From cb51ecf2eb4c7e038e1b9686963ca23c6b5463c2 Mon Sep 17 00:00:00 2001
From: emboddied <anyone@nicecart.ai>
Date: Mon, 13 Jul 2026 16:27:35 +0800
Subject: [PATCH] test_120Ori+0.05m

---
 .../Comfortable_Region.png                    |   Bin 0 -> 252463 bytes
 .../Comfortable_Workspace.png                 |   Bin 0 -> 452709 bytes
 .../rm75b_comfort_workspace.csv               | 12610 ++++++++--------
 .../workspace_comfortable/workspace_cal.py    |     3 +-
 4 files changed, 6306 insertions(+), 6307 deletions(-)
 create mode 100644 kine_ctrl/workspace_comfortable/Comfortable_Region.png
 create mode 100644 kine_ctrl/workspace_comfortable/Comfortable_Workspace.png

diff --git a/kine_ctrl/workspace_comfortable/Comfortable_Region.png b/kine_ctrl/workspace_comfortable/Comfortable_Region.png
new file mode 100644
index 0000000000000000000000000000000000000000..08fc8e5b47ee7557bb8b4953968f398e79967404
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literal 0
HcmV?d00001

diff --git a/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv b/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv
index e34db1f..cbd1acb 100644
--- a/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv
+++ b/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv
@@ -157,7 +157,7 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,-0.14999999999999958,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.14999999999999958,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.14999999999999958,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.14999999999999958,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,-0.14999999999999958,0.25,0.025,0.06416622185578484,0.03208311092789241,9.448445774520479e-09,4.3372091319521163e-07,30614550.135040652,3.440059379332799e-08,0.023916668997729183,False,True
 -0.6,-0.14999999999999958,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.14999999999999958,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.14999999999999958,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -172,11 +172,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,-0.09999999999999953,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.09999999999999953,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.09999999999999953,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.09999999999999953,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.09999999999999953,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.09999999999999953,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.09999999999999953,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.09999999999999953,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,-0.09999999999999953,0.15000000000000002,0.025,0.031471303672142494,0.015735651836071268,8.219187553037947e-09,3.7729311426431455e-07,53237588.27028703,2.8572164861527202e-08,0.02064717095374216,False,True
+-0.6,-0.09999999999999953,0.2,0.06666666666666667,0.15987993770811104,0.07993996885405552,0.0004058845371995541,0.018631700528009935,26596882.393692456,0.0019891501124379113,0.06471674550152255,False,True
+-0.6,-0.09999999999999953,0.25,0.06666666666666667,0.2692803311972513,0.13464016559862566,0.0013397130843020248,0.061498112621865296,33491270.902863905,0.00517665889091142,0.08026217693766947,False,True
+-0.6,-0.09999999999999953,0.30000000000000004,0.05,0.2045496258313524,0.10227481291567621,0.0003584925212544514,0.016456220144844467,8717158.479535174,0.0025672709467647165,0.05735731169229616,False,True
+-0.6,-0.09999999999999953,0.35000000000000003,0.008333333333333333,0.04092349630348857,0.020461748151744272,1.2835591773743155e-09,5.892042689731543e-08,73297381.28583631,1.3643052213561631e-08,0.009925690220030103,False,True
 -0.6,-0.09999999999999953,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.09999999999999953,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.09999999999999953,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -189,11 +189,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,-0.04999999999999949,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.04999999999999949,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.04999999999999949,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.04999999999999949,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.04999999999999949,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.04999999999999949,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.04999999999999949,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,-0.04999999999999949,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,-0.04999999999999949,0.15000000000000002,0.05,0.1483889790988344,0.0741944895494172,0.0005673254797872021,0.026042476301844975,9897129.734650938,0.001760053687435586,0.052619150908811495,False,True
