176
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.064286267,745.935713733,714,683,657,631,880.064286267,784.935713733,807,652,630.935713733,652,0.452320564009,-0.00556397846296,0.0695784594977,0.999999792829,-0.000104944533419,-0.00063145238479,-6.77916100348e-05,1793243365949421056
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.487369762,714,682.487369762,656.487369762,630.487369762,880,785,807,651.487369762,630.487369762,652,0.452319861974,-0.00556518837127,0.0695772481868,0.999999790994,-0.000108463207609,-0.000633744950364,-6.79327914464e-05,1793243365966087680
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.088591458,656.088591458,630.088591458,880,785,806.911408542,651,630.088591458,652,0.452319558875,-0.00556612655407,0.0695764244921,0.999999789553,-0.000111481315122,-0.000635481078213,-6.80440088903e-05,1793243365982754304
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.661025274,656.661025274,630.661025274,880,785,806.338974726,651,630.661025274,652,0.452321278224,-0.00556483484365,0.0695783071232,0.999999791483,-0.000108488321685,-0.00063297692336,-6.78494718632e-05,1793243365999420928
+246,4.100000000,HOLD_POSE2,765,746,715,682,657,631,880,785,806,651,630,652,0.452321085318,-0.00556262726722,0.0695770771438,0.999999790527,-0.000108909880658,-0.000634384190093,-6.81234407736e-05,1793243366037487360
+247,4.116666667,HOLD_POSE2,765,745.42021674,713.840433481,682,656.42021674,631,880,784.42021674,806,651,630.57978326,652,0.452322353784,-0.00556410975549,0.0695782410211,0.999999791425,-0.000109873595948,-0.000632815481598,-6.79939441746e-05,1793243366054153728
+248,4.133333333,HOLD_POSE2,765,745,713.158387279,682.158387279,656.158387279,631,880.158387279,784.158387279,806,651.158387279,630.841612721,652,0.452322997172,-0.00556467262808,0.0695786484149,0.999999791918,-0.000109428933695,-0.000632131010996,-6.78162837549e-05,1793243366070820608
+249,4.150000000,HOLD_POSE2,765,745,713.733885906,682.733885906,656.733885906,631,880.733885906,784.733885906,806,651.733885906,630.266114094,652,0.452321994425,-0.00556281370211,0.0695770636166,0.999999791344,-0.000105275323173,-0.00063377517189,-6.75117843569e-05,1793243366087487232
+250,4.166666667,HOLD_POSE2,765,745,714.309537633,683,657,631,880.690462367,784.690462367,806.309537633,651.690462367,630.309537633,652,0.452322033578,-0.00556240325599,0.0695766838166,0.999999791267,-0.000104584207381,-0.000634007835548,-6.75485291966e-05,1793243366104153856
+251,4.183333333,HOLD_POSE2,765,745,714.885321012,683,657,631,880.114678988,784.114678988,806.885321012,651.114678988,630.885321012,652,0.452322968911,-0.00556323870566,0.069577340484,0.999999791624,-0.000106871322569,-0.000633026413668,-6.78787919241e-05,1793243366120820480
+252,4.200000000,HOLD_POSE2,765,745,714.526062569,683,657,631,880,784.473937431,806.526062569,651.473937431,630.526062569,652,0.452321607511,-0.00556233907587,0.0695765483348,0.999999790487,-0.000106147479447,-0.000634931996736,-6.79710646363e-05,1793243366137487104
+253,4.216666667,HOLD_POSE2,765.064155793,745,714.064155793,683,657,630.935844207,880.064155793,785,806,652,630.064155793,652,0.452320073996,-0.00556124634013,0.0695755814815,0.999999789219,-0.000104949594726,-0.000637125857425,-6.79639717414e-05,1793243366154153728
+254,4.233333333,HOLD_POSE2,765.641654227,745,714.641654227,683,657,630.358345773,880.641654227,785,806,652,630.641654227,652,0.452321733831,-0.00556206129851,0.0695760998986,0.999999789928,-0.00010595051373,-0.000635881192785,-6.76354082318e-05,1793243366170820608
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+256,4.266666667,HOLD_POSE2,765.208264356,745.791735644,714.208264356,683,657,630.791735644,881,785,806,652,630.208264356,652,0.452321164205,-0.00556347701963,0.0695760754549,0.999999789595,-0.000104931536365,-0.000636625074682,-6.71434929881e-05,1793243366204153856
+257,4.283333333,HOLD_POSE2,765,746,714,683,656.624010395,631,880.624010395,785,806,651.624010395,630.375989605,652,0.452321305013,-0.00556492504534,0.0695764838068,0.999999789449,-0.000106924654984,-0.000636531536629,-6.70534972979e-05,1793243366220820224
+258,4.300000000,HOLD_POSE2,765,746,714,683,656.033879407,631,880.033879407,785,806,651.033879407,630.966120593,652,0.452322186425,-0.00556682206247,0.0695772676359,0.999999789528,-0.000110730058597,-0.000635758734402,-6.70311656088e-05,1793243366237486592
+259,4.316666667,HOLD_POSE2,765,746,714,683,656,631,880,784.456258737,806,651.543741263,630.456258737,652,0.452323121914,-0.00556513627139,0.0695773779696,0.999999790228,-0.000108757135325,-0.000634998150638,-6.70311923055e-05,1793243366254152960
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+261,4.350000000,HOLD_POSE2,765.701278599,746,714,682.298721401,656,631,880,784,806,652,630,652,0.452321836189,-0.0055628696708,0.0695758348915,0.999999789228,-0.000107706942437,-0.000636685450993,-6.76409458892e-05,1793243366287486464
+262,4.366666667,HOLD_POSE2,765.723532249,745.723532249,714,682,656,631,880.276467751,784,806.276467751,652,630.276467751,652,0.452321280884,-0.00556240029996,0.0695751328065,0.999999788736,-0.000107010121753,-0.00063756525854,-6.77313035775e-05,1793243366304153344
+263,4.383333333,HOLD_POSE2,765.153471248,745.153471248,714,682,656,631,880.846528752,784,806.846528752,652,630.846528752,652,0.45232191732,-0.00556210057822,0.0695750886139,0.99999978911,-0.000104880651214,-0.000637369526335,-6.73830220682e-05,1793243366320820224
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,631,880,784,807,651,631,652,0.45232256058,-0.00556451556777,0.0695746638931,0.999999789328,-0.000103742179339,-0.000637295874181,-6.66067666574e-05,1793243366353292288
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745.421937513,714,683,657,630.421937513,880,784.578062487,806.421937513,651.578062487,630.421937513,652,0.452321497712,-0.00556401698581,0.0695742971493,0.999999788564,-0.000104884718626,-0.000638256833047,-6.70753727713e-05,1793243366369958912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.155386578,714,683,657,630.155386578,880,784.844613422,806,651.844613422,630,652,0.452321247063,-0.00556316496404,0.0695745399417,0.999999788507,-0.000105004852072,-0.000638294556204,-6.73742795344e-05,1793243366386625792
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.730715231,714,683,657,630.730715231,880,784.269284769,806,651.269284769,630,652,0.452323191485,-0.00556135774869,0.0695764300441,0.999999790358,-0.000102361869173,-0.000635837176546,-6.72145631488e-05,1793243366403292416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.687220808,714,683,657,630.687220808,880,784,806,651.312779192,630.312779192,652,0.452323417038,-0.0055615368075,0.0695768278218,0.999999790356,-0.000102634319763,-0.000635834067884,-6.68529740048e-05,1793243366419959296
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.099230556,714,683,657,630.099230556,880,784,806,651.900769444,630.900769444,652,0.452322130176,-0.00556346356778,0.0695759125189,0.999999788723,-0.000105472029186,-0.000637990446112,-6.63137591937e-05,1793243366436626432
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.518134792,683,656.518134792,630,880,784,806.481865208,652,630.518134792,651.518134792,0.45232181909,-0.005565460373,0.0695749679245,0.999999788002,-0.000108683078573,-0.000638571931634,-6.6399385386e-05,1793243366453292800
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.061190056,745,713.061190056,683,656,630,880.061190056,784,806.938809944,652,630.061190056,651.061190056,0.452321272161,-0.00556695161288,0.0695739691548,0.999999787376,-0.000111336581521,-0.000639069933157,-6.66463037751e-05,1793243366469959424
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.637391024,745,713.637391024,683,656,630,880.637391024,784,806.362608976,652,630.637391024,651.637391024,0.452317072872,-0.00556406803109,0.0695725644679,0.999999786042,-0.000108659496133,-0.000641556426958,-6.71830361229e-05,1793243366486626048
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.786506613,745,714,683,656,630.213493387,880.786506613,784,806.213493387,652,631,652,0.452308005981,-0.00556235342858,0.0695685651178,0.999999781997,-0.000107110012431,-0.00064805853835,-6.74808841236e-05,1793243366503292416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.210571704,745,714,683,656,630.789428296,880.210571704,784,806.789428296,652,631,652,0.452290675505,-0.0055626233685,0.0695601608834,0.999999773245,-0.000107474825604,-0.000661377846729,-6.73731850476e-05,1793243366519958784
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.964971246,631,880,784.964971246,806.035028754,652,631,652,0.452209267247,-0.00556007511519,0.0695271232171,0.999999734867,-0.000103867574316,-0.000717521943813,-6.81176081963e-05,1793243366553292032
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.455260848,631,880.544739152,785,806,651.455260848,630.455260848,652,0.452143383358,-0.00555786205938,0.0695090604309,0.999999713626,-0.000102939236896,-0.000746620094945,-6.86213637769e-05,1793243366569959168
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.12089,631,880.87911,785,806.12089,651,630,651.87911,0.452074785727,-0.00555561947704,0.0694934375854,0.999999694854,-0.000101885145505,-0.000771471176096,-6.88708322596e-05,1793243366586626304
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.686213202,631,880.313786798,785,806.686213202,651,630,651.313786798,0.452000837432,-0.00555340596224,0.069486721887,0.999999687506,-0.000100053310637,-0.000781235879498,-6.81798462099e-05,1793243366603292416
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631,880,785.822925836,807,651.177074164,630.177074164,652,0.451247674913,-0.00553725168571,0.0694435784035,0.999999620572,-8.43204642568e-05,-0.000865088458427,-5.80309345634e-05,1793243366703291904
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631.334305331,880,785,806.665694669,651.665694669,631,652,0.450870851972,-0.0055264060606,0.0694362720288,0.999999609759,-7.29008737497e-05,-0.000878882727883,-5.22770130109e-05,1793243366736625664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631.928792071,880,785,806.071207929,651.071207929,631,652,0.45067132723,-0.0055227189649,0.0694454311411,0.999999620549,-6.97562982437e-05,-0.000867004154672,-4.83620451746e-05,1793243366753292544
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657.509933135,632,880,785,806,651.509933135,631,652,0.450435791489,-0.0055164183369,0.0694596005726,0.999999636006,-5.90850213048e-05,-0.000850079671322,-4.3140340208e-05,1793243366769959168
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.088367909,714,683,657.911632091,631.911632091,880,785,806,651.911632091,631,652,0.450192147237,-0.00550993388501,0.0694751322654,0.999999652724,-4.80872627604e-05,-0.000831153977527,-3.77069462265e-05,1793243366786626048
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.758459209,714,683,657,631.241540791,880,785,806.241540791,651.241540791,631,652,0.449659204149,-0.00549780018814,0.0695149277029,0.999999698307,-3.10654635204e-05,-0.000775714744339,-2.62201185369e-05,1793243366819958784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.170106524,714,683,657,631.829893476,880,785,806.829893476,651.829893476,631,652,0.449372549012,-0.0054896976289,0.0695372646247,0.999999724448,-1.7350586733e-05,-0.0007418918981,-1.9996355046e-05,1793243366836625920
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.007816522,657,632,880,785.992183478,806.007816522,651.007816522,631,652,0.448700786521,-0.00547555582763,0.0695867877523,0.999999780563,5.87055490847e-06,-0.00066241776793,-6.5589064697e-06,1793243366869959168
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.50067019,659,634,880,787,806,651.50067019,631,652,0.43213806255,-0.00541939037988,0.0698444294732,0.999999960365,0.00012132639143,-0.000252477568615,2.83617622292e-05,1793243367286625792
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.317315167,879,787,805.317315167,651.317315167,631,652,0.408438976145,-0.00538199821323,0.0697765516589,0.999999914437,0.000186354205836,-0.000368354041136,2.67091281479e-05,1793243367769959424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.904934191,879,787,805.904934191,651.904934191,631,652,0.407863096527,-0.00538041588998,0.0697729949628,0.999999915967,0.000189183283114,-0.000362765601418,2.6014138254e-05,1793243367786626048
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.513787354,879,787,805.513787354,652,631,652,0.407335446095,-0.00537869836617,0.06978884832,0.999999922626,0.000193122073908,-0.000341679538861,2.65749667768e-05,1793243367803292672
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.934187528,634,879.065812472,787,805,652,630.934187528,652,0.406819771984,-0.00537671562558,0.0698065664105,0.999999928864,0.000196985304631,-0.000320499276426,2.73671894743e-05,1793243367819959296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.358114322,634,879.641885678,787,805,652,630.358114322,652,0.406324781919,-0.00537287890979,0.0698096965499,0.999999928113,0.000198602096186,-0.000321779698913,2.80742309906e-05,1793243367836626176
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.216600509,745,714,680,658.216600509,634,879.783399491,787,805,652,630.216600509,651.783399491,0.405851437635,-0.0053705301398,0.0698099411158,0.99999992658,0.000200381110188,-0.00032541729462,2.81186697965e-05,1793243367853292800
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.789083422,745,714,680,658.789083422,634,879.210916578,787,805,652,630.789083422,651.210916578,0.405413658192,-0.00537062611848,0.0698054445809,0.999999923725,0.000202426661323,-0.00033292781033,2.70744285147e-05,1793243367869959168
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.624185647,745,714,679.624185647,659,634.375814353,879,786.624185647,805,652,631,651.375814353,0.405009299333,-0.00536957102237,0.0698138452511,0.999999928225,0.00020517877751,-0.000317377549338,2.68788441307e-05,1793243367886625536
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.547998911,679,659,635,879,786.547998911,805,652,631,652,0.404285914798,-0.00536810384028,0.0698448846619,0.999999945315,0.000203941193468,-0.000258906792244,2.7303130463e-05,1793243367919959040
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.876249877,679,659,635,879,787,805,652,631,652,0.403951392745,-0.00536852942677,0.0698549324873,0.999999951041,0.000200397278543,-0.000238782624658,2.72274027064e-05,1793243367936626176
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.27989216,745,714,679,659,635,879,787,805,652,631,651.72010784,0.403312304616,-0.005368723497,0.0698373770171,0.999999942511,0.000204691847616,-0.000269123549128,2.5520365986e-05,1793243367969959424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.870941926,745,714,679,659,635,879,787,805,652,631,651.129058074,0.403022126348,-0.00536701164741,0.0698268649531,0.999999936011,0.000210550883883,-0.000288184410247,2.44063942967e-05,1793243367986625536
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.453607733,659,634.546392267,879,787,805,652,631,651.453607733,0.402757278772,-0.00536477395536,0.0698203098708,0.999999932569,0.000210251705119,-0.000300178397023,2.34278552044e-05,1793243368003292416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.966258972,745,714,679.966258972,658.966258972,634.033741028,879,787,805,652,631,652,0.402502212651,-0.00536244891032,0.0698148042584,0.999999929928,0.000208334513653,-0.000310212186631,2.25569646167e-05,1793243368019959296
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.761644213,635,879,787,805,652,631,652,0.401923077366,-0.00536258794188,0.0698068741687,0.999999927243,0.00020201408209,-0.000322736070511,2.33735969888e-05,1793243368069958912
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.345023154,659,635,879.345023154,787,804.654976846,652,631,651.654976846,0.401772727106,-0.00536243184469,0.0698072512735,0.999999927223,0.000203995131223,-0.000321562127507,2.31723077764e-05,1793243368086625792
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.48617198,714,680,658.48617198,634.48617198,879.48617198,787,804.51382802,652,631,651.51382802,0.401520018006,-0.00536035574645,0.0698058331442,0.999999922886,0.000225401475479,-0.000320864697087,2.16484760916e-05,1793243368119959552
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.091385894,714,680,658.182771788,634.091385894,879,786.908614106,805,652,631,652.091385894,0.40141059997,-0.00536023191172,0.0698052265695,0.999999920522,0.000236982225134,-0.000319957880944,2.05586247838e-05,1793243368136626432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.667197058,714,680,659.334394116,634.667197058,879,786.332802942,805,652,631,652.667197058,0.401323026969,-0.00536146717794,0.06980422261,0.999999922672,0.000225537215657,-0.00032159598092,1.91082349076e-05,1793243368153292800
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.752647364,714.247352636,680,659.752647364,634.752647364,879,786.247352636,805,652,631,652.752647364,0.401245492635,-0.00536184727383,0.0698034000224,0.999999923832,0.000218860584144,-0.00032265971772,1.80830274702e-05,1793243368169959424
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.416845616,714.583154384,680,659,634,879,787,805.416845616,652,630.583154384,652,0.401131228156,-0.00536142937132,0.0698047383076,0.999999925368,0.000216990964942,-0.000319151783016,1.79384047634e-05,1793243368203292672
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.999154592,714.000845408,680,659,634,879,787,805.999154592,652,630.000845408,652,0.401086032425,-0.00536226467498,0.0698076378553,0.999999927572,0.000214641617107,-0.000313754248254,1.85309121505e-05,1793243368219959296
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.574387307,680,659,634.574387307,879,787,805.425612693,652,630.574387307,651.425612693,0.401058867112,-0.00536351399632,0.0698124527663,0.999999930632,0.000210444046594,-0.000306766287191,1.85422016344e-05,1793243368236625664
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.276560504,714.276560504,679.276560504,659,635,878.276560504,786.276560504,805,652,631,651.723439496,0.401016217257,-0.00536406114673,0.0698187549441,0.999999934074,0.000208571931135,-0.000296637929077,1.88715601065e-05,1793243368269959424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.305718142,714,679.305718142,659,634.694281858,878.305718142,786.305718142,805.305718142,652,631,652,0.401002264759,-0.00536418151901,0.0698206897692,0.999999934885,0.000209397643121,-0.00029329114787,1.90303119598e-05,1793243368286626048
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.895582417,714,679.895582417,659,634.104417583,878.895582417,786.895582417,805.895582417,652,631,652,0.400991991365,-0.00536469234534,0.0698224037113,0.999999935559,0.000210079358213,-0.000290489405842,1.90993803123e-05,1793243368303292416
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.47674189,680,659,634.47674189,879,787,805.52325811,652,631,652,0.400985964309,-0.00536480064735,0.0698237989188,0.999999936297,0.000209535809392,-0.000288337781983,1.90071710628e-05,1793243368319959040
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.055847338,745,714.944152662,679.944152662,658.944152662,634.944152662,879,786.944152662,805,652,631,652,0.400981076791,-0.00536483094552,0.069825052753,0.999999937016,0.000208785560746,-0.000286391949564,1.8879086529e-05,1793243368336625664
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.633256634,745,714.366743366,679.366743366,658.366743366,634.366743366,879,786.366743366,805,652,631,652,0.400978301461,-0.00536494134938,0.069825626565,0.999999937444,0.000208566231843,-0.000285062061842,1.87399338484e-05,1793243368353292032
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.790938102,745,714,679.209061898,658.209061898,634.209061898,879,786.209061898,805.209061898,652,631,652,0.400975924516,-0.00536534090517,0.0698259165896,0.999999937834,0.000207926986757,-0.000284159026118,1.87441599002e-05,1793243368369958656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.217925295,745,714,679.782074705,658.782074705,634.782074705,879,786.782074705,805.782074705,652,631,652,0.400974241109,-0.00536624383873,0.0698257125754,0.999999938159,0.00020655671954,-0.000283999087017,1.89979906025e-05,1793243368386625536
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.633334319,659,634.633334319,878.633334319,787,805.633334319,652,631,652,0.400973700545,-0.00536679863512,0.0698259579624,0.999999938256,0.000206753613489,-0.00028351322811,1.90059644107e-05,1793243368403292416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.04163758,659,634.04163758,878.04163758,787,805.04163758,652,631,652,0.40097386137,-0.00536713977177,0.069826479157,0.999999938213,0.000207912309897,-0.00028282734482,1.88630502488e-05,1793243368419959296
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.539284549,658.460715451,634.539284549,878.539284549,787,805,652,631,652,0.400974422908,-0.00536608370811,0.069827861651,0.999999938515,0.000208557571968,-0.000281271867877,1.89674835676e-05,1793243368436625920
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.118052292,679.881947708,658.118052292,635,879,787,805,652,631,652,0.400974600951,-0.00536565172785,0.0698290249813,0.999999938901,0.00020831810248,-0.00028006800971,1.90663077728e-05,1793243368453292288
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.272292708,659,634.727707292,879,787,805.272292708,652,631,652,0.400972669634,-0.0053683700199,0.0698292759924,0.999999939673,0.000204842557396,-0.000279882885267,1.89433772034e-05,1793243368486625536
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.861112719,659,634.138887281,879,787,805.861112719,652,631,652,0.400973210865,-0.00536632026986,0.0698295992963,0.999999939312,0.000208975868123,-0.00027812930392,1.86611598294e-05,1793243368503292160
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.557447457,679.557447457,659,634.442552543,879,787,805.557447457,652,631,652,0.40097296607,-0.00536733117915,0.069829634455,0.999999939582,0.000207385344108,-0.000278346182021,1.87374128231e-05,1793243368519958784
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.021626199,659,634.978373801,879,787,805,652,631,651.978373801,0.400972537022,-0.00536921778961,0.0698295881955,0.999999940024,0.000204188431234,-0.000279108184828,1.89169586378e-05,1793243368536625664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.598441125,659,634.401558875,879,787,805,652,631,651.401558875,0.400973606768,-0.00536933105339,0.0698297351851,0.999999940075,0.000205111118333,-0.000278249623748,1.890752147e-05,1793243368553292544
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.825062065,714.174937935,679.825062065,659,634.174937935,878.825062065,787,805,652,631,651.174937935,0.400974185318,-0.0053692210188,0.0698298576445,0.999999940057,0.000206153248677,-0.000277542026441,1.8878640721e-05,1793243368569959424
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.923740115,714.076259885,679.923740115,659,635,878.923740115,787,805,652,631,652,0.400970810749,-0.00536646408233,0.0698287326234,0.999999939835,0.000205194089081,-0.000279106849582,1.80140182062e-05,1793243368619959296
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,652,0.400971077023,-0.0053666463089,0.0698286333762,0.999999939457,0.000207294892234,-0.000278886952322,1.83420430361e-05,1793243368636625664
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e399232342ad323c884567ed311e45fcffb79f0
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03ff6506282e86b65885c0f80d5958a895aac079
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e71c9ffecc618da41baca70f4512e9f1398b9e4ae1faf5bf6e84785380e38a
+size 25986401
diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..edf3e4809071ef531c0ee4281977772fcbaffec6
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
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+25,0.416666667,BASELINE,765,745,714,679.571234123,659,634.571234123,878.428765877,786.571234123,805,652,631,652,0.400971293791,-0.00536841628567,0.0698315937557,0.999999940971,0.000205215873131,-0.000275013257455,1.76747210985e-05,1793243369241609472
+26,0.433333333,BASELINE,765,745,714,680,659,634.850064704,878.149935296,787,805,652,631,651.850064704,0.400971592858,-0.00536857485306,0.069832143801,0.9999999413,0.000205050113841,-0.000273910350365,1.80977562892e-05,1793243369258276096
+27,0.450000000,BASELINE,765,745,714,680,659,634.272918282,878.727081718,787,805,652,631,651.272918282,0.400972353919,-0.00536933719653,0.0698324810667,0.999999941637,0.000204264546428,-0.000273250394439,1.83393376282e-05,1793243369274942976
+28,0.466666667,BASELINE,765,745,714,679.697135509,659,634.302864491,879,786.697135509,805,652,631,651,0.400973038526,-0.00536967075081,0.0698326934484,0.999999941941,0.000203685737181,-0.000272570314784,1.83388085664e-05,1793243369291609856
+29,0.483333333,BASELINE,765,745,714,679.122576077,659,634.877423923,879,786.122576077,805,652,631,651,0.400973654547,-0.00536961964507,0.0698327937985,0.999999942215,0.000203292407459,-0.000271872182492,1.81210860829e-05,1793243369308276736
+30,0.500000000,BASELINE,765,745,714,679.464524332,659,635,878.535475668,786.464524332,804.535475668,652,631,651.464524332,0.400973986985,-0.00536972384817,0.0698331111024,0.999999942288,0.000202634805575,-0.000272102758982,1.7997509864e-05,1793243369324943360
+31,0.516666667,BASELINE,765,745,714,680,659,635,878.053991438,786.946008562,804.053991438,651.946008562,631,651.946008562,0.400974265615,-0.00536980691201,0.069833469671,0.999999942338,0.000201994765978,-0.000272400694622,1.79012405046e-05,1793243369341609984
+32,0.533333333,BASELINE,765,745,714,680,659,635,878.633392815,786.366607185,804.633392815,651.366607185,631,651.366607185,0.400974769038,-0.0053692743858,0.0698336572372,0.9999999427,0.000202223073147,-0.000270903166244,1.78222420479e-05,1793243369358276608
+33,0.550000000,BASELINE,765,745,714,679.789063818,659,635,879,786.210936182,805,651.210936182,631,651.210936182,0.400975007847,-0.00536932519229,0.0698338525418,0.999999942865,0.000202370312692,-0.000270181581276,1.78127546994e-05,1793243369374943232
+34,0.566666667,BASELINE,765,745,714,679.214721534,659,635,879,786.785278466,805,651.785278466,631,651.785278466,0.400974790771,-0.00537038097894,0.0698340611786,0.999999942696,0.00020237788689,-0.000270796811068,1.79230228253e-05,1793243369391609856
+35,0.583333333,BASELINE,765.36020653,745,714,679,659,634.63979347,879,787,804.63979347,652,631,651.63979347,0.400974312401,-0.00537039078914,0.0698338752328,0.999999942431,0.000203032757316,-0.000271276858152,1.80383851381e-05,1793243369408276480
+36,0.600000000,BASELINE,765.935484405,745,714,679,659,634.064515595,879,787,804.064515595,652,631,651.064515595,0.400973678017,-0.00536977607006,0.0698334536907,0.999999942108,0.00020407411399,-0.000271676190694,1.81567890877e-05,1793243369424943616
+37,0.616666667,BASELINE,765.47445485,745,714,679,659,634.52554515,879,787,804.52554515,651.47445485,631,651.52554515,0.400973853834,-0.00536933023472,0.069833126455,0.99999994223,0.000203225041311,-0.000271886212644,1.78186663315e-05,1793243369441610240
+38,0.633333333,BASELINE,765,745,714,679.114824716,659,635,879,787,804.885175284,651.114824716,631,652,0.400973904138,-0.0053690689363,0.0698328670018,0.999999942307,0.000202600868391,-0.000272083790667,1.75927221452e-05,1793243369458277120
+39,0.650000000,BASELINE,765,745,714,679.693407853,659,635,879,787,804.306592147,651.693407853,631,652,0.40097303419,-0.00536946679556,0.0698328332,0.999999941979,0.000203849441185,-0.000272327687513,1.80527483751e-05,1793243369474943744
+40,0.666666667,BASELINE,765,745,714,679.730722796,659,635,879,787,804.269277204,652,631,652,0.400972902951,-0.00536998808708,0.0698331545249,0.99999994209,0.000203935295467,-0.000271837334091,1.82867072836e-05,1793243369491610368
+41,0.683333333,BASELINE,765,745,714,679.157912498,659,635,879,787,804.842087502,652,631,652,0.400973604395,-0.00537064851319,0.0698338761537,0.999999942697,0.000202710516826,-0.00027051932331,1.82658398646e-05,1793243369508276736
+42,0.700000000,BASELINE,765,745,714.42716698,679,659,635,878.57283302,787.42716698,805,652,631,652,0.400974283084,-0.00537039876868,0.0698336882828,0.999999942848,0.000201926993202,-0.000270570687453,1.79363479355e-05,1793243369524943104
+43,0.716666667,BASELINE,765,745,714.983367354,679.016632646,658.983367354,635,878.016632646,787.983367354,805,652,631.016632646,652,0.400974938351,-0.00536987470039,0.0698331894044,0.999999942833,0.000201314507475,-0.000271109678186,1.75161142094e-05,1793243369541609472
+44,0.733333333,BASELINE,765,745,714.403502534,679.596497466,658.403502534,635,878.596497466,787.403502534,805,652,631.596497466,652,0.400975093764,-0.00537179190115,0.0698338809241,0.999999943088,0.000200806783111,-0.000270512041941,1.80007846936e-05,1793243369558276608
+45,0.750000000,BASELINE,765,745,714,680,658.175614905,635,879,787,805,652,631.824385095,651.824385095,0.400974208753,-0.00537274610288,0.0698337231174,0.999999942901,0.000200883473829,-0.000271127342476,1.82655707168e-05,1793243369574943488
+46,0.766666667,BASELINE,765,745,714,680,658.753022321,635,879,787,805,652,631.246977679,651.246977679,0.400970943339,-0.00537149704146,0.0698316221211,0.999999941695,0.000202297258426,-0.000274517743036,1.8027279047e-05,1793243369591610112
+47,0.783333333,BASELINE,765,745,714,680,659,635,879,787,805,652,631,651.326535416,0.400970587145,-0.00537047788715,0.0698314590622,0.999999941256,0.000204243434523,-0.00027468199273,1.79557422305e-05,1793243369608276992
+48,0.800000000,BASELINE,765,745,714,680,659,635,879,787,805,652,631,651.897137787,0.400972405429,-0.00536963057541,0.0698327445027,0.999999941388,0.000206587543624,-0.000272434875515,1.80088453117e-05,1793243369624943616
+49,0.816666667,BASELINE,765,745,714,680,659,634.512562539,879,787,805,652,631,651.512562539,0.4009738543,-0.0053693467053,0.0698341518419,0.999999942369,0.000204517341337,-0.00027038894869,1.80005628068e-05,1793243369641609728
+50,0.833333333,BASELINE,765.079839134,745,714.079839134,680,659,634.079839134,878.920160866,787,805,652,631,651.079839134,0.40097490867,-0.00536933290017,0.0698352221721,0.999999943333,0.000201896061087,-0.000268789526774,1.79799013069e-05,1793243369658276352
+51,0.850000000,BASELINE,765.658315436,745,714.658315436,680,659,634.658315436,878.341684564,787,805,652,631,651.658315436,0.400974006557,-0.00537023192037,0.0698340202805,0.999999943088,0.000201895945557,-0.000269702431273,1.79662379262e-05,1793243369674943232
+52,0.866666667,BASELINE,766,745,714.76390751,680,659,634.76390751,878,787,805,652,631,652,0.400973126148,-0.00537067879288,0.0698329720058,0.999999942774,0.00020174410719,-0.000270987570929,1.78278860749e-05,1793243369691610112
+53,0.883333333,BASELINE,766,745,714.187139487,680,659,634.187139487,878,787,805,652,631,652,0.400972277056,-0.00537047322761,0.0698321453966,0.999999942358,0.000201373336582,-0.000272809836509,1.75096118934e-05,1793243369708276992
+54,0.900000000,BASELINE,765.612780774,745,714.387219226,680,659,634.387219226,878,787,805,652,631,652,0.40097206208,-0.00537035075941,0.0698321165119,0.999999942074,0.000202133446649,-0.000273285858839,1.7552300048e-05,1793243369724943872
+55,0.916666667,BASELINE,765.039579276,745,714.960420724,680,659,634.960420724,878,787,805,652,631,652,0.400972151671,-0.00537026820294,0.069832470776,0.999999941853,0.000203436721281,-0.000273115277425,1.77683592408e-05,1793243369741610496
+56,0.933333333,BASELINE,765.552254602,745,714.447745398,680,659,635,878.552254602,787,805,652,631,652,0.400972500573,-0.00537120859413,0.0698331175081,0.999999942547,0.000200751353212,-0.000272556967145,1.78378689629e-05,1793243369758277120
+57,0.950000000,BASELINE,766,745,714,679.858806365,659,635,878.858806365,787,805,652,631,652,0.400972782695,-0.00537185682869,0.069833566903,0.999999943054,0.000198858492275,-0.00027208029929,1.78991078418e-05,1793243369774943488
+58,0.966666667,BASELINE,766,745,714,679.283031147,659,635,878.283031147,787,805,652,631,652,0.400972800073,-0.00537137230015,0.0698333421435,0.999999942799,0.000200315473218,-0.000271943435044,1.79683458114e-05,1793243369791610368
+59,0.983333333,BASELINE,765.417298503,744.708649252,714,679.291350748,659.291350748,635,878.291350748,787,805,652,631,652,0.400972869796,-0.00537170521991,0.0698333529325,0.999999942903,0.000200055597828,-0.000271754139676,1.79330942037e-05,1793243369808276736
+60,1.000000000,BASELINE,764.271228767,744.135614383,714,679.864385617,659.864385617,635,878.864385617,787,805,652,631,652,0.400972990128,-0.00537282846607,0.0698335914549,0.999999943353,0.000198135829274,-0.000271514152766,1.7796819851e-05,1793243369824943104
+61,1.016666667,BASELINE,764.450768321,744.450768321,714,679.549231679,659.549231679,635,879,787,805,652.450768321,631,652,0.400971801256,-0.00537186618103,0.0698327100807,0.999999942539,0.000200323570153,-0.000272907988936,1.76879494816e-05,1793243369841609728
+62,1.033333333,BASELINE,765,745,714,679,659,635,879,787,805,652.959481825,631,652,0.400970441663,-0.00537040431251,0.0698316719382,0.999999941477,0.000203409418558,-0.000274520652702,1.76071912239e-05,1793243369858276096
+63,1.050000000,BASELINE,765,745,714,679,659,635,879,787,805,652.379988792,631,652,0.40097221037,-0.00537089781911,0.0698331669786,0.999999942465,0.000201502315994,-0.000272306185196,1.7787365898e-05,1793243369874943232
+64,1.066666667,BASELINE,765.198842734,745,714,679.198842734,659,635,879,787,805,652,631,652,0.400973553992,-0.00537101406174,0.0698339774455,0.999999943026,0.000200543829656,-0.000270949693957,1.77896686805e-05,1793243369891610112
+65,1.083333333,BASELINE,765.776414274,745,714,679.776414274,659,635,879,787,805,652,631,652,0.40097408797,-0.00537041174287,0.0698334840286,0.999999942786,0.000201392139615,-0.000271227360272,1.74531850761e-05,1793243369908276736
+66,1.100000000,BASELINE,765.64965032,745,714,680,659,635,879,787,805,652,631.35034968,652,0.400974152367,-0.00537018156216,0.0698334290275,0.999999942562,0.000201871282396,-0.000271689310204,1.75628892111e-05,1793243369924943360
+67,1.116666667,BASELINE,765.078011603,745,714,680,659,635,879,787,805,652,631.921988397,652,0.400973920167,-0.00537018643264,0.0698336509401,0.999999942348,0.000202117250538,-0.00027226765796,1.79544159518e-05,1793243369941609472
+68,1.133333333,BASELINE,765,745,714,680,659,635,879,787,805,652,631.487986843,652,0.4009727538,-0.00536976548723,0.0698335539773,0.999999942262,0.000202658639113,-0.000272198877446,1.77159015364e-05,1793243369958275840
+69,1.150000000,BASELINE,765,744.897213953,714,679.897213953,659,635,878.897213953,787,805.102786047,652,631,652,0.400971928988,-0.00536943950144,0.0698334880369,0.999999942254,0.000203155377545,-0.000271871203943,1.74679610019e-05,1793243369974942720
+70,1.166666667,BASELINE,765,744.316473856,714,679.316473856,659,635,878.316473856,787,805.683526144,652,631,652,0.400973378892,-0.00536986799753,0.0698338006833,0.999999942523,0.000203227396649,-0.000270815237765,1.76391893314e-05,1793243369991609088
+71,1.183333333,BASELINE,765,744.261392645,714,679.261392645,659,635,878.261392645,787,805.738607355,652,631,652,0.400973845459,-0.00537079870043,0.0698338988703,0.99999994285,0.000201849555304,-0.00027062517045,1.78481264538e-05,1793243370008275712
+72,1.200000000,BASELINE,765,744.835817929,714,679.835817929,659,635,878.835817929,787,805.164182071,652,631,652,0.400973134424,-0.00537233082479,0.0698337402297,0.99999994324,0.000198735423184,-0.000271472066395,1.81022220343e-05,1793243370024942592
+73,1.216666667,BASELINE,765,745,714,679.580785974,659,635,879,787,805,652,631,652,0.400973014652,-0.0053717380925,0.0698337264191,0.999999942923,0.000200212746677,-0.000271554968899,1.8060807186e-05,1793243370041609216
+74,1.233333333,BASELINE,765,745,714.006125313,679,659,635,879,787,805,652.006125313,631,652,0.400973126961,-0.00537031808925,0.0698337686073,0.999999942325,0.000203479894714,-0.000271338843304,1.79028741216e-05,1793243370058275840