+-0.6,-0.04999999999999949,0.2,0.09166666666666666,0.3101335956807691,0.15506679784038455,0.002566051940182557,0.11779190116152272,241.4489067630716,0.007942616787338933,0.10775347802962974,False,True
+-0.6,-0.04999999999999949,0.25,0.1,0.3325820111484394,0.16629100557421964,0.0024574089659167805,0.11280476029885655,765387.3552354897,0.007679626741936557,0.11530663981892325,False,True
+-0.6,-0.04999999999999949,0.30000000000000004,0.06666666666666667,0.2589980773310018,0.1294990386655009,0.001220092549576093,0.05600705845313206,4733453.221496936,0.005493601312724472,0.07871654037635249,False,True
+-0.6,-0.04999999999999949,0.35000000000000003,0.016666666666666666,0.40654658716962516,0.20327329358481258,0.0002871535625150519,0.013181480672423862,578.4630261254441,0.0019868499516642263,0.053838158446037995,False,True
 -0.6,-0.04999999999999949,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.04999999999999949,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,-0.04999999999999949,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -205,12 +205,12 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,-0.04999999999999949,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,5.551115123125783e-16,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,5.551115123125783e-16,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,5.551115123125783e-16,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,5.551115123125783e-16,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,5.551115123125783e-16,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,5.551115123125783e-16,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,5.551115123125783e-16,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,5.551115123125783e-16,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,5.551115123125783e-16,0.1,0.008333333333333333,0.001988269799962139,0.0009941348999810704,1.6308102408794593e-08,7.486061981005964e-07,18304421.60089929,5.4631608788494596e-08,0.006032240637110235,False,True
+-0.6,5.551115123125783e-16,0.15000000000000002,0.058333333333333334,0.23431171112410892,0.11715585556205448,0.0014054386383481558,0.06451517468703823,1581784.7790628825,0.005219920285048403,0.07123801394295287,False,True
+-0.6,5.551115123125783e-16,0.2,0.09166666666666666,0.2986191753497871,0.14930958767489352,0.0027997228529878064,0.12851831734759592,1085984.852220941,0.00893758813963977,0.10777417475036895,False,True
+-0.6,5.551115123125783e-16,0.25,0.09166666666666666,0.3038610233613372,0.1519305116806686,0.002659095400058063,0.12206296280987032,2711391.1110142153,0.008325327140545924,0.107591597997842,False,True
+-0.6,5.551115123125783e-16,0.30000000000000004,0.075,0.31684175262945075,0.15842087631472537,0.0014894238996186787,0.06837042930588991,2216470.177665767,0.004949445372351125,0.0915161627307692,False,True
+-0.6,5.551115123125783e-16,0.35000000000000003,0.025,0.29214390119561,0.146071950597805,0.0005676557535883339,0.026057637171478968,4509550.73604073,0.0044975450790166365,0.049769908344610564,False,True
 -0.6,5.551115123125783e-16,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,5.551115123125783e-16,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,5.551115123125783e-16,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -222,12 +222,12 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,5.551115123125783e-16,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.0500000000000006,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.0500000000000006,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.0500000000000006,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.0500000000000006,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.0500000000000006,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.0500000000000006,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.0500000000000006,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.0500000000000006,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,0.0500000000000006,0.1,0.016666666666666666,0.010271292413145339,0.005135646206572654,6.679061898536744e-09,3.0659527450880874e-07,63120828.65172091,2.1098132111514836e-08,0.012693828677321863,False,True
+-0.6,0.0500000000000006,0.15000000000000002,0.058333333333333334,0.1631487316404305,0.08157436582021525,0.0007530032391342837,0.034565817522813576,5855191.846433111,0.004356784976595788,0.06104046674731732,False,True
+-0.6,0.0500000000000006,0.2,0.06666666666666667,0.28700094109594104,0.14350047054797052,0.0020056978805088354,0.0920694405289257,1195055.318860185,0.008029311765518677,0.0853766360057052,False,True