+75,1.250000000,BASELINE,765,745,714.58601575,679,659,635,879,787,805,652.58601575,631,652,0.400972813513,-0.00537106289752,0.0698336269103,0.999999942457,0.000202278327516,-0.00027175285873,1.79085863404e-05,1793243370074942208
+76,1.266666667,BASELINE,765,745,714.834975588,679,659,635,879.165024412,787,805.165024412,652.834975588,631,652,0.400972649773,-0.00537152770054,0.0698335546014,0.999999942592,0.000201285575756,-0.000271994200624,1.78957407356e-05,1793243370091608832
+77,1.283333333,BASELINE,765,745,714.258167243,679,659,635,879.741832757,787,805.741832757,652.258167243,631,652,0.4009728596,-0.00537129380892,0.0698336554361,0.999999942739,0.000200813879353,-0.000271804671787,1.78365879598e-05,1793243370108275456
+78,1.300000000,BASELINE,765,745,714.318699693,679,659,635,879.681300307,787,805.681300307,652,631,652,0.40097274578,-0.0053709135628,0.0698337320684,0.999999942682,0.000201819491461,-0.000271266054083,1.78717699277e-05,1793243370124942080
+79,1.316666667,BASELINE,765,745,714.895614072,679,659,635,879.104385928,787,805.104385928,652,631,652,0.400972369737,-0.00537041473834,0.0698337890916,0.999999942456,0.000204022038396,-0.000270444599991,1.79833831496e-05,1793243370141608960
+80,1.333333333,BASELINE,765.482053662,745,715,679.482053662,659,634.517946338,879,787,805,652,631,652,0.400972829622,-0.00537019030132,0.0698336144249,0.999999942503,0.000203249090596,-0.000270852809692,1.79349936126e-05,1793243370158275584
+81,1.350000000,BASELINE,765.930844653,745,714.930844653,680,659,634.069155347,879,787,805,652,631,651.930844653,0.40097339521,-0.00537023716681,0.0698334131312,0.999999942647,0.00020183599041,-0.000271382990704,1.78587376952e-05,1793243370174942208
+82,1.366666667,BASELINE,765.354323511,745,714.354323511,680,659,634.645676489,879,787,805,652,631,651.354323511,0.400973381493,-0.00537182976638,0.0698333919918,0.999999943061,0.000200548802368,-0.000270815080026,1.78373575846e-05,1793243370191609088
+83,1.383333333,BASELINE,765.222497829,745,714,679.777502171,659,635,879,787,805,652,631,651.222497829,0.400973984747,-0.0053725503833,0.0698337139478,0.999999943283,0.000200425747361,-0.000270081863631,1.78895284781e-05,1793243370208275456
+84,1.400000000,BASELINE,765.799797963,745,714,679.200202037,659,635,879,787,805,652,631,651.799797963,0.400975571844,-0.00537188050844,0.0698345830153,0.999999943199,0.000202159056709,-0.000269085045253,1.80589862013e-05,1793243370224942080
+85,1.416666667,BASELINE,765.615781664,745,714,679.384218336,659,635,879,787,805,651.615781664,631,652,0.400975500237,-0.00537112180632,0.0698350926415,0.999999943294,0.000202270311294,-0.000268665622022,1.77972202548e-05,1793243370241608960
+86,1.433333333,BASELINE,765.027581181,745,714,679.972418819,659,635,879,787,805,651.027581181,631,652,0.400974548023,-0.00537031594568,0.0698354114396,0.999999943485,0.000201520414227,-0.00026855273889,1.73065169409e-05,1793243370258275584
+87,1.450000000,BASELINE,765,745,714,680,659,635,879,787,805.552333923,651.552333923,631,651.447666077,0.400973306923,-0.00536992444871,0.0698343439833,0.999999943096,0.000201591976367,-0.000269919124585,1.76676912987e-05,1793243370274942208
+88,1.466666667,BASELINE,765.131725822,745,714.131725822,679.868274178,659,635,879,787,805.868274178,652,631,651.131725822,0.400972392629,-0.0053700379092,0.0698335440638,0.999999942815,0.000201540866649,-0.000270977666456,1.79797392288e-05,1793243370291609088
+89,1.483333333,BASELINE,765.710725235,745,714.710725235,679.289274765,659,635,879,787,805.289274765,652,631,651.710725235,0.400972636258,-0.00537179672766,0.0698338841369,0.999999943,0.000200936001008,-0.000270743815687,1.79826725089e-05,1793243370308275712
+90,1.500000000,BASELINE,765.71267688,745,714.71267688,679,659,635,879,786.71267688,805,652,631,652,0.400972446175,-0.00537190452061,0.0698336335161,0.999999942854,0.000200954634654,-0.000271269523688,1.79243146319e-05,1793243370324942080
+91,1.516666667,BASELINE,765.138476827,745,714.138476827,679,659,635,879,786.138476827,805,652,631,652,0.400971823054,-0.00537036385183,0.0698327931187,0.999999942378,0.000201595799383,-0.000272553610942,1.78047607773e-05,1793243370341608704
+92,1.533333333,BASELINE,765,745,714.446852156,679.446852156,659,635,879,786.446852156,805,652,631,651.553147844,0.400971125223,-0.00537005746338,0.069832368651,0.999999941824,0.000203107022759,-0.000273463923873,1.77812523172e-05,1793243370358275328
+93,1.550000000,BASELINE,765,745,714.965094017,680,659,635,879,787,805,652,631,651.034905983,0.400970643012,-0.00537018181865,0.0698321992833,0.999999941362,0.00020469733447,-0.00027396998799,1.7781295357e-05,1793243370374942208
+94,1.566666667,BASELINE,765,745,714.389616433,680,659,635,879,787,805,652,631,651.610383567,0.400973867697,-0.00537090206562,0.0698339334196,0.999999942728,0.000203230232651,-0.000270055275506,1.76733571265e-05,1793243370391609856
+95,1.583333333,BASELINE,765,745,714.185375842,679.814624158,659,634.814624158,879,787,804.814624158,652,631,652,0.400975540488,-0.00537148461882,0.0698349691302,0.999999943661,0.000201645704565,-0.000267777050257,1.7667468871e-05,1793243370408276992
+96,1.600000000,BASELINE,765,745,714.75935088,679.24064912,659,634.24064912,879,787,804.24064912,652,631,652,0.400973960081,-0.00537177852784,0.0698345407468,0.999999943716,0.000199815018175,-0.000268929355566,1.78755056567e-05,1793243370424943616
+97,1.616666667,BASELINE,765,745,715,679,659,634.335918868,879,787,804.671837735,652,631,652,0.400973613741,-0.00537144152182,0.0698344848625,0.999999943546,0.00020023560975,-0.00026924114394,1.79807675641e-05,1793243370441610240
+98,1.633333333,BASELINE,765,745,715,679,659,634.914358836,879,787,805.828717671,652,631,652,0.400974158351,-0.00537064901827,0.0698346979087,0.999999943213,0.000202281541546,-0.00026894610985,1.80118297666e-05,1793243370458277120
+99,1.650000000,BASELINE,765,745,714.494834903,679,659.505165097,635,879,787,805.494834903,652,631,652,0.400975127242,-0.00536954285913,0.0698349067628,0.99999994315,0.000203406520101,-0.000268342813156,1.78257990582e-05,1793243370474944000
+100,1.666666667,BASELINE,765.095054464,745,714,679.095054464,659.904945536,635,879,787,805,652,631,652,0.400975741048,-0.00536898453333,0.0698349290758,0.999999943151,0.00020377912768,-0.000268070103766,1.76464576783e-05,1793243370491610624
+101,1.683333333,BASELINE,765.669481693,745,714,679.669481693,659.330518307,635,879,787,805,652,631,652,0.400974192261,-0.00537146390153,0.0698340143098,0.999999943231,0.000201164569284,-0.00026973476016,1.76911167226e-05,1793243370508276992
+102,1.700000000,BASELINE,766,745,714,679.754457012,659,635,879,787,805,652,631,652,0.400972759044,-0.00537180560119,0.0698333177836,0.999999942846,0.000201024495526,-0.000271263579086,1.76832038625e-05,1793243370524943616
+103,1.716666667,BASELINE,766,745,714,679.176181462,659,635,879,787,805,652,631,652,0.400971482436,-0.00536925056984,0.0698329169921,0.999999941831,0.000204237568504,-0.000272608326038,1.76040513975e-05,1793243370541610240
+104,1.733333333,BASELINE,765.60109208,745,714,679.39890792,659,635,878.60109208,787,805,652,631,652,0.400972425647,-0.00536853598976,0.0698336146997,0.999999941889,0.00020540506419,-0.00027152921841,1.73896260877e-05,1793243370558276864
+105,1.750000000,BASELINE,765.0273987,745,714,679.9726013,659,635,878.0273987,787,805,652,631,652,0.400974341493,-0.00536862782144,0.0698347937256,0.999999942417,0.00020567627018,-0.000269388074979,1.71159296329e-05,1793243370574943744
+106,1.766666667,BASELINE,765,745,714,680,659,635,878,787,805,652,631,651.43406875,0.400972821857,-0.00536953234587,0.0698341545324,0.999999942686,0.000202419682607,-0.000270848056623,1.71905963983e-05,1793243370591610368
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,787,805,652,631,652,0.400971245609,-0.00536963565255,0.0698328693783,0.999999941836,0.0002042121378,-0.000272635370629,1.71709481989e-05,1793243370634827008
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.622271376,745,714,680.622271376,659,635,878.622271376,787,805,652,631,652,0.400971854041,-0.00536909259386,0.0698325840555,0.999999941825,0.000203867368246,-0.000272939471892,1.71109438369e-05,1793243370651493632
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.769377715,745,714,680.538755431,659,635,878.769377715,787,805,652,631,652,0.400972847349,-0.00536920711481,0.0698329233953,0.999999942223,0.000203134681403,-0.000272020817434,1.7152422283e-05,1793243370668160768
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.182528719,745,714,679.365057439,659,635,878.182528719,787,805,652,631,652,0.400974435151,-0.00537033735464,0.0698342276093,0.999999943249,0.000201802804792,-0.000269213454606,1.73506543788e-05,1793243370684828160
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.603578447,714,679,659,635,878.396421553,787,805,652,631,652,0.400975020747,-0.00537199534634,0.0698348496709,0.999999943785,0.000200214415163,-0.000268387578329,1.76976059894e-05,1793243370701494784
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.028194055,714,679,659,635,878.971805945,787,805,652,631,652,0.4009751539,-0.00537389158931,0.0698351637777,0.999999944098,0.000198510223893,-0.000268456235968,1.81116963861e-05,1793243370718160896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.548268334,714,679.548268334,659,635,879,787,805,652,631,652,0.400972939993,-0.00537082044587,0.0698340123154,0.999999942769,0.000202025474063,-0.000270802492907,1.77095185606e-05,1793243370734827264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.124970753,679.875029247,659,635,879.124970753,787,805,651.875029247,631,652,0.400971576776,-0.00536837912641,0.0698334117969,0.999999941811,0.000204883370024,-0.000272205856993,1.74320185138e-05,1793243370751493888
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.702340989,679.297659011,659,635,879.702340989,787,805,651.297659011,631,652,0.400973730877,-0.00536914432972,0.0698350790812,0.999999942567,0.000204388068537,-0.000269771083355,1.77581103448e-05,1793243370768160768
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.711076844,714.711076844,679.288923156,659,635,879.422153687,787,805,651.288923156,631,652,0.400977829507,-0.00537005746607,0.0698369816634,0.999999943637,0.000203423348219,-0.000266502313252,1.79568594151e-05,1793243370784827904
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.114691696,714.114691696,679.885308304,659,635,878.229383392,787,805,651.885308304,631,652,0.400983997438,-0.00537112802757,0.0698391346414,0.999999945031,0.000201959088707,-0.000262346033222,1.80200947202e-05,1793243370801495040
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.463982801,714,679.536017199,659,635,878.463982801,787,805,652,631,652,0.401006231262,-0.00537197790477,0.0698489993421,0.999999949399,0.000201053669689,-0.000245871450206,1.80580538408e-05,1793243370818161408
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.038496057,745,714,679.038496057,659.038496057,635,879,787,805,652,631,652,0.401033903516,-0.00537268537912,0.0698611025309,0.999999954303,0.000200449641212,-0.000225577204031,1.81352074238e-05,1793243370834827776
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.613785172,745,714,679.613785172,659.613785172,635,879,787,805,652,631,652,0.401084069319,-0.00537213986751,0.0698788156871,0.999999960773,0.000202192826284,-0.000192919259788,1.88428123376e-05,1793243370851494144
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.806505316,745,714,679.806505316,659.806505316,635,879,787,805,652,631,652,0.401137915213,-0.00537264099503,0.0698943582619,0.999999965329,0.000202860197764,-0.000166775604369,1.93765919846e-05,1793243370868160256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.21776632,745,714,679.21776632,659.21776632,635,879,787,805,652,631,652,0.4011992783,-0.00537528005284,0.0699054670751,0.999999967693,0.00020133004595,-0.000153938436063,1.9555305459e-05,1793243370884827136
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401269203663,-0.00537731264689,0.0699114229019,0.999999969619,0.000199341721783,-0.000143807909159,1.85647851599e-05,1793243370901493760
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.4013441552,-0.00537898923784,0.069914353851,0.999999971288,0.000197084443962,-0.000135266220369,1.68879078468e-05,1793243370918160384
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.52210922,679,659,634.47789078,879,787,805.52210922,652,631,652,0.401432156199,-0.00538085811516,0.0699110426051,0.99999997074,0.000195622523511,-0.000141532101999,1.4829319159e-05,1793243370934827520
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.902682025,679.097317975,659,634.097317975,879,787,805.902682025,652,631,652,0.401525631549,-0.00538314260325,0.069907461139,0.999999970125,0.000193637226544,-0.000148644351551,1.26584208701e-05,1793243370951494656
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.332425565,679.667574435,659,634.667574435,879,787,805.332425565,652,631,652,0.401639137345,-0.00538734998474,0.0699057108488,0.999999970529,0.000188707820075,-0.000152410718431,1.01340079411e-05,1793243370968161280
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.401766993438,-0.00539078307029,0.0699066473754,0.999999971407,0.000184582682625,-0.000151851037169,7.45248806046e-06,1793243370984827904
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.40191490749,-0.00539313389188,0.0699113393707,0.999999972956,0.000181581703761,-0.000145244669391,4.55137387822e-06,1793243371001494272
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.575864263,879,787,804.575864263,652,631,652,0.402086272548,-0.0053982232497,0.0699149610026,0.999999975074,0.000174878845895,-0.000138811140149,1.22242947967e-06,1793243371018161152
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.001829701,879,787,804.001829701,652,631,652,0.402265925717,-0.00540428046618,0.0699182043451,0.999999977305,0.000166867662951,-0.000132438695268,-2.25771968872e-06,1793243371034827776
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.571883212,879,787,804.571883212,652,631,652,0.402477269675,-0.00540958208977,0.0699196454739,0.999999978926,0.000158581931447,-0.000130221145317,-6.46769236079e-06,1793243371051494656
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.849180017,714,680,659,635,878.849180017,787,805,652,631,652,0.402697443663,-0.00541441530589,0.0699215193329,0.999999980531,0.000150641804418,-0.000126987087038,-1.09383699214e-05,1793243371068161280
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.254879525,714,680,659,635,878.254879525,787,805,652,631,652,0.402943284099,-0.00541787829313,0.0699246825643,0.999999982254,0.000143720493909,-0.000120724957139,-1.61687792565e-05,1793243371084828160
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.330910908,714,679.669089092,659.330910908,634.669089092,878.330910908,787,805,652,631,652,0.40321699261,-0.00542377983753,0.0699317379199,0.999999985098,0.000134872296094,-0.000105707889739,-2.09555867741e-05,1793243371101494784
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.910310895,714,679.089689105,659.910310895,634.089689105,878.910310895,787,805,652,631,652,0.403511627924,-0.00543151255382,0.0699417159663,0.99999998838,0.000124577151928,-8.41165263995e-05,-2.54092825366e-05,1793243371118160896
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.516932271,634.483067729,879,787,805,652,631,651.516932271,0.403828513588,-0.00543760876209,0.0699475634561,0.999999990286,0.000112874847325,-7.63276332083e-05,-2.9335334755e-05,1793243371134827264
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.055014334,659,635,879,787,804.944985666,652,631,651.055014334,0.404154044597,-0.00544313768076,0.0699523343369,0.999999991937,0.000100033008789,-7.13727928164e-05,-3.20121570475e-05,1793243371151493888
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.630808475,659,635,879,787,804.369191525,652,631,651.630808475,0.404522838869,-0.00544613373261,0.069954074976,0.999999994207,7.88436670974e-05,-6.93162460398e-05,-2.37782329881e-05,1793243371168160768
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.213570629,745,714,680,659,635,879,787,804.213570629,652,631,651.786429371,0.404902445742,-0.00545012841531,0.0699572645358,0.99999999552,6.61645217226e-05,-6.45594587669e-05,-2.03612787712e-05,1793243371184827648
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.808784311,745,714,680,659,635,879,787,804.808784311,652,631,651.191215689,0.405301374305,-0.00545590761522,0.0699630432647,0.999999995803,6.86927942436e-05,-5.49774388482e-05,-2.55520777847e-05,1793243371201494528
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.623772636,745,714,679.623772636,659,635,878.623772636,786.623772636,805,652,631,651,0.405726348231,-0.00546273169717,0.0699651833287,0.999999996561,5.97033114639e-05,-4.97012661883e-05,-2.90474987121e-05,1793243371218161152
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.06947361,745,714,679.06947361,659,635,878.06947361,786.06947361,805,652,631,651,0.406163649687,-0.00547005033135,0.0699656011817,0.999999997393,4.52623757732e-05,-4.64630873945e-05,-3.17404829937e-05,1793243371234827776
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.522483509,745,714,679.522483509,659,634.477516491,878.522483509,786.522483509,805,652,631,651.522483509,0.406607228508,-0.00547330229123,0.0699486324329,0.999999995861,3.37916741181e-05,-7.75329485332e-05,-3.35264807939e-05,1793243371251494400
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.578934167,745,714,679.289467083,658.289467083,634.710532917,878.289467083,787,805,652,631,651.289467083,0.407598080605,-0.00548258895313,0.0699266889129,0.999999993449,2.47143210812e-05,-0.000105351117514,-3.73197576036e-05,1793243371284827392
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.29426279,745,714,679.29426279,658.29426279,635,878.29426279,786.70573721,805,652,631,651.29426279,0.408159040302,-0.00548958202775,0.0699320647026,0.999999995143,1.48730775594e-05,-8.94333570908e-05,-3.86477866442e-05,1793243371301494016
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.870258053,745,714,679.870258053,658.870258053,635,878.870258053,786.129741947,805,652,631,651.870258053,0.408750265712,-0.00549756636485,0.0699476808684,0.999999997477,-4.19253473597e-06,-5.90321205589e-05,-3.92780395292e-05,1793243371318160640
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.450607823,786.450607823,805,652,631,652,0.40934769963,-0.00550244199162,0.0699516329377,0.999999998111,-6.62825568309e-06,-4.58043712865e-05,-4.04424885939e-05,1793243371334827008
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.968606322,659,635,879.968606322,787,805,652,631,652,0.409947467721,-0.00550648984389,0.0699517083999,0.999999998363,-4.84712951579e-06,-3.88574873651e-05,-4.17272454498e-05,1793243371351493376
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.401970065,659,635,879.401970065,787,805,652,631,652,0.410556257377,-0.00551183412825,0.069943507528,0.999999997557,-1.36035833937e-05,-5.38687069459e-05,-4.24152348201e-05,1793243371368160512
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.826170627,879,786.826170627,805,651.826170627,631,652,0.411191237226,-0.00551796370906,0.0699410886926,0.999999997004,-2.2822038019e-05,-6.01334356405e-05,-4.30663994754e-05,1793243371384827392
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.228002844,879,786.228002844,805,651.228002844,631,652,0.411890150396,-0.0055260102922,0.0699527845048,0.999999997484,-3.31682907691e-05,-4.50469257062e-05,-4.36276704879e-05,1793243371401493760
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.358822001,879,786.358822001,805,651.358822001,631,651.641177999,0.412625371673,-0.0055272757894,0.0699805189905,0.999999998362,-3.85161463124e-05,-7.36449417547e-07,-4.23346117737e-05,1793243371418160384
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.938660226,879,786.938660226,805,651.938660226,631,651.061339774,0.413382956977,-0.00552436448103,0.0700181324899,0.999999996477,-4.07852425868e-05,6.1574515208e-05,-3.98993795565e-05,1793243371434827008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.515202434,659,634.484797566,879,786.484797566,805,652,631,651.515202434,0.414112078965,-0.00550554015546,0.0700226325797,0.9999999969,-9.69216075721e-06,6.68076489954e-05,-4.05278274848e-05,1793243371451493888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.09300658,879,786,805,652,631,651.90699342,0.414833830739,-0.00548894869874,0.0700143671851,0.999999997733,1.69194280193e-05,4.98254387971e-05,-4.20159288763e-05,1793243371468160512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.679576999,879,786,805,652,631,651.320423001,0.415534340214,-0.0054941968015,0.0699591471406,0.999999997724,-1.19611241828e-06,-4.92146139014e-05,-4.61426154788e-05,1793243371484827392
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.737108508,714,680,659,635,879,786.262891492,805,652,631,651.262891492,0.416282141045,-0.00550343742445,0.0699243115344,0.999999992797,-1.85345694784e-05,-0.000108266888242,-4.83799595694e-05,1793243371501494016
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.15771396,714,680,659,635,879,786.84228604,805,652,631,651.84228604,0.417086877335,-0.0055174847635,0.0699140173763,0.99999999112,-3.49374711903e-05,-0.000119176655527,-4.83426669693e-05,1793243371518160384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.41886093,714,680,659,635,879.41886093,786.58113907,805,652,631,652,0.417919130372,-0.00552225676777,0.0699357542686,0.999999994446,-4.05993675902e-05,-8.47346167588e-05,-4.77497697046e-05,1793243371534827008
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.994381219,714,680,659,635,879.994381219,786.005618781,805,652,631,652,0.418761675007,-0.00552355967757,0.0699694711846,0.99999999745,-4.2243989811e-05,-3.3330420538e-05,-4.69490690669e-05,1793243371551493632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.4295211,786,805,651.4295211,631,652,0.419618351054,-0.00552633494795,0.0699898759927,0.999999997721,-4.84432372947e-05,-3.72996224591e-06,-4.68698744645e-05,1793243371568160512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.145012697,634.854987303,879,786.145012697,805.145012697,651.145012697,631,652,0.420478419006,-0.00552788002387,0.0700087363385,0.999999997203,-5.32196432766e-05,2.3641848819e-05,-4.6925331387e-05,1793243371584827392
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.714947159,634.285052841,879,786.714947159,805.714947159,651.714947159,631,652,0.42134801764,-0.00552577779999,0.0700234556227,0.99999999642,-5.36952010713e-05,4.51130937932e-05,-4.73545052758e-05,1793243371601494016
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.300434324,786.699565676,805.699565676,652,631,652,0.422205016848,-0.00552107071838,0.0700138160137,0.999999997107,-5.12923101658e-05,2.69680987459e-05,-4.92639884547e-05,1793243371618160384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.901483612,786.098516388,805.098516388,652,631,652,0.423049409158,-0.00551375721258,0.0699798028673,0.99999999708,-4.60092398053e-05,-3.08169535079e-05,-5.26546709202e-05,1793243371634827008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.481471927,745,714,680,660,634,879.518528073,786.481471927,805.481471927,651.518528073,631,652,0.423851210468,-0.00551275864722,0.0699096345027,0.999999987519,-5.28852079592e-05,-0.00013675345864,-5.88578801643e-05,1793243371651493888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.942907197,745,714,680,660,634.057092803,879.057092803,787,806,651.057092803,631,652,0.424657835222,-0.00551370602871,0.0698437542558,0.999999968735,-6.09071387995e-05,-0.000233779396181,-6.45533039745e-05,1793243371668160768
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.369444454,745,714,680,660,634.630555546,879.630555546,787,806,651.630555546,631,652,0.425583602005,-0.00552105655322,0.06988076279,0.999999982907,-5.77349096002e-05,-0.00016483926868,-6.06693446136e-05,1793243371684827136
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.208669997,660,634.791330003,879.791330003,787,805.791330003,652,631,652,0.426513183341,-0.00552603703031,0.0699245975157,0.999999991953,-6.03452025401e-05,-9.57587636797e-05,-5.72941327347e-05,1793243371701493760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.79520791,660,634.20479209,879.20479209,787,805.20479209,652,631,652,0.427449672162,-0.00552672573101,0.0699807933778,0.999999995451,-7.34267165468e-05,-2.64240623824e-05,-5.48401814589e-05,1793243371718160384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.622543468,660,634.377456532,879,787,805.377456532,652,631,651.622543468,0.428378606345,-0.00553020069469,0.0700150751077,0.999999995432,-7.54889770353e-05,2.36132299775e-05,-5.36610785787e-05,1793243371734827264
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.042595906,660,634.957404094,879,787,805.957404094,652,631,651.042595906,0.429303487722,-0.00553517038214,0.07003760074,0.999999994017,-7.16398279907e-05,6.32981963319e-05,-5.3165883336e-05,1793243371751494144
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.536088545,660,635,879.536088545,786.463911455,806,652,630.463911455,651.536088545,0.430182962361,-0.00553621801718,0.0700280449289,0.999999994459,-7.46975659704e-05,5.04089856869e-05,-5.44106397447e-05,1793243371768160768
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.886360549,786.113639451,806,651.886360549,630.113639451,652,0.431033755621,-0.00553611382201,0.0700029334844,0.999999995474,-7.61661342028e-05,1.01784040461e-05,-5.61046384638e-05,1793243371784827392
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.312990509,786.687009491,806,651.312990509,630.687009491,652,0.431783079,-0.00553260763287,0.0699251795818,0.999999988213,-6.89907238072e-05,-0.000123802276785,-5.9058072005e-05,1793243371801494272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.269048116,681,660,635,879,787,806,651,631,651.730951884,0.432602336967,-0.00553165084538,0.0698871796143,0.999999978926,-6.74148448765e-05,-0.000184070839802,-6.10058873712e-05,1793243371818160896
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.861506936,681,660,635,879,787,806,651,631,651.138493064,0.433505660271,-0.00553375857907,0.0698969660632,0.999999983334,-7.25699123249e-05,-0.00015573338417,-6.17448954747e-05,1793243371834827520
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.564188478,681,660,634.564188478,879,787,806,651,631,651,0.434403987191,-0.0055375175296,0.0699485212953,0.999999992746,-7.84998711995e-05,-6.93441256015e-05,-5.94773492983e-05,1793243371851494144
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.004668425,745,714,681.004668425,660,634,879,787,806,651,631,651.004668425,0.435300371355,-0.00554178811876,0.0700123948795,0.99999999425,-8.46487104155e-05,3.40933174513e-05,-5.6316713568e-05,1793243371868161024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.584707984,745,714,681.584707984,660,634,879,787,806,651,631,651.584707984,0.436145184332,-0.00554703185351,0.0700239861848,0.999999992931,-8.86385478687e-05,5.59539678159e-05,-5.61302579453e-05,1793243371884827392
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,682,660,634,879.168803351,787,806,651.168803351,631,652,0.436972439179,-0.00555031176063,0.0700269932123,0.999999991974,-9.15533736485e-05,6.67509187413e-05,-5.66954971394e-05,1793243371901493504
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,682,660,634,879.763122478,787,806,651.763122478,631,652,0.437755433831,-0.00554864129393,0.0700083611806,0.999999992808,-9.17583334761e-05,4.96587381112e-05,-5.91555921611e-05,1793243371918160128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.652789467,745,714,682,660,634,880,787,806,652,631.347210533,652,0.438508390633,-0.00554792851007,0.0699696650129,0.999999993993,-9.08934790745e-05,-3.71609116242e-06,-6.11416901337e-05,1793243371934827008
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.075481594,745,714,682,660,634,880,787,806,652,631.924518406,652,0.43924144124,-0.00554785038523,0.0699176722898,0.999999990747,-8.93196555146e-05,-8.11355272083e-05,-6.28136686235e-05,1793243371951494144
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.49965735,660,634.50034265,880,787,806.50034265,652,632,652,0.439936961328,-0.00554606343399,0.0698811367692,0.999999983859,-8.65088078672e-05,-0.000144140213856,-6.34133465e-05,1793243371968160768
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.155508876,660.077754438,634.922245562,880,787,806.922245562,651.922245562,631.922245562,652,0.440637019308,-0.00554483430797,0.0698579944197,0.999999977131,-8.4667753035e-05,-0.000185783781152,-6.36730017337e-05,1793243371984827392
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682.33415827,660.667079135,634.332920865,880,787,806.332920865,651.332920865,631.332920865,652,0.441404074048,-0.00554896637198,0.0699076731274,0.999999988826,-9.04314464775e-05,-0.000101151078394,-6.27567129729e-05,1793243372001494016
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.747725296,660.747725296,634.252274704,880,787.252274704,806,651,631,652,0.44215985256,-0.00555316733479,0.0699611911794,0.999999993506,-9.44359939362e-05,-1.87176303578e-05,-6.0993715655e-05,1793243372018160640
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682.167891004,660.167891004,634.832108996,880,787.832108996,806,651,631,652,0.442900989852,-0.00555745775802,0.0700196943359,0.999999991835,-9.61564246706e-05,6.0860263281e-05,-5.81313314866e-05,1793243372034827264
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.409239917,745,714,682,660.409239917,634.590760083,880,787.590760083,806.409239917,651.409239917,631,652,0.443572382698,-0.00555994253706,0.0700270399349,0.999999991482,-9.79779145307e-05,6.47928849643e-05,-5.69074446297e-05,1793243372051493888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.985269023,745,714,682,660.985269023,634.014730977,880,787.014730977,806.985269023,651.985269023,631,652,0.444215350563,-0.00556169141029,0.0700135358353,0.99999999271,-9.98405918889e-05,3.7895631895e-05,-5.63513414352e-05,1793243372068160512
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.442557521,745.557442479,714.557442479,682,660.442557521,634,880,787,806.442557521,651.442557521,631,652,0.444766098398,-0.0055611891379,0.0699677716491,0.999999992787,-9.87475023864e-05,-3.57819144698e-05,-5.82635407397e-05,1793243372084827136
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.86550162,714.86550162,682.13449838,660,634,880,787,806.13449838,651.13449838,631,652,0.445306239704,-0.00556075182311,0.0699223668123,0.999999987903,-9.67423625292e-05,-0.000105997280818,-6.00021216853e-05,1793243372101493760
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.271416456,714.271416456,682.728583544,660,634,880,787,806.728583544,651.728583544,631,652,0.445818408165,-0.0055607383507,0.0698810829274,0.999999981093,-9.18857774741e-05,-0.000160187036962,-6.09260882216e-05,1793243372118160640
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.314818749,714.314818749,683,660,634,880,787,807,651.685181251,631,652,0.446320630425,-0.00556142324426,0.069848999611,0.999999972147,-9.41766800037e-05,-0.000207081645632,-6.28740928148e-05,1793243372134827264
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.894450841,714.894450841,683,660,634,880,787,807,651.105549159,631,652,0.446814486299,-0.00556269557626,0.0698246554586,0.999999961879,-0.000102479772682,-0.000247839855962,-6.56834785599e-05,1793243372151494144
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.528876375,714.528876375,682.528876375,659.528876375,633.528876375,880,787,807,651,631,652,0.447270678376,-0.0055667248993,0.0697978031036,0.999999946614,-0.000109104437625,-0.000301126456012,-6.47435955395e-05,1793243372168160768
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.046753409,714,682.046753409,659,633,880,787,806.953246591,651.046753409,631,652,0.447716327678,-0.00557072512076,0.0697713140903,0.999999928628,-0.000114450101698,-0.000354469757277,-6.32116316536e-05,1793243372184827648
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.618072684,714,682.618072684,659,633,880,787,806.381927316,651.618072684,631,652,0.44813777138,-0.00556751194275,0.0697551671513,0.999999920793,-0.000109638237909,-0.00037715365949,-6.44021776968e-05,1793243372201494016
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,682.802638971,659,633,880,786.802638971,806.197361029,651.802638971,631,652,0.448554336541,-0.00556583997587,0.069746582077,0.999999916465,-0.000108779172483,-0.000388574652332,-6.5164754069e-05,1793243372218160384
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,682.207280112,659,633,880,786.207280112,806.792719888,651.207280112,631,652,0.448961063722,-0.0055672760115,0.0697532462399,0.999999919997,-0.000115891311004,-0.000377282890596,-6.50642879831e-05,1793243372234827264
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.624081345,714,682,658.624081345,632.624081345,880.375918655,786,807,651,631,652,0.449344469148,-0.00556639671635,0.0697559697734,0.99999992208,-0.000110057549415,-0.000373597935932,-6.44313098452e-05,1793243372251494144
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.047377545,714,682,658.047377545,632.047377545,880.952622455,786,807,651,631,652,0.449715417965,-0.00556428075989,0.069756588543,0.999999923319,-9.73091413559e-05,-0.00037397591906,-6.35139071173e-05,1793243372268160768
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682.527667652,658,632,880.472332348,786,807,651,631,652,0.450031085589,-0.00556206768237,0.0697424672128,0.999999915969,-9.60088608115e-05,-0.00039314996465,-6.54035716589e-05,1793243372284827648
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682.89760456,658,632,880,785.89760456,806.89760456,651,631,652,0.450327978788,-0.00556038380447,0.0697235887891,0.999999904549,-9.62563845928e-05,-0.00042080832309,-6.75001931501e-05,1793243372301494272
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682.323654877,658,632,880,785.323654877,806.323654877,651,631,652,0.450561197982,-0.00556117704355,0.0696888786306,0.999999877601,-9.89130654643e-05,-0.000479791269818,-6.93928459891e-05,1793243372318161152
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.258634032,745,714,682.258634032,658,632,880,785.258634032,806,651.258634032,631,652,0.450791743946,-0.00556301662722,0.0696598758168,0.999999854658,-0.000102003120115,-0.000524680370765,-7.06354251849e-05,1793243372334827776
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.851706303,745,714,682.851706303,658,632,880,785.851706303,806,651.851706303,631,652,0.451018833151,-0.00556620923326,0.0696382531415,0.999999839905,-0.000105653568097,-0.000551344794428,-7.10373978037e-05,1793243372351494144
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.566499756,745.433500244,714,683,658.433500244,631.566499756,880,785.566499756,806,651.566499756,630.566499756,652,0.451234666323,-0.00556759496753,0.0696278297429,0.999999830618,-0.000118891022185,-0.000565712727167,-6.78061856496e-05,1793243372368160768
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.988545913,714,683,658.977091826,631,880,784.988545913,806,651,630.011454087,652,0.451446216432,-0.00556838049764,0.0696212467628,0.999999823151,-0.000134780622607,-0.000575766986889,-6.34467886002e-05,1793243372384827392
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.414513229,714,683,657.829026458,631,880,784.414513229,806,651,630.585486771,652,0.451631725012,-0.00556927532062,0.0696198929717,0.99999982483,-0.000123938353749,-0.000575315406139,-6.31716891682e-05,1793243372401494272
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,784.327932823,806,651.163966412,630.836033588,651.836033588,0.451805876524,-0.00556981242846,0.0696167989679,0.999999824221,-0.000115704075942,-0.000578058670846,-6.33898324744e-05,1793243372418160896