+-0.6,0.0500000000000006,0.25,0.08333333333333333,0.2401375839548651,0.12006879197743255,0.0015461643311158756,0.07097503882065463,5625048.27791436,0.005189659902289916,0.0899635616011143,False,True
+-0.6,0.0500000000000006,0.30000000000000004,0.06666666666666667,0.2558068344518271,0.12790341722591353,0.0010792228004953223,0.0495405815667795,7119118.362931177,0.003224439723513915,0.07752385224087871,False,True
+-0.6,0.0500000000000006,0.35000000000000003,0.025,0.1441835078283148,0.07209175391415738,7.48780110678619e-05,0.003437195927627836,9614681.476241304,0.0005687878129065787,0.03231894915688492,False,True
 -0.6,0.0500000000000006,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.0500000000000006,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.0500000000000006,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -240,10 +240,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,0.10000000000000064,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.10000000000000064,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.10000000000000064,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.10000000000000064,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.10000000000000064,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.10000000000000064,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.10000000000000064,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,0.10000000000000064,0.15000000000000002,0.03333333333333333,0.03942276730254257,0.019711383651271275,8.409223279436428e-09,3.860165033549873e-07,35602746.26358603,3.280697930791506e-08,0.027275651945935855,False,True
+-0.6,0.10000000000000064,0.2,0.05,0.16054590888991047,0.08027295444495525,0.0003726126133875844,0.017104388044680223,8033967.564148828,0.0019790292199540647,0.05296293261545447,False,True
+-0.6,0.10000000000000064,0.25,0.06666666666666667,0.18330596380605102,0.09165298190302551,0.000509045134554987,0.023367178675264548,5670383.30596946,0.0021656534536844997,0.06755054626016667,False,True
+-0.6,0.10000000000000064,0.30000000000000004,0.025,0.2571640094920102,0.1285820047460051,0.00029179871931579005,0.013394711683918273,12598989.740034932,0.001785274066240502,0.0447343995242169,False,True
 -0.6,0.10000000000000064,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.10000000000000064,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.10000000000000064,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -258,8 +258,8 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.6,0.1500000000000007,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.1500000000000007,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.1500000000000007,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.1500000000000007,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.6,0.1500000000000007,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.6,0.1500000000000007,0.2,0.008333333333333333,0.06945464586460337,0.034727322932301685,2.623800967255107e-09,1.2044280918976003e-07,61415672.816599645,1.6282488722157523e-08,0.012778811592323462,False,True
+-0.6,0.1500000000000007,0.25,0.016666666666666666,0.06780543234280273,0.03390271617140137,2.2823820682524276e-09,1.0477033562200427e-07,122846878.79656956,1.482885977254595e-08,0.01844722186086648,False,True
 -0.6,0.1500000000000007,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.1500000000000007,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.6,0.1500000000000007,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -546,11 +546,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,-0.24999999999999967,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.24999999999999967,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.24999999999999967,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.24999999999999967,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.24999999999999967,0.2,1.0,0.25003277808846536,0.12501638904423268,0.00042973793678744224,0.01519953699843163,720.8001964658059,0.0013873470666885652,0.7266619662153584,False,True
--0.5499999999999999,-0.24999999999999967,0.25,1.0,0.34087807366577344,0.17043903683288672,0.0032842945451525035,0.11616325248353408,99.51462574696399,0.010048774163329326,0.7467090100312637,True,True
--0.5499999999999999,-0.24999999999999967,0.30000000000000004,1.0,0.3728277657273366,0.1864138828636683,0.0020883958803537767,0.0738651343842376,179.20621778790294,0.005580163526951252,0.7452273063638526,False,True