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.297455158,745.851272421,714,683,656.851272421,630.851272421,880,784,806.851272421,652,630.851272421,652,0.452795215899,-0.00556567193787,0.0695611058929,0.99999977129,-0.000114725370299,-0.000663312861666,-6.53817986562e-05,1793243373336732160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.447315235,745.276342383,714,683,656.276342383,630.276342383,880,784,806.276342383,652,630.276342383,652,0.452794901257,-0.0055655980142,0.0695606784515,0.999999770985,-0.000113115621471,-0.000664050118167,-6.53621476285e-05,1793243373353394432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.690806306,745.309193694,714,683,656,630.309193694,880,784.309193694,806,652,630.309193694,652,0.452794643262,-0.00556466884713,0.0695602916133,0.999999770819,-0.000112193733744,-0.000664446240913,-6.54655400245e-05,1793243373370058752
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,656,630.517197828,880.482802172,784.517197828,806,652,630.517197828,652,0.452793402145,-0.00556478491211,0.0695591759831,0.99999976979,-0.000112523993308,-0.000665965770004,-6.51764389578e-05,1793243373403392000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.942120633,714,682.942120633,656,630.057879367,880.942120633,784.057879367,806,651.942120633,630.057879367,651.942120633,0.452792285389,-0.00556692467406,0.0695584597755,0.999999768822,-0.000113114251875,-0.000667372861248,-6.46172708213e-05,1793243373420058624
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.725215,746,714,683,656.725215,631,880,784.274785,806.274785,652,631,652,0.452442854508,-0.00555467887932,0.0694762962272,0.999999675079,-0.000104692392999,-0.000796622743432,-6.53780435731e-05,1793243373570060544
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.179075471,746,714,683,656.179075471,631,880,784.179075471,806.179075471,652,630.179075471,652,0.451829373572,-0.00554050401661,0.0694408859232,0.999999620664,-9.22337329344e-05,-0.00086424319158,-5.69967612427e-05,1793243373653391872
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.181672289,634.818327711,879.181672289,787,805,651,631,652,0.429361440226,-0.00539982696256,0.0697189097974,0.999999888499,0.000145806832547,-0.000448616442374,2.20218085422e-05,1793243374303393536
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.400947122,714,681.400947122,659.400947122,634.599052878,879,786.599052878,805.400947122,651.400947122,631,652,0.428469816698,-0.00540108397226,0.0697376507445,0.999999901682,0.000145578915959,-0.00041821013936,2.330652287e-05,1793243374320059904
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.554806575,745.445193425,714,681.445193425,660,634.554806575,879,786.554806575,806,652,631,652,0.426758715774,-0.00540494544534,0.0698439624805,0.999999956558,0.000146078464486,-0.000254257088414,2.99844473241e-05,1793243374353393152
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.701537459,634,879,787,805.298462541,651.298462541,631,652,0.424051495733,-0.00539654432715,0.0698236130055,0.999999945094,0.000156486982225,-0.000290531660652,3.02638307395e-05,1793243374403392000
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.38704137,659,634.38704137,880,786.38704137,806,652,631,651.38704137,0.420326657169,-0.00539267144829,0.0697275680188,0.999999883563,0.000160269440482,-0.000454495212058,2.49491045826e-05,1793243374470058496
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.19320616,659,634,880,786.19320616,805.80679384,652,631,651.19320616,0.41953871167,-0.00539690093748,0.0697866357277,0.999999925355,0.000152260248373,-0.000354085998676,2.70129375927e-05,1793243374486725120
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.783940571,659,634,880,786.783940571,805.216059429,652,631,651.783940571,0.418774780246,-0.00540042549242,0.0698579027208,0.999999958753,0.00015398456343,-0.000240364886288,3.17404931604e-05,1793243374503391744
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.366741472,745,714,681,659,634,879.633258528,787,805.366741472,652,631,652,0.417937868501,-0.00540115819938,0.0698735550837,0.999999961786,0.000159429666339,-0.000223321184294,3.37313506602e-05,1793243374520058624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.944967413,745,714,681,659,634,879.055032587,787,805.944967413,652,631,652,0.417058872103,-0.00540028096415,0.069857136811,0.99999995114,0.000167020392484,-0.000262027309418,3.41440686757e-05,1793243374536725248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.481116557,745,714,680.481116557,659,634,879,787,806,652,631.518883443,652,0.416233413781,-0.0053938261644,0.0698273429699,0.999999944434,0.000167174874352,-0.000286828791061,3.02425812198e-05,1793243374553391616
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.095017384,745,714,680,659,634.095017384,879,787,805.904982616,652,631.904982616,652,0.415412878217,-0.00538702218245,0.0697967822019,0.999999935533,0.000168459623694,-0.00031598046313,2.66603676095e-05,1793243374570058240
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.685068339,745,714,680,659,634.685068339,879,787,805.314931661,652,631.314931661,652,0.414588650429,-0.00538145555393,0.0697695557609,0.999999913016,0.0001797081271,-0.000375416203967,2.71057794617e-05,1793243374586724864
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.150019446,745,714,680,658.150019446,634.150019446,879,787,805,652,631,652,0.413046666923,-0.00537230347141,0.0697571843309,0.999999899523,0.000197106176275,-0.000401648735822,2.79710267401e-05,1793243374620058368
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.999153964,714,680,658.999153964,634,879.000846036,787,805,652,631,652,0.411736023308,-0.00537088596975,0.0698655545327,0.999999958672,0.00019671462154,-0.000207399692822,3.07282688423e-05,1793243374653393664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.424182691,714,680,658.424182691,634,879.575817309,787,805,652,631,652,0.411073737595,-0.00536347783227,0.0698776214237,0.999999958473,0.000213470070595,-0.000191062829103,3.12941240315e-05,1793243374670060032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.155222873,714,680,658.155222873,634,879.844777127,787,805,652,631,652,0.410408997343,-0.00535750253463,0.0698767361237,0.999999955011,0.000224419925601,-0.000196557988632,3.12939110695e-05,1793243374686726656
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.48730402,745,714,679.51269598,659,634.51269598,879,787,805,651,631,652,0.407879333738,-0.00538193410371,0.0697759993264,0.999999914241,0.000192203028542,-0.000366023902816,2.45358487359e-05,1793243374753392128
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,635,878.454568694,787,804.454568694,652,631,652,0.404644264244,-0.00537610139061,0.0698272300908,0.999999938237,0.000195566292856,-0.000290897383941,2.56592982602e-05,1793243374870059776
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.051240548,634.051240548,878.948759452,787,805,652,631,651.948759452,0.400982735174,-0.00535180461161,0.069824479954,0.999999932798,0.000225049940887,-0.000288932000492,1.65666415306e-05,1793243375286725888
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.624518782,634.624518782,878.375481218,787,805,652,631,651.375481218,0.400982013128,-0.00535359339971,0.069826674945,0.999999934901,0.000222771301102,-0.000283356867205,1.6700881933e-05,1793243375303392512
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.795770425,635,878.204229575,787,805,652,631,651.204229575,0.400980108879,-0.00535490656598,0.0698277580687,0.999999935921,0.000221643077111,-0.000280632634038,1.66880646545e-05,1793243375320059136
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.203848638,635,878.796151362,787,805,652,631,651.796151362,0.400975960436,-0.00535531685176,0.0698267305173,0.999999934933,0.000222698705656,-0.00028332030973,1.63960854619e-05,1793243375336725760
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.621695229,714.378304771,680,659,635,879,787,805,652,631,652,0.400974547019,-0.00535412753767,0.0698271828091,0.999999934347,0.000225732162817,-0.000282987824547,1.63676767557e-05,1793243375353392384
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.044673013,714.955326987,680,659,635,879,787,805,652,631,652,0.400974570267,-0.00535209797933,0.0698284124389,0.999999933959,0.000229804541684,-0.000281068897069,1.647771742e-05,1793243375370058752
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.533275979,714.466724021,680,659,635,879,787,805,652,631,652,0.40097527298,-0.00535428552823,0.0698293917294,0.999999935696,0.000224938562064,-0.000278809927322,1.66163854828e-05,1793243375386725120
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.110039871,680,659,635,879,787,805,651.889960129,631,652,0.400975502622,-0.00535618176353,0.0698300358701,0.999999937004,0.000220967163994,-0.000277282154016,1.67414168922e-05,1793243375403392000
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.681508026,680,659,635,879,787,805,651.318491974,631,652,0.400973509446,-0.00535537249421,0.0698293627243,0.999999935891,0.000223892289668,-0.000278940151056,1.67991923232e-05,1793243375420059136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.745420345,679.745420345,659,635,879,786.745420345,804.745420345,651.254579655,631,652,0.400972877715,-0.00535467976766,0.0698296994384,0.99999993559,0.000225316773532,-0.000278882045186,1.66502090853e-05,1793243375436725760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.170329895,679.170329895,659,635,879,786.170329895,804.170329895,651.829670105,631,652,0.400973960016,-0.00535413376608,0.0698313075463,0.999999936318,0.000224851979176,-0.000276663399619,1.62409207443e-05,1793243375453392128
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.420165706,659,635,879,786.420165706,804.420165706,652,631,652,0.400973373656,-0.00535371067252,0.069830952962,0.999999936241,0.000224530539281,-0.000277205726406,1.61436057626e-05,1793243375470058496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.983617367,879,787,805,652,631,651.983617367,0.400972158247,-0.00535334300372,0.0698298454844,0.999999935854,0.00022427913757,-0.00027880139024,1.61697097516e-05,1793243375486725376
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.413151281,879,787,805,652,631,651.413151281,0.400973416903,-0.00535310057646,0.0698312083131,0.999999936416,0.00022435621782,-0.000276726574031,1.59298238863e-05,1793243375503392000
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.840034262,658.840034262,634.159965738,879.159965738,787,805,652,631,651.159965738,0.400974230629,-0.00535345541823,0.0698322774672,0.999999936946,0.000223880243773,-0.000275197722835,1.58492840574e-05,1793243375520058880
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.25995521,658.25995521,634.74004479,879.74004479,787,805,652,631,651.74004479,0.400973875849,-0.00535537885014,0.0698325753526,0.999999937397,0.000221951799486,-0.000275102723627,1.61872300524e-05,1793243375536725504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.327593253,679,658.327593253,635,879.672406747,787,805,652,631,652,0.400974222043,-0.00535624320481,0.0698328852018,0.999999937843,0.000220918964002,-0.000274300841037,1.63845177961e-05,1793243375553391872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.92120719,679,658.92120719,635,879.07879281,787,805,652,631,652,0.400975137459,-0.00535624754031,0.0698332047664,0.999999938285,0.00022061340387,-0.000272924936856,1.64675845988e-05,1793243375570058496
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.49957165,679.50042835,659,635,879,787,805,652,631,652,0.400975110936,-0.00535479609111,0.0698338677046,0.999999937992,0.00022266746919,-0.000272338401224,1.63249665459e-05,1793243375586725376
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.077254105,744.922745895,714,680,659,635,878.922745895,787,805,652,631,652,0.400975033811,-0.00535342057647,0.0698344325977,0.999999937631,0.000224735615755,-0.000271973457978,1.61670596703e-05,1793243375603392512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.652837201,744.347162799,714,680,659,635,878.347162799,787,805,652,631,652,0.400975560194,-0.00535397209554,0.0698340260554,0.999999937593,0.000224565064825,-0.000272258600677,1.61333382288e-05,1793243375620059904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.764670382,744.235329618,714,680,659.235329618,635,878,787,805,652,631,652,0.400975160491,-0.00535488448194,0.0698332004782,0.999999937339,0.000224552019256,-0.000273191541143,1.62509008894e-05,1793243375636727040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.171676798,744.828323202,714,680,659.828323202,635,878,787,805,652,631,652,0.400973353283,-0.00535634532994,0.0698317380342,0.999999936757,0.000224778357012,-0.000275109032261,1.65983915604e-05,1793243375653393664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.590279425,659.590279425,634.590279425,878,786.590279425,805,652,631,652,0.400973041672,-0.0053558525653,0.0698316289322,0.999999937066,0.000223256813377,-0.000275250772229,1.61621174197e-05,1793243375670060288
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.013607272,659.013607272,634.013607272,878,786.013607272,805,652,631,652,0.400973339482,-0.00535456374897,0.0698320712858,0.999999937734,0.000221023048832,-0.000274668934908,1.54064773795e-05,1793243375686726912
diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1230878164523e922128f0a7ceb26a5c21f4932b
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-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
+55,0.916666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+56,0.933333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+57,0.950000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+59,0.983333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+60,1.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+61,1.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+62,1.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+63,1.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+64,1.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+65,1.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+66,1.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..640e7ccfc92e2780d0613fd39f677207bfcc85c2
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e98e82f88c5cd517de0df24942dc146b165fc90f
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/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
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+61,1.016666667,BASELINE,765,745,714.595212991,680,659,635,878,787,805,652,631,652,0.400972830972,-0.00535663443423,0.0698358619401,0.999999938831,0.000221902352347,-0.000269902933521,1.57986591625e-05,1793243376818785280
+62,1.033333333,BASELINE,765,745,714.022388282,680,659,635,878,787,805,652,631,652,0.400972389878,-0.00535689317423,0.0698351993911,0.999999938482,0.000222633005803,-0.000270589905234,1.58746121292e-05,1793243376835451904
+63,1.050000000,BASELINE,765,745,714,680,659,635,878,787,805,652,631,652,0.400973156868,-0.00535737560715,0.0698355306817,0.999999938988,0.000221638164064,-0.000269532434575,1.5883529196e-05,1793243376852118272
+64,1.066666667,BASELINE,765,745,714,679.868191921,658.868191921,635,878.131808079,787,805,652,631,652,0.400973923946,-0.00535770233599,0.0698359288932,0.999999939354,0.000221132796198,-0.000268585196231,1.59254655782e-05,1793243376868784896
+65,1.083333333,BASELINE,765,745,714,679.276381405,658.276381405,635,878.723618595,787,805,652,631,652,0.400974519848,-0.00535745391383,0.0698364195805,0.999999939115,0.000222580595346,-0.000268270283727,1.60921530924e-05,1793243376885451264
+66,1.100000000,BASELINE,765,745,714,679,658.308048785,635,879.308048785,787,805,652,631,652,0.400974716285,-0.00535713099197,0.0698365435991,0.999999939103,0.000222639925125,-0.000268264856199,1.60845257445e-05,1793243376902117888
+67,1.116666667,BASELINE,765,745,714,679,658.886012245,635,879.886012245,787,805,652,631,652,0.400974562707,-0.00535674279292,0.0698363463396,0.999999939292,0.000221482667463,-0.000268530601764,1.5924162387e-05,1793243376918785024
+68,1.133333333,BASELINE,765,745,714,679.461978057,659,635,879.076043886,787,805,652,631,652,0.400975250377,-0.0053567396209,0.0698366883995,0.999999939521,0.000221350100348,-0.000267791511062,1.58242226299e-05,1793243376935451904
+69,1.150000000,BASELINE,765,745,714.037374213,680,659,635,878.037374213,787,804.962625787,652,631,652,0.400976021861,-0.00535678005523,0.0698370980379,0.999999939722,0.000221503240656,-0.000266915105397,1.5744130411e-05,1793243376952118784
+70,1.166666667,BASELINE,765,745,714.611636607,680,659,635,878.611636607,787,804.388363393,652,631,652,0.400975028444,-0.00535608807101,0.0698365750966,0.999999939394,0.000222144300964,-0.000267612399055,1.57359059872e-05,1793243376968785152
+71,1.183333333,BASELINE,765,745,714.80775836,679.80775836,659,635,879,787,804.19224164,652,631,652,0.400974758506,-0.00535563003648,0.0698365232236,0.999999939272,0.000222834340686,-0.000267491376085,1.57556064714e-05,1793243376985451776
+72,1.200000000,BASELINE,765,745,714.213902749,679.213902749,659,635,879,787,804.786097251,652,631,652,0.400975999998,-0.0053556607485,0.0698374554641,0.999999939582,0.000223626703919,-0.000265660799626,1.5833645164e-05,1793243377002118400
+73,1.216666667,BASELINE,765,745,714.368555517,679.368555517,659,635,879.368555517,786.631444483,805,652,631.368555517,652,0.400975535565,-0.00535526963184,0.0698372287084,0.999999939367,0.000223683885382,-0.000266432191136,1.56526788993e-05,1793243377018785024
+74,1.233333333,BASELINE,765,745,714.944597364,679.944597364,659,635,879.944597364,786.055402636,805,652,631.944597364,652,0.400974110744,-0.00535464103757,0.0698363494704,0.999999938854,0.000223327180259,-0.000268668417114,1.53259001659e-05,1793243377035451904
+75,1.250000000,BASELINE,765,745,714.48416058,680,659,635,878.968321161,786.51583942,805,652,631.48416058,652,0.400974910066,-0.0053556329483,0.0698368971875,0.999999939371,0.000221735223119,-0.000268063938314,1.52680711844e-05,1793243377052119040
+76,1.266666667,BASELINE,765,745,714,680,659,635,878.087063366,787,805,652,631,652,0.400975804557,-0.00535651556874,0.0698375499485,0.999999939924,0.000220416602892,-0.000267086820578,1.52428827248e-05,1793243377068785920
+77,1.283333333,BASELINE,765,745,714,680,659,635,878.66104252,787,805,652,631,652,0.400975907646,-0.00535582255431,0.0698379409606,0.999999940081,0.000221361798803,-0.000265716249137,1.52401814939e-05,1793243377085452288
+78,1.300000000,BASELINE,765,745,714,680,659,635,879,787,805,652,631,652,0.400975787482,-0.00535587765934,0.0698378632401,0.999999940034,0.000221730253526,-0.000265583580572,1.52700514744e-05,1793243377102118400
+79,1.316666667,BASELINE,765,745,714,680,659,635,879,787,805,652,631,652,0.400975345334,-0.00535701173149,0.0698371094951,0.999999939695,0.000221266909522,-0.000267236263958,1.53468969273e-05,1793243377118784768
+80,1.333333333,BASELINE,765,745,714,680,659,635,878.571293026,787,805,652,631,652,0.400975001294,-0.00535643309593,0.069836558848,0.999999939261,0.000222149961148,-0.000268123430756,1.53792538527e-05,1793243377135451136
+81,1.350000000,BASELINE,765,745,714,679.995624323,659,635,878,787,805,652,631,652,0.400974691828,-0.00535528181383,0.0698360833449,0.999999938802,0.000223467700663,-0.000268740083878,1.53956139152e-05,1793243377152117760
+82,1.366666667,BASELINE,765,745,714,679.420142348,659,635,878,787,805,652,631,652,0.400974505336,-0.00535602033425,0.0698363284299,0.999999939408,0.0002212791865,-0.000268300787943,1.53146135302e-05,1793243377168784640
+83,1.383333333,BASELINE,765,745,714,679,659,635,878.158821284,787,805,652,631.158821284,652,0.400974678244,-0.00535628063171,0.0698367337757,0.999999939635,0.000220925060405,-0.000267745375318,1.53159052342e-05,1793243377185451264
+84,1.400000000,BASELINE,765,745,714,679,659,635,878.747201774,787,805,652,631.747201774,652,0.40097582321,-0.00535524749391,0.0698375725741,0.999999938835,0.000225532348725,-0.000266875905233,1.55397698886e-05,1793243377202118144
+85,1.416666667,BASELINE,765,745,714.329739614,679,659,635,879.329739614,787,805.329739614,652,631.670260386,652,0.400976360804,-0.00535517565418,0.0698380879153,0.999999938918,0.000225804752794,-0.000266331881845,1.56168028766e-05,1793243377218785024
+86,1.433333333,BASELINE,765,745,714.907876078,679,659,635,879.907876078,787,805.907876078,652,631.092123922,652,0.400976440859,-0.00535582797199,0.0698383595922,0.999999939669,0.000222811635702,-0.000266033021453,1.55832257759e-05,1793243377235451904
+87,1.450000000,BASELINE,765,745,714.51486978,679,659,635,879.51486978,787,805.51486978,652,631,652,0.400976091451,-0.00535555028498,0.0698380123458,0.999999939584,0.000223244081387,-0.00026599727168,1.55055932914e-05,1793243377252118272
+88,1.466666667,BASELINE,765,745,714,679.063736114,659,635,879,787,805,652,631,651.936263886,0.400975688274,-0.00535514711573,0.0698376194804,0.999999939401,0.000224038653434,-0.000266019323621,1.54197839059e-05,1793243377268784384
+89,1.483333333,BASELINE,765,745,714,679.654912298,659,635,879,787,805,652,631,651.345087702,0.400975513792,-0.0053551643407,0.0698378199445,0.999999939732,0.000222456614857,-0.000266106990703,1.53354129348e-05,1793243377285451008
+90,1.500000000,BASELINE,765,745,714,680,659,635,879,787,805.241207747,652,631,651.241207747,0.400975620123,-0.00535548953047,0.0698377998688,0.99999993997,0.000221655223099,-0.000265888976599,1.52419839835e-05,1793243377302117632
+91,1.516666667,BASELINE,765,745,714,680,659,635,879,787,805.820658934,652,631,651.820658934,0.400976120236,-0.00535624657647,0.069837470532,0.999999940078,0.000221948525445,-0.000265242308529,1.51358531158e-05,1793243377318784000
+92,1.533333333,BASELINE,765,745,714,680,659,635,879,787,805.60298908,652,631,652,0.40097604278,-0.00535600124559,0.0698374665935,0.999999939834,0.000222503296204,-0.000265693828758,1.51824255769e-05,1793243377335451136
+93,1.550000000,BASELINE,765,745,714,680,659,635,879,787,805.028026197,652,631,652,0.400975706439,-0.00535530662001,0.0698376085081,0.999999939432,0.000223175264817,-0.000266637589202,1.5297444149e-05,1793243377352118528
+94,1.566666667,BASELINE,765,745,714,680,659,635,879,787,805,652,631,652,0.400975548429,-0.0053558950378,0.0698373112783,0.999999939317,0.00022378863894,-0.000266553053376,1.52939109606e-05,1793243377368785408
+95,1.583333333,BASELINE,765,745,714,680,659,635,878.876895652,787,805,652,631,652,0.400975316967,-0.00535621584752,0.0698370738276,0.999999939243,0.000224092118821,-0.000266575529741,1.52921618861e-05,1793243377385451776
+96,1.600000000,BASELINE,765,745,714,680,659,635,878.286986573,787,805,652,631,652,0.400974772326,-0.00535527259816,0.0698371483845,0.999999939268,0.000223231882761,-0.00026720359566,1.53202135321e-05,1793243377402118656
+97,1.616666667,BASELINE,765,745,714,679.702398673,659,635,878.297601327,787,805,652,631,652,0.40097459436,-0.0053554281929,0.0698370393494,0.999999939325,0.00022292964422,-0.000267238807087,1.53629915993e-05,1793243377418785280
+98,1.633333333,BASELINE,765,745,714,679.122852054,659,635,878.877147946,787,805,652,631,652,0.40097476378,-0.00535662482447,0.0698367563807,0.999999939414,0.000223156048444,-0.000266712352523,1.54197213672e-05,1793243377435451648
+99,1.650000000,BASELINE,765,745,714,679.454289362,659,634.545710638,879,787,805,652,631,652,0.400975412054,-0.00535682510136,0.0698376976232,0.999999939812,0.000222156634019,-0.000266055171982,1.54075849987e-05,1793243377452117760
+100,1.666666667,BASELINE,765,745,714,680,659,634,879,787,805,652,631,652,0.400976135068,-0.00535675346225,0.0698388446493,0.999999940265,0.000220890578825,-0.00026540804199,1.53778586607e-05,1793243377468784128
+101,1.683333333,BASELINE,765,745,714,680,659,634,879,787,805,652,631,652,0.400975899516,-0.0053566127944,0.0698378017859,0.999999940256,0.000220743247777,-0.000265562469231,1.53647108929e-05,1793243377485450752
+102,1.700000000,BASELINE,765,744.799490533,714,680,659,634.200509467,879,787,805,652,631,652,0.400975761973,-0.00535627384828,0.0698372244714,0.999999940096,0.000221332530658,-0.000265674966343,1.5354754707e-05,1793243377502117376
+103,1.716666667,BASELINE,765,744.219813444,714,680,659,634.780186556,879,787,805,652,631,652,0.400975809768,-0.00535555995382,0.0698375275199,0.999999939647,0.000223314766002,-0.00026570817268,1.53508338709e-05,1793243377518784000
+104,1.733333333,BASELINE,765,744.358988429,714.358988429,680,659,635,879,787,805,652,631,652,0.400975639416,-0.00535610054495,0.0698376862691,0.999999939642,0.000222751708773,-0.000266195813031,1.54250497622e-05,1793243377535450880
+105,1.750000000,BASELINE,765,744.937255753,714.937255753,680,659,635,879,787,805,652,631,652,0.400975335814,-0.00535740740645,0.0698377568769,0.999999939905,0.000220633924897,-0.000266961032771,1.55469934736e-05,1793243377552117504
+106,1.766666667,BASELINE,765,745,714.491205563,680,659,635,879,786.491205563,805,651.491205563,631,652,0.40097514277,-0.00535661302804,0.0698377505161,0.999999939797,0.000221402945875,-0.000266735314029,1.54530648149e-05,1793243377568784896
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.4009752986,-0.00535432434001,0.0698380433863,0.999999939766,0.000223404587148,-0.000265187186948,1.52826590703e-05,1793243377611214592
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.574758695,679.425241305,659,635,879,787,805,652,631,652,0.40097463853,-0.00535483983136,0.0698373715588,0.99999993926,0.000223604511388,-0.000266927193827,1.52184822144e-05,1793243377627881728
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.849054386,679,659.150945614,635,879,787,805,652,631,652,0.400974150365,-0.00535524998038,0.0698370319832,0.999999938988,0.000223509113803,-0.000268024959114,1.51632643304e-05,1793243377644548352
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.268805335,679,659.731194665,635,879,787,805,652,631,652,0.400974151114,-0.00535536052608,0.069837637363,0.999999939392,0.000222573793388,-0.000267296129674,1.5133526585e-05,1793243377661214208
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.314985083,659.685014917,635,879,787,805,652,631,652,0.400974719117,-0.00535543588498,0.0698380966996,0.999999939788,0.000221964519879,-0.000266321431024,1.51506502903e-05,1793243377677880320
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.901831998,659.098168002,635,879,787,805,652,631,652,0.400975776714,-0.00535548087436,0.0698384299872,0.999999940175,0.000221636655652,-0.000265134524102,1.52082198491e-05,1793243377694546688
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.482861578,680,659,635,879,787,805,652,631.482861578,652,0.400974095977,-0.00535452540989,0.0698370386065,0.999999938918,0.000224614574573,-0.000267356397129,1.52476879347e-05,1793243377711213312
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,804.937555284,652,631.937555284,652,0.400972329705,-0.00535365339066,0.0698355858795,0.999999937617,0.000227552780506,-0.000269725445651,1.52845485245e-05,1793243377727880448
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,804.360262783,652,631.360262783,652,0.400974393614,-0.00535512638111,0.0698364838675,0.999999938819,0.00022468830979,-0.000267662096517,1.53298915008e-05,1793243377744547840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,804.216819553,652,631,652,0.400979612292,-0.00535613564745,0.0698390014546,0.999999940392,0.000222466028955,-0.000263608125349,1.53798924542e-05,1793243377761214720
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,804.793552963,652,631,652,0.40099006779,-0.00535637514574,0.069844207527,0.99999994256,0.000221309764049,-0.000256249782406,1.54376255032e-05,1793243377777880320
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.37659673,745,714.62340327,680,659,635,879,787,805.37659673,652,631,652,0.401014628335,-0.00535706719177,0.0698545983663,0.999999946933,0.000221464670818,-0.000238402467622,1.58634813799e-05,1793243377794547200
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.963158789,745,714.036841211,680,659,635,879,787,805.963158789,652,631,652,0.401047052919,-0.00535801154839,0.069867879888,0.999999952094,0.000222350599635,-0.000214707197899,1.64945780976e-05,1793243377811214592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.456232072,745,714,680,659,635,879,787,805.456232072,652,631.543767928,652,0.401099858788,-0.00535887812591,0.0698828898293,0.999999957791,0.000222110182593,-0.000186557976661,1.67631908932e-05,1793243377827881472
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.877061957,879.122938043,787,805,652,631.877061957,652,0.40115583544,-0.00535960156101,0.0698965547803,0.999999962104,0.000221769270008,-0.00016226616174,1.67349188908e-05,1793243377844548096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.301719083,879.698280917,787,805,652,631.301719083,652,0.401218453915,-0.0053598174227,0.0699048439826,0.999999963636,0.000221336322332,-0.000153267814132,1.57035249293e-05,1793243377861214464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.269259815,745,714,679.730740185,659,634.269259815,879.730740185,787,804.730740185,652,631,652,0.4012882668,-0.00536089898217,0.0699096249001,0.999999964796,0.000220314013014,-0.000147175617956,1.44678924982e-05,1793243377877881088
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.835426616,745,714,679.164573384,659,634.835426616,879.164573384,787,804.164573384,652,631,652,0.401366012802,-0.0053629351279,0.0699105373071,0.999999965604,0.000218641827372,-0.000144287972792,1.30070507774e-05,1793243377894547968
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.5737448,745,714,679.4262552,659,635,879,787,804.4262552,652,631,652,0.401456630311,-0.00536473342108,0.0699083905663,0.999999965538,0.000216731053094,-0.00014774070893,1.11146631682e-05,1793243377911214848
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.401553789206,-0.0053665152546,0.0699051684563,0.999999965128,0.0002146666438,-0.000153563678468,9.01066864704e-06,1793243377927881984
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.401677675502,-0.00537000654821,0.0699057081067,0.999999965684,0.000211423498225,-0.000154574293817,6.17321827116e-06,1793243377944548352
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.81777954,787,805,652,631,652,0.401811392098,-0.00537276291992,0.0699071270654,0.999999966367,0.000208859290573,-0.000153731172786,3.23438413492e-06,1793243377961214976
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.243354038,787,805,652,631,652,0.401966267076,-0.00537393747063,0.0699104386168,0.999999967333,0.000207756405938,-0.000148898133302,7.73354520324e-08,1793243377977881600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.330205279,680,659,635,878.330205279,787,805,652,631,652,0.402140576838,-0.00537617387447,0.0699151535717,0.999999969568,0.000202869598603,-0.000140338442926,-3.64192303353e-06,1793243377994548224
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.903127965,680,659,635,878.903127965,787,805,652,631,652,0.402329172156,-0.00537919079363,0.0699209000987,0.999999972592,0.000195201418536,-0.000129039477088,-7.77443419327e-06,1793243378011214848
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.505298184,680,659,635,879,787,805,652,631,652,0.40254632996,-0.00538410690899,0.0699220362574,0.999999974575,0.000186627478329,-0.000125940721152,-1.26145918252e-05,1793243378027881216
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.912541205,879,787,805,652,631,652,0.402774962187,-0.00538932144744,0.0699229074635,0.999999976349,0.000178298590472,-0.000123302722341,-1.7536458308e-05,1793243378044547584
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.334438515,879,787,805,652,631,652,0.403035359522,-0.00539404204821,0.0699275554114,0.999999978413,0.000172378444999,-0.000113888336027,-2.21088750403e-05,1793243378061214464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.241893498,879,786.758106502,805,652,631,652,0.403311572364,-0.00539974229581,0.0699332147858,0.999999980783,0.000165067904319,-0.000102301825545,-2.68440859304e-05,1793243378077881344
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.815795156,879,786.184204844,805,652,631,652,0.403609492583,-0.00540678714621,0.0699402623816,0.999999983501,0.000155848992913,-8.77339913865e-05,-3.18027378073e-05,1793243378094547968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.400363587,745,714,680,659,634.599636413,879,786.400363587,805.400363587,652,631,652,0.40393466524,-0.00541241038457,0.0699459095309,0.999999985865,0.000144099158012,-7.82724086316e-05,-3.71397748037e-05,1793243378111214848
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.989974052,745,714,680,659,634.010025948,879,786.989974052,805.989974052,652,631,652,0.404272719777,-0.00541736164444,0.0699508947063,0.999999987953,0.000131152987364,-7.12244876835e-05,-4.26556695855e-05,1793243378127881728
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714,679.432084022,659,634,879,787,805.432084022,652,631,652,0.404641835448,-0.00542447772984,0.0699552577343,0.99999999178,0.000105237271249,-6.74074666234e-05,-2.86488789559e-05,1793243378144548096
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.854454093,745,714,679.145545907,659,634,879,787,804.854454093,652,631,652,0.405022187915,-0.00543473664085,0.0699596167374,0.999999994506,8.19041024497e-05,-6.26295803241e-05,-1.88891181351e-05,1793243378161214464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.277151019,745,714,679.722848981,659,634,879,787,804.277151019,652,631,652,0.405434279984,-0.00545420755074,0.0699639957256,0.999999996001,6.68975188643e-05,-5.48355244642e-05,-2.27298504395e-05,1793243378177880832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.694930077,659,634,879,787,804.305069923,652,631,651.694930077,0.405853770116,-0.00547071979271,0.0699627438612,0.999999996929,4.97438426102e-05,-5.46061621787e-05,-2.6184760081e-05,1793243378194547456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.108168062,659,634,879,787,804.891831938,652,631,651.108168062,0.406280091437,-0.00548450009485,0.0699562926429,0.99999999722,3.06076059304e-05,-6.1361802103e-05,-2.92834134977e-05,1793243378211214080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.472324977,879,787,805,652,631,651.944649955,0.406749056229,-0.00548578956185,0.0699400739549,0.999999995391,2.07614099762e-05,-8.8162710377e-05,-3.18459856968e-05,1793243378227880960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.051312189,745,714,679.051312189,659,635,879,787,805,652,631.051312189,652.948687811,0.407233436336,-0.00548535323603,0.0699234196332,0.999999992635,1.33072049947e-05,-0.000115698876487,-3.41664201092e-05,1793243378244548352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.629386526,745,714,679.629386526,659,635,879,787,805,652,631.629386526,652.370613474,0.407777126254,-0.00549618147998,0.069924955663,0.999999993903,8.85399071843e-06,-0.000104274017851,-3.52449282762e-05,1793243378261214976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.794013241,745,714,680,659,634.794013241,879,786.794013241,805.205986759,651.794013241,631.794013241,652,0.408339622979,-0.00550496499168,0.06993063581,0.999999995512,-1.24006421683e-06,-8.74175097165e-05,-3.65091954118e-05,1793243378277881600
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.220046421,745,714,680,659,634.220046421,879,786.220046421,805.779953579,651.220046421,631.220046421,652,0.408935716636,-0.00551009574031,0.069943719115,0.999999997193,-2.14110621949e-05,-6.08577633996e-05,-3.81053070779e-05,1793243378294547968
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.63609329,714,680,659,634.36390671,879.36390671,786.36390671,806,651.36390671,631,652,0.409526310874,-0.00551671468136,0.0699470990064,0.999999997637,-2.68331274579e-05,-4.98782286525e-05,-3.89606342158e-05,1793243378311214848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.045931292,714,680,659,634.954068708,879.954068708,786.954068708,806,651.954068708,631,652,0.410113485881,-0.0055242588907,0.0699444458989,0.999999997779,-2.30851934408e-05,-4.85855326136e-05,-3.93553860845e-05,1793243378327881472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.534491515,714,680,659,635,879.465508485,787,805.465508485,652,631,652,0.410756763199,-0.00553319397175,0.0699380388647,0.999999996358,-4.09117771617e-05,-6.29813682357e-05,-4.0539702399e-05,1793243378344548096
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.113703887,745,714,680,659,635,879,786.886296113,805,652,631,652,0.411416943369,-0.00554118321776,0.0699365893671,0.999999995187,-5.65049686374e-05,-6.85971912082e-05,-4.15577702625e-05,1793243378361214720
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.69133107,745,714,680,659,635,879,786.30866893,805,652,631,652,0.412126770032,-0.00554483441655,0.0699566597733,0.999999997046,-5.55565662333e-05,-3.29873741545e-05,-4.16256431833e-05,1793243378377881600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.734185165,745,714.265814835,680,659,635,879.265814835,786.265814835,805.265814835,652,631,652,0.412853231745,-0.00555084605801,0.0699827764133,0.999999997143,-6.25207786173e-05,9.45671394674e-06,-4.14171253064e-05,1793243378394548480
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.163308858,745,714.836691142,680,659,635,879.836691142,786.836691142,805.836691142,652,631,652,0.413598784704,-0.00555956665377,0.070015831995,0.999999994293,-7.85658757232e-05,5.9744134067e-05,-4.08914084598e-05,1793243378411215360
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.576594481,659.423405519,635,880,787,805.576594481,651.576594481,631,652,0.41431866193,-0.00555051250387,0.0700163292637,0.999999995229,-7.09882085814e-05,5.37977831313e-05,-4.01135400511e-05,1793243378427881728
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.983932083,679.016067917,659.983932083,635,880,787,805.016067917,651.016067917,631,652,0.415028930378,-0.00553393831514,0.0700024417504,0.999999997525,-5.33431265983e-05,2.34307732017e-05,-3.94315446209e-05,1793243378444547840
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.405210845,679.594789155,659.405210845,635,880,787,805.594789155,651.594789155,631,652,0.415762986587,-0.00550343259465,0.0699416683226,0.999999996183,-1.46186608004e-05,-7.30578137148e-05,-4.56447122222e-05,1793243378461214464
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.172556611,659.345113222,634.827443389,879.827443389,787,806,652,631,652,0.4165239826,-0.00548648772315,0.0699028771289,0.999999989622,6.25947236961e-06,-0.000135121300404,-4.95890930631e-05,1793243378477881088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.7480966,660.4961932,634.2519034,879.2519034,787,806,652,631,652,0.417347892952,-0.00550121244131,0.0699154225695,0.999999991911,-1.45401710168e-05,-0.000116789467206,-4.82350199769e-05,1793243378494547456
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.669494592,660.338989183,634,879,787,805.669494592,651.669494592,631,652,0.418171605649,-0.00551184920458,0.0699370486818,0.999999995008,-3.07469349865e-05,-8.21068574379e-05,-4.79292123364e-05,1793243378511214336
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.081739447,659.163478894,634,879,787,805.081739447,651.081739447,631,652,0.418995164464,-0.00551930409695,0.0699657427576,0.999999997284,-4.33788184096e-05,-3.46975793297e-05,-4.84393248007e-05,1793243378527880960
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.498297731,659.498297731,634.498297731,879,786.501702269,805,651,631,652,0.419866400131,-0.0055250786057,0.0699891792885,0.999999997609,-4.99162909907e-05,-3.20461776266e-06,-4.77547675822e-05,1793243378544547840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076952815,745,714,681,660,634.923047185,879,786.076952815,805,651.076952815,631,652,0.420747167332,-0.0055300868678,0.0700096107958,0.999999997066,-5.59371905198e-05,2.28656010795e-05,-4.70832553198e-05,1793243378561214208
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.654726636,745,714,681,660,634.345273364,879,786.654726636,805,651.654726636,631,652,0.421639844285,-0.00553187485734,0.0700160123727,0.999999996286,-6.50031894827e-05,3.03765332398e-05,-4.77525957684e-05,1793243378577880832
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680.769082671,660,634.230917329,879.230917329,787,805,652,631,652,0.422493554691,-0.00552755210483,0.0699975203774,0.99999999671,-6.3935019373e-05,-5.98882948839e-07,-4.99213109051e-05,1793243378594547456
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680.195242905,660,634.804757095,879.804757095,787,805,652,631,652,0.423289398187,-0.00551415463065,0.0699420603284,0.999999993445,-4.781716139e-05,-8.872822597e-05,-5.43166635371e-05,1793243378611214080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.610032774,745.389967226,714,680.389967226,660,635,879.610032774,786.610032774,805.389967226,651.610032774,631,652,0.424098378703,-0.00550881368845,0.0698857013508,0.999999982799,-4.73095253747e-05,-0.000169041748732,-5.9908418975e-05,1793243378627880448
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018958965,745.981041035,714,680.981041035,660,635,879.018958965,786.018958965,805.981041035,651.018958965,631,652,0.42491413395,-0.00550762751058,0.0698288787978,0.999999966218,-5.48521010469e-05,-0.000245324637529,-6.61171604238e-05,1793243378644547072
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.43923271,714,681,660,634.43923271,879,786.56076729,806,651,631,652,0.425866615519,-0.00551985187457,0.0698824701982,0.999999983343,-5.98358320908e-05,-0.00016128393734,-6.09984069832e-05,1793243378661213696
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.139361601,745,714,681,660,634.139361601,879,787,806.139361601,651,631,652,0.42682273728,-0.00552984870548,0.069937010107,0.999999993038,-6.54226480091e-05,-8.04440208367e-05,-5.63193833451e-05,1793243378677880576
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.715586314,745,714,681,660,634.715586314,879,787,806.715586314,651,631,652,0.427776066874,-0.0055314696944,0.0699830534981,0.999999995509,-7.31657961002e-05,-2.62922341483e-05,-5.41955069324e-05,1793243378694547968
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.712005072,745,714,681,660,634.712005072,879,787,806.712005072,651,631,651.712005072,0.428709170471,-0.0055324054747,0.0700170307848,0.999999995475,-7.54012208458e-05,2.31279733709e-05,-5.32022152513e-05,1793243378711214848
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.143315856,745,714,681,660,634.143315856,879,787,806.143315856,651,631,651.143315856,0.429622560744,-0.00553267341623,0.0700392478389,0.99999999366,-7.22685420012e-05,6.79365435015e-05,-5.33108482678e-05,1793243378727880704
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.446971251,745,714,681,660,634,879,787,806,651,631,651.446971251,0.43046929603,-0.00553236737941,0.0700140110469,0.999999995593,-7.05022404447e-05,2.86548025263e-05,-5.4975677731e-05,1793243378744547328
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.956936005,745,714,681,660,634,879.043063995,787,805.956936005,651.043063995,631,652,0.431290602908,-0.00553184492695,0.0699705593596,0.99999999503,-6.94411752053e-05,-4.29070136851e-05,-5.7241450458e-05,1793243378761213696
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.379111405,745,714,681,660,634,879.620888595,787,805.379111405,651.620888595,631,652,0.43207501367,-0.0055310364666,0.0698994551077,0.999999982256,-7.1420981236e-05,-0.00016350114968,-6.04588369223e-05,1793243378777880320
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.196486615,745,714,681,660,634,879.803513385,787,805.392973229,652,631,652,0.432916094007,-0.00553133763763,0.0698697238759,0.999999973232,-7.37182677865e-05,-0.000210289680495,-6.22845186667e-05,1793243378794546944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.767836795,745,714,681,660,634,879.232163205,787,806.53567359,652,631,652,0.433865290544,-0.00553375579941,0.0699189254278,0.999999988417,-7.66212555775e-05,-0.000116269496377,-6.14550623837e-05,1793243378811213568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.648236833,745,714,681,660,634.351763167,879.351763167,787,806.648236833,651.648236833,631,652,0.434769298608,-0.00553672025348,0.0699659248783,0.999999994606,-7.73889531898e-05,-3.64087373276e-05,-5.89404673125e-05,1793243378827880192
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.055702474,745,714,681,660,634.944297526,879.944297526,787,806.055702474,651.055702474,631,652,0.435642376478,-0.00554005862785,0.0700114170543,0.999999994962,-7.66951094591e-05,3.37603200126e-05,-5.52724460617e-05,1793243378844546816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.525224597,745,714,681.525224597,660,635,880,787,806,651,631,652,0.436479259758,-0.00554119829034,0.0700157004852,0.999999994155,-8.11192151246e-05,4.36189312233e-05,-5.66366644691e-05,1793243378861213184
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.895846015,745,714,681.895846015,660,634.895846015,880,787,806,651.104153985,631,651.895846015,0.437302693326,-0.00554266034347,0.0700101990781,0.999999993792,-8.56682131045e-05,4.07722954467e-05,-5.84311995122e-05,1793243378877879808
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.320505459,745,714,681.320505459,660,634.320505459,880,787,806,651.679494541,631,651.320505459,0.438082271294,-0.00554661297246,0.0699797754688,0.999999994268,-8.83797949736e-05,8.75824387377e-06,-5.9810273531e-05,1793243378894546944
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.253339972,660,634,880,787,806,651.746660028,631,651,0.438828826708,-0.00554773783904,0.0699366270478,0.999999992656,-8.91277987486e-05,-5.45096801535e-05,-6.14214342211e-05,1793243378911213568
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714.645717855,682.645717855,660,634,880.354282145,787,807,652,631,652,0.446182042402,-0.00556127714897,0.0698519794683,0.999999971981,-9.46865391633e-05,-0.000207625942924,-6.29533332025e-05,1793243379094547200
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+199,3.316666667,POSE1_TO_POSE2_PRESS,765.618567069,745,714,682.618567069,659,633.618567069,880,786.618567069,806,652,631,652,0.447627812577,-0.00556838655336,0.0697692540467,0.999999928586,-0.000114791908264,-0.000354168590844,-6.49212577803e-05,1793243379144547328
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,683,656,630,880,784,806.495744279,652,630.504255721,652,0.453287699007,-0.00557101274117,0.0695614343431,0.999999769962,-0.000117340288513,-0.00066495143918,-6.43978226443e-05,1793243379894547712
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.921170591,714,683,656,630,880,784.078829409,806,651.921170591,630.921170591,652,0.453287529521,-0.005571852253,0.0695613938388,0.999999769147,-0.00011848161997,-0.000665951730572,-6.46191246121e-05,1793243379911213824
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.34447414,714,683,656,630,880,784.65552586,806,651.34447414,630.34447414,652,0.453285747707,-0.00557235777075,0.0695596567943,0.999999767573,-0.000119245473835,-0.000668169389435,-6.46829227445e-05,1793243379927880192
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.23176427,714,683,656,630,880,785,805.76823573,651.23176427,630.23176427,652,0.453285214315,-0.00557267368232,0.0695589379931,0.999999766901,-0.000119666444326,-0.000669114156524,-6.45348088672e-05,1793243379944546816
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.807323314,714,683,656,630,880,785,805.192676686,651.807323314,630.807323314,652,0.453286532811,-0.00557270833571,0.0695597296348,0.999999767572,-0.000119578788161,-0.000668170740137,-6.40723486956e-05,1793243379961213440
+249,4.150000000,HOLD_POSE2,765,746,714,683,656,631,880,784,806,652,630,652,0.453284631202,-0.00557129452399,0.06955843146,0.999999765777,-0.000118333606741,-0.000671100376735,-6.3773301672e-05,1793243379994947584
+250,4.166666667,HOLD_POSE2,765.579959368,746,714,683.579959368,656,631,880,784,806,652,630,652,0.453285915162,-0.00557251125318,0.0695584608577,0.999999766091,-0.000117746408469,-0.000670782641467,-6.32792315566e-05,1793243380011614208
+251,4.183333333,HOLD_POSE2,765.841447162,746,714,683.841447162,656.158552838,630.841447162,880,784,806,651.841447162,630.158552838,652,0.453286951738,-0.00557260361009,0.0695585356979,0.999999766429,-0.000116966272352,-0.000670429102864,-6.31282804137e-05,1793243380028281088
+252,4.200000000,HOLD_POSE2,765.266441214,746,714,683.266441214,656.733558786,630.266441214,880,784,806,651.266441214,630.733558786,652,0.453287338538,-0.00556974270361,0.0695587298965,0.999999766831,-0.000115679367724,-0.000669981523554,-6.38785616138e-05,1793243380044947968
+253,4.216666667,HOLD_POSE2,765,746,714,683.314349449,656.685650551,630,880,784,806.314349449,651.314349449,631,652,0.453287085797,-0.00556900350483,0.0695584818306,0.999999766554,-0.000115881553308,-0.000670348744341,-6.39963525257e-05,1793243380061614592
+254,4.233333333,HOLD_POSE2,765,746,714,683.900135095,656.099864905,630,880,784,806.900135095,651.900135095,631,652,0.453286280823,-0.00557009637009,0.0695578518759,0.99999976569,-0.000117369546801,-0.000671419533238,-6.35679971885e-05,1793243380078281216
+255,4.250000000,HOLD_POSE2,765,746,714,683.518835129,656,630,880,784.481164871,807,651.518835129,631,652,0.453286583674,-0.00557076807524,0.0695576762292,0.999999765614,-0.000118142946054,-0.000671397139062,-6.35589574837e-05,1793243380094947840
+256,4.266666667,HOLD_POSE2,765,745.939368246,714,683,656,630.060631754,880.060631754,784.939368246,806.939368246,651.060631754,630.939368246,652,0.453287111495,-0.00557123751956,0.0695576301514,0.999999765777,-0.000118313645864,-0.000671123175891,-6.35666104048e-05,1793243380111614464
+257,4.283333333,HOLD_POSE2,765,745.364863478,714,683,656,630.635136522,880.635136522,784.364863478,806.364863478,651.635136522,630.364863478,652,0.453287616382,-0.0055707263252,0.0695578908879,0.999999766581,-0.000114620974174,-0.000670621214607,-6.29853664079e-05,1793243380128280576
+258,4.300000000,HOLD_POSE2,765.201698563,745.201698563,714,683,656,630.798301437,880.798301437,784,806,651.798301437,630,652,0.45328851911,-0.00556976786833,0.0695584999965,0.999999767316,-0.000113168262634,-0.000669774412826,-6.29607518017e-05,1793243380144946944
+259,4.316666667,HOLD_POSE2,765.754436877,745.754436877,714,683,656,630.245563123,880.245563123,784,806,651.245563123,630,652,0.453290114246,-0.00556803098791,0.0695597154178,0.999999767944,-0.000115614017818,-0.000668327444597,-6.39049049115e-05,1793243380161613824
+260,4.333333333,HOLD_POSE2,765.656539894,746,714,683,656,630,880,784.343460106,806,651.343460106,630,652,0.453289662209,-0.00556767018556,0.0695594026184,0.999999767527,-0.000115940884051,-0.000668875066673,-6.41145628562e-05,1793243380178280448
+261,4.350000000,HOLD_POSE2,765.038509579,746,714,683,656,630,880,784.961490421,806,651.961490421,630,652,0.453287573613,-0.00556840945268,0.0695578681231,0.999999766273,-0.000114573860131,-0.000671017211703,-6.37370479321e-05,1793243380194947072
+262,4.366666667,HOLD_POSE2,765,745.458660496,714,682.458660496,656,630,880,784.458660496,806.541339504,652,630.541339504,652,0.453288347122,-0.00556893915151,0.0695586075553,0.999999766838,-0.000114918181053,-0.000670129679072,-6.35988457656e-05,1793243380211613696
+263,4.383333333,HOLD_POSE2,765,745.118511321,714,682.118511321,656,630,880,784,806.881488679,652,631,652,0.453289292577,-0.0055694230136,0.0695592729629,0.999999767412,-0.000115566242244,-0.000669178775022,-6.3408391001e-05,1793243380228280320
+264,4.400000000,HOLD_POSE2,765,745.695141749,714,682.695141749,656,630,880,784,806.304858251,652,631,652,0.453290167515,-0.00556978352104,0.0695590681096,0.999999767559,-0.000116948848249,-0.000668761143393,-6.29544748154e-05,1793243380244946944
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,630,880,785,807,652,631,652,0.453289334476,-0.00557000642994,0.0695584266273,0.999999766955,-0.000118391397522,-0.000669358915115,-6.35044725442e-05,1793243380283879680
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.381601224,714,682.618398776,655.618398776,630,880,784.381601224,806.381601224,652,630.381601224,652,0.453288697056,-0.00556991834712,0.0695575628101,0.999999765791,-0.00011855693767,-0.000671019697906,-6.39899374898e-05,1793243380300546560
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,630,880,784.219868058,806,652,630,651.780131942,0.453288086228,-0.00557034453407,0.0695572460964,0.999999765048,-0.000118886723809,-0.000672082698303,-6.38410582887e-05,1793243380317213184
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,630,880,784.794055411,806,652,630,651.205944589,0.453287518252,-0.00557159947122,0.0695578110448,0.999999764984,-0.000119481193821,-0.000672182367412,-6.26699280333e-05,1793243380333879808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.36908896,714,683,656,630,880.36908896,784.63091104,806,652,630,651.36908896,0.453287678063,-0.00557087406687,0.069558007245,0.999999765268,-0.000117789114486,-0.000672075186814,-6.24809303987e-05,1793243380350546432
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.94459572,714,683,656,630,880.94459572,784.05540428,806,652,630,651.94459572,0.453288244899,-0.00556904113073,0.0695579972181,0.999999765741,-0.000114818252654,-0.000671852322818,-6.2841203275e-05,1793243380367213312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.464698214,630,880.464698214,784,806,652,630.535301786,652,0.453289082507,-0.00556850723054,0.0695583575034,0.999999766423,-0.000116125294077,-0.000670577360844,-6.31985260685e-05,1793243380383879936
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.875960679,714,683.124039321,655.124039321,630,880.124039321,784,806,652,631,652,0.453289303495,-0.00556831852342,0.0695581770457,0.999999766746,-0.000117096262743,-0.000669904398851,-6.34329705913e-05,1793243380400546560
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.300286026,714,683.699713974,655.699713974,630,880.699713974,784,806,652,631,652,0.453287174311,-0.0055688828337,0.0695558840756,0.999999765689,-0.0001151843105,-0.000671831432619,-6.3221151472e-05,1793243380417213184
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.724602959,656,630,881,784,806,651.724602959,630.724602959,652,0.453281696972,-0.00556883645934,0.0695528155338,0.999999762813,-0.000114580615345,-0.000676202973454,-6.32068260953e-05,1793243380433879808
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.148910754,656,630,881,784,806,651.148910754,630.148910754,652,0.45327256878,-0.00556812418946,0.0695489013025,0.999999757922,-0.000115403454436,-0.000683240024445,-6.34078495071e-05,1793243380450546944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,630,880.571446484,784,806,651,630,652,0.453248642381,-0.00556688725293,0.0695397142051,0.999999747388,-0.000116099919669,-0.000698302679862,-6.41711974574e-05,1793243380467213312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.006793092,745.006793092,714,683,656,630,880.006793092,784,806,651.006793092,630.006793092,652,0.453219244361,-0.00556546744157,0.0695286500914,0.999999734548,-0.000116715801236,-0.000716269142378,-6.51152115891e-05,1793243380483879424
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.598548571,745.598548571,714,683,656,630,880.598548571,784,806,651.598548571,630.598548571,652,0.453163298862,-0.00556406396666,0.0695143800954,0.999999715248,-0.000114189491126,-0.000743152122804,-6.47212494287e-05,1793243380500546304
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.813565435,746,714,683,656,630.186434565,880.62713087,784,806,652,631,652,0.453103021376,-0.00556244112775,0.069500791965,0.999999698355,-0.000111698457695,-0.00076593843594,-6.4431269379e-05,1793243380517213440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.233842111,746,714,683,656,630.766157889,879.467684223,784,806,652,631,652,0.453033605438,-0.0055603555343,0.0694886422462,0.999999687693,-0.000109281841036,-0.000780082724454,-6.43606424061e-05,1793243380533880832
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,656.343378684,630.656621316,879.343378684,784,806,652,631,651.656621316,0.452952570026,-0.00555912619069,0.0694793660002,0.999999677572,-0.000107545600805,-0.000793269043794,-6.33638093158e-05,1793243380550547456
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,656.918907543,630.081092457,879.918907543,784,806,652,631,651.081092457,0.452863678968,-0.00555847573739,0.0694720324418,0.999999667784,-0.000106269347068,-0.000805807702041,-6.17407902602e-05,1793243380567213824
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,656.495716451,630.504283549,879.495716451,784.504283549,806.504283549,652,631,651.504283549,0.452753010326,-0.00555676260159,0.0694635737029,0.999999656022,-0.000105786731094,-0.000820433440871,-6.04542017729e-05,1793243380583880448
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,656,631,879.180212033,784.909893984,806.909893984,652,631,652,0.452634366761,-0.00555460158511,0.0694545878475,0.999999643408,-0.000104922026179,-0.000835863203717,-5.92216489308e-05,1793243380600546816
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,656,631,880.339163858,784.330418071,806.330418071,652,631,652,0.452491809298,-0.00555095468753,0.0694437414472,0.999999628703,-0.000101275249809,-0.000853800601345,-5.79828922961e-05,1793243380617213696
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.752409437,714,683,656,631,880.752409437,784.247590563,806.247590563,652,630.752409437,652,0.452337115991,-0.00554683308748,0.0694322950404,0.999999612596,-9.73950256033e-05,-0.000873015355989,-5.62639167587e-05,1793243380633880576
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.396543854,656,631,880,785,807,652,630.396543854,652,0.451977436724,-0.00553795311242,0.0694123940904,0.999999583304,-8.93818647207e-05,-0.000907087220161,-5.09415853497e-05,1793243380667214336
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.694272199,745,714,682.694272199,659,633,880,787,806,652,631,652,0.44626163411,-0.00544819407296,0.0696511230265,0.999999846811,7.3197861695e-05,-0.000548555448514,1.03585359932e-05,1793243380933880576
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.579016124,659,633.420983876,880,786.420983876,806,651.420983876,631,652,0.444588395057,-0.00544792538672,0.0697583976133,0.999999927572,8.65055858571e-05,-0.000370383362497,1.37210286154e-05,1793243380983880704
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.821775578,745,714,681.821775578,659,634,880,787,806,651,631,651.821775578,0.442628329609,-0.00540135430567,0.0698319332537,0.999999956633,0.000136010030456,-0.000260679360899,1.67945793127e-05,1793243381033879808
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.960198376,714,682,659.960198376,634.960198376,880,787,806.039801624,652,631,651.960198376,0.434601707697,-0.00540842537496,0.0698333861903,0.999999953935,0.000143063120177,-0.000266331564553,2.70330104249e-05,1793243381200547072
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.745938025,745,714,680,659,634.745938025,879,787,805,652,631.745938025,651.254061975,0.415122857125,-0.00539266070443,0.0697962868355,0.999999931043,0.000173022740291,-0.000327264490486,2.95895018553e-05,1793243381567213568
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.192898652,658.192898652,634.192898652,878.192898652,787,805.192898652,652,631,652,0.404519835154,-0.00537267972544,0.0698389581722,0.999999942581,0.00020089875768,-0.000271631925964,2.63277702776e-05,1793243381867212800
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.771195793,658.771195793,634.771195793,878.771195793,787,805.771195793,652,631,652,0.404175999684,-0.00536877181405,0.0698532301521,0.999999948398,0.00020301929919,-0.000247524175661,2.68258607067e-05,1793243381883879424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805.652345219,652,631,652,0.403845379239,-0.00536899280887,0.0698545206581,0.999999948819,0.000206611840644,-0.000242879941135,2.61415429915e-05,1793243381900546048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805.077089656,652,631,652,0.403523410358,-0.00537191689427,0.0698473125209,0.999999945904,0.000211168063099,-0.00025097797899,2.46831325827e-05,1793243381917212672
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,652,0.40322134988,-0.00536449759184,0.0698370652637,0.999999940329,0.00021478604348,-0.00026954417084,2.35379589614e-05,1793243381933879040
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.094893904,745,714,680,659,635,879,787,805,652,631.094893904,652,0.402929258519,-0.0053570440195,0.0698266726644,0.999999934407,0.000217173587369,-0.000288987792783,2.25321464813e-05,1793243381950545920
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.673114649,745,714,680,659,635,879,787,805,652,631.673114649,652,0.402672251876,-0.00535756833724,0.069817935159,0.999999930447,0.00021403360354,-0.000304649687762,2.19892610505e-05,1793243381967213056
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.750057513,745,714.249942487,680,659,635,879,787,805,652,631.750057513,652,0.402435216694,-0.00535775007186,0.0698099994978,0.999999926828,0.000210689106683,-0.000318541927313,2.20337463272e-05,1793243381983880192
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.175041329,745,714.824958671,680,659,635,879,787,805,652,631.175041329,652,0.402224156295,-0.00535748624488,0.0698031067113,0.999999923805,0.000207078621692,-0.000330132562467,2.28421624646e-05,1793243382000547072
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.401445122,745.401445122,715,680,659,635,879,787,805,652,631,652,0.402043333345,-0.00535539839371,0.0698037661526,0.99999992368,0.000209406485338,-0.000328960489755,2.3965933468e-05,1793243382017213184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.978575056,745.978575056,715,680,659,635,879,787,805,652,631,652,0.401875743221,-0.00535251229305,0.069807730682,0.999999924805,0.00021433315386,-0.000322203061997,2.52277135919e-05,1793243382033879296
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.431970324,745.431970324,715,680,659,635,878.431970324,787,805,652,631,652,0.401733070798,-0.00534943305826,0.0698082804859,0.999999924032,0.000219576237153,-0.000321031080631,2.57173469863e-05,1793243382050546176
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.844565242,659,634.844565242,878.155434758,787,805,652,631,652,0.401598821844,-0.00534767001056,0.0698082581932,0.999999921688,0.000231381464293,-0.00032011493896,2.4742161315e-05,1793243382067212800
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.264064332,659,634.264064332,878.735935668,787,805,652,631,652,0.401484981257,-0.00534952669122,0.0698070314233,0.999999914738,0.00026109877209,-0.000319309539458,1.98425582032e-05,1793243382083879680
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.686974624,679,659,634.313025376,879,787,805,651.686974624,631,652,0.401385705153,-0.00535225670851,0.0698057973823,0.999999915116,0.0002593306706,-0.000319817654256,1.52727485594e-05,1793243382100546304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.112731575,679,659,634.887268425,879,787,805,651.112731575,631,652,0.401298583022,-0.0053557155195,0.0698045572736,0.999999921537,0.000231288194907,-0.000321421888352,1.09781497466e-05,1793243382117213184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.469456371,659,635,879,786.530543629,805,651.469456371,631,652,0.401230319542,-0.00535453555731,0.0698046076293,0.999999922634,0.000227744882445,-0.000320530976965,1.11201315872e-05,1793243382133880064
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.053426081,745,714,679.946573919,659,635,879,786,805,652,631,652,0.401168237588,-0.00535238574345,0.0698053716749,0.999999922752,0.000230022857354,-0.000318485758134,1.23177548221e-05,1793243382150546688
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.635822519,745,714,679.364177481,659,635,879,786,805,652,631,652,0.401121749652,-0.00535185219481,0.0698100809953,0.999999924929,0.000230686715994,-0.000311046208177,1.32375117232e-05,1793243382167213056
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.784662393,745,714,679.215337607,659,634.784662393,879,786.215337607,805,652,631,652,0.401082299732,-0.00535195171672,0.0698141383931,0.999999927131,0.000230099742983,-0.000304295463652,1.40268159554e-05,1793243382183879680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.209955941,745,714,679.790044059,659,634.209955941,879,786.790044059,805,652,631,652,0.401054595295,-0.00535310774632,0.0698171078212,0.999999929423,0.000227425303949,-0.000298694241405,1.45984125358e-05,1793243382200546048
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.36505503,680,659,634.36505503,878.63494497,787,805,652,631,652.36505503,0.40103265175,-0.00535315510506,0.069819446669,0.999999930646,0.000226962618374,-0.000294907487965,1.50053869568e-05,1793243382217212672
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.940241341,680,659,634.940241341,878.059758659,787,805,652,631,652.940241341,0.40101402426,-0.00535256429593,0.0698214225454,0.999999931262,0.0002277730518,-0.000292165170103,1.53176023892e-05,1793243382233879552
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.530601915,745,714.469398085,680,659,635,878.530601915,787,805,652,631,652.469398085,0.401001590708,-0.00535291004813,0.0698225783499,0.999999931947,0.000227041665524,-0.000290370387079,1.56112013763e-05,1793243382250546176
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.759767962,745,714,680,659,635,878.879883981,786.879883981,805,652,631,652,0.400990751302,-0.0053529637589,0.0698235312464,0.999999932542,0.000226367913815,-0.000288834230777,1.57796115796e-05,1793243382267212800
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.600673042,745,714,680,659,635,878.300336521,786.300336521,805,652,631,652,0.400983262584,-0.0053514851153,0.0698240717084,0.999999932773,0.000226598341081,-0.00028786710235,1.54774432409e-05,1793243382283879424
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.277086661,745,714,680,659,634.722913339,878.277086661,786.277086661,805,652,631,652,0.400979746904,-0.00535181510122,0.069826055589,0.99999993381,0.000226340970028,-0.000284451133636,1.54276188235e-05,1793243382300546048
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.852224805,745,714,680,659,634.147775195,878.852224805,786.852224805,805,652,631,652,0.400980504871,-0.00535409056058,0.0698295920994,0.999999935686,0.000225558893033,-0.000278401041501,1.56492310908e-05,1793243382317212672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.572234339,634,878.572234339,787,805,652,631,652,0.400978451875,-0.00535415971015,0.0698295478568,0.99999993572,0.000225085989658,-0.000278672590058,1.54217240068e-05,1793243382333879040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.00353407,680,658.00353407,634.00353407,878.00353407,787,805,652,631,652,0.400975449045,-0.00535347813703,0.0698282855404,0.999999935128,0.000224726944242,-0.000281095958771,1.50437869144e-05,1793243382350545920
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.593968598,680,658.593968598,634.593968598,878.593968598,787,805,652,631,652,0.40097612479,-0.00535481987572,0.0698303599931,0.999999935848,0.000225522199367,-0.000277856215166,1.54743069119e-05,1793243382367212800
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.180855314,745,715,680,658.819144686,635,879,787,805,652,631,652,0.400977089636,-0.00535592971094,0.0698321481489,0.999999936612,0.000225651943131,-0.000274968206079,1.58009040311e-05,1793243382383879680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.75993014,745,715,680,658.24006986,635,879,787,805,652,631,652,0.400978691048,-0.00535652892516,0.0698333059161,0.99999993749,0.000224316318686,-0.000272854670371,1.58986766433e-05,1793243382400546304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.664363545,745,714.664363545,679.664363545,658.335636455,634.664363545,878.664363545,787,804.664363545,652,631,652,0.400979392568,-0.0053559251373,0.069833851208,0.99999993784,0.000224499731938,-0.000271423633707,1.57889922466e-05,1793243382417212928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.091042616,745,714.091042616,679.091042616,658.908957384,634.091042616,878.091042616,787,804.091042616,652,631,652,0.400979456822,-0.00535446943097,0.0698339627692,0.999999937817,0.000225758867517,-0.000270475915676,1.55323950046e-05,1793243382433880064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.496337534,659,634,878.496337534,786.503662466,804,651.503662466,631,651.503662466,0.40097889564,-0.00535480484424,0.0698342594537,0.9999999378,0.000225329379515,-0.000270872040858,1.59387350489e-05,1793243382450546688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.085182053,745,714,680,659,634.085182053,879.085182053,786.085182053,804.170364106,651.085182053,631,651.085182053,0.40097811768,-0.00535532446944,0.0698344258507,0.999999937737,0.000224829680155,-0.000271497287307,1.63067280083e-05,1793243382467213056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.667089411,745,714,680,659,634.667089411,879.667089411,786.667089411,805.334178821,651.667089411,631,651.667089411,0.400976764112,-0.00535494660168,0.0698336287104,0.999999937402,0.000225779420128,-0.000271979291847,1.5721333668e-05,1793243382483879936
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.753180366,745,714,680,659,635,879.753180366,787,805.753180366,652,631,652.246819634,0.400977078566,-0.00535542669586,0.0698338534509,0.999999937781,0.000224996404418,-0.000271246455011,1.54731958695e-05,1793243382500546560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.176361022,745,714,680,659,635,879.176361022,787,805.176361022,652,631,652.823638978,0.40097962318,-0.00535705389163,0.0698354444539,0.999999939107,0.000221896681252,-0.000268889366074,1.56759726418e-05,1793243382517212928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.396125813,745,714,679.603874187,659,635,879.396125813,787,805,652,631,652.603874187,0.400977851339,-0.00535679824827,0.0698347212925,0.999999938765,0.000221679012342,-0.000270344901138,1.55783303453e-05,1793243382533879552
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.966704606,745,714,679.033295394,659,635,879.966704606,787,805,652,631,652.033295394,0.400974178541,-0.00535571340645,0.069832978978,0.999999937682,0.000222730594172,-0.000273479507888,1.53483841145e-05,1793243382550546176
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.439511759,745,714.560488241,679.560488241,659,634.439511759,880,787,805,652,631,652,0.400976225392,-0.00535529670483,0.0698343448162,0.999999938278,0.000223620979075,-0.000270559508035,1.53049718622e-05,1793243382567213056
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.849893776,659,634.150106224,879.849893776,787,805,652,631,652,0.400978096196,-0.00535511654153,0.0698355650294,0.99999993875,0.000224349034343,-0.000268202236202,1.53057807236e-05,1793243382583879680
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.276092949,659,634.723907051,879.276092949,787,805,652,631,652,0.400978469613,-0.00535548716903,0.0698358305242,0.999999938604,0.000224647088947,-0.000268492399799,1.53987813267e-05,1793243382600546560
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.700197998,679.299802002,659,634.700197998,879,787,805,652,631,651.700197998,0.40097801703,-0.00535606993039,0.0698359738334,0.999999938441,0.000225038987156,-0.000268754736008,1.56758583216e-05,1793243382617213440
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.122360898,679.877639102,659,634.122360898,879,787,805,652,631,651.122360898,0.400976798419,-0.00535684942384,0.0698360038283,0.999999938263,0.000225517915558,-0.000268991265251,1.61236469881e-05,1793243382633880832
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.537087753,634.462912247,879,787,805,652,631,651.462912247,0.400977073408,-0.00535633574275,0.0698357917313,0.999999938333,0.000225244975342,-0.000268978405134,1.57817018373e-05,1793243382650546944
diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..149ea3d6fcdb517063b8a92fa363bf9374ff209d
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/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,0.580743587001,1.81586264722e-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
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diff --git a/Obstacle_avoidance/ball_PLA_15/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/ball_PLA_15/position_03/depth_04/fem_node.csv
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index 0000000000000000000000000000000000000000..9a47c36267cb4b2d5c320e7558e605379e87e08c
--- /dev/null
+++ b/Obstacle_avoidance/ball_PLA_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
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