--0.5499999999999999,-0.24999999999999967,0.35000000000000003,1.0,0.10875556399881861,0.054377781999409264,2.1702462926160035e-08,7.676012750217579e-07,17429191.78319452,5.737500696757575e-08,0.71087563889751,False,True
+-0.5499999999999999,-0.24999999999999967,0.15000000000000002,0.058333333333333334,0.16396012887996886,0.0819800644399844,0.0002446656275066457,0.011231116939446839,16858936.438656364,0.001130535128627545,0.058465511428137655,False,True
+-0.5499999999999999,-0.24999999999999967,0.2,0.1,0.24278828868622637,0.12139414434311319,0.0012737276855983067,0.058469122662426265,4249487.765334415,0.0054295268791054495,0.1006686938227758,False,True
+-0.5499999999999999,-0.24999999999999967,0.25,0.09166666666666666,0.29478679939862046,0.14739339969931023,0.0020368526659461307,0.09349956801367071,1899078.5070555627,0.008328905586506603,0.10382819396654644,False,True
+-0.5499999999999999,-0.24999999999999967,0.30000000000000004,0.075,0.3503965855037319,0.175198292751866,0.0014262475203874613,0.06547038441528764,11362150.358554043,0.0057057200748722335,0.09465726899938917,False,True
+-0.5499999999999999,-0.24999999999999967,0.35000000000000003,0.05,0.12415532587014821,0.06207766293507411,1.0729429012014788e-08,4.925230942959427e-07,30351942.960319802,3.5148628023250737e-08,0.04741558535418706,False,True
 -0.5499999999999999,-0.24999999999999967,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.24999999999999967,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.24999999999999967,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -561,14 +561,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,-0.24999999999999967,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.24999999999999967,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.19999999999999962,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.19999999999999962,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.19999999999999962,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.19999999999999962,0.15000000000000002,1.0,0.25557282535221176,0.12778641267610588,0.006137548429167874,0.21708089149910276,68.04208210611533,0.014696787224530529,0.7487350504075845,True,True
--0.5499999999999999,-0.19999999999999962,0.2,1.0,0.334382420824511,0.1671912104122555,0.00895488612452915,0.31672819947903713,44.9753222182553,0.022234415471062714,0.767334503577461,True,True
--0.5499999999999999,-0.19999999999999962,0.25,1.0,0.34044141722666016,0.17022070861333008,0.005910099282127961,0.20903617068264657,64.76608467192844,0.01544017991958909,0.7564917767828895,True,True
--0.5499999999999999,-0.19999999999999962,0.30000000000000004,1.0,0.3702768008638156,0.1851384004319078,0.003517278371379958,0.12440373111861427,103.32874624351203,0.009677848966088561,0.7504358380948518,True,True
--0.5499999999999999,-0.19999999999999962,0.35000000000000003,1.0,0.3504627615962743,0.17523138079813716,0.004267237550728011,0.15092927452078397,73.24719652064154,0.013652458298427725,0.7515044494415485,True,True
--0.5499999999999999,-0.19999999999999962,0.4,1.0,0.43496649256940095,0.21748324628470045,4.472937551256165e-05,0.0015820474289571485,6411.239833980395,0.00015597607319535028,0.7436704516071553,False,True
+-0.5499999999999999,-0.19999999999999962,0.05,0.016666666666666666,0.10610204893651243,0.053051024468256214,1.4152428299736435e-08,6.496522573738287e-07,24230370.253742497,4.280024608246263e-08,0.022276940805568253,False,True
+-0.5499999999999999,-0.19999999999999962,0.1,0.1,0.16624536063535927,0.08312268031767964,0.0016219529739971417,0.0744540363388424,3635781.1394952084,0.005753361695427297,0.09464527586696289,False,True
+-0.5499999999999999,-0.19999999999999962,0.15000000000000002,0.125,0.27010833015890867,0.13505416507945436,0.005216081017044157,0.23943868399111554,666110.6287804744,0.01598917635259097,0.14005361905026154,False,True
+-0.5499999999999999,-0.19999999999999962,0.2,0.15833333333333333,0.28484948615202194,0.14242474307601097,0.00492002687530569,0.22584863164025162,5019831.758152421,0.015008562747792834,0.16340400138733996,False,True
+-0.5499999999999999,-0.19999999999999962,0.25,0.15833333333333333,0.3216231811461179,0.1608115905730589,0.005299398423911003,0.24326328145970602,1454376.6212795365,0.016751300332935804,0.16899710962720932,False,True
+-0.5499999999999999,-0.19999999999999962,0.30000000000000004,0.14166666666666666,0.36142766773914964,0.18071383386957485,0.004420227407517356,0.20290586552222958,1064523.4955194504,0.014962240453917482,0.1570962440381963,False,True
+-0.5499999999999999,-0.19999999999999962,0.35000000000000003,0.1,0.41551994168302814,0.20775997084151407,0.003282439482164964,0.1506769138212955,720171.0000119354,0.010919482255045328,0.1277116337759369,False,True
+-0.5499999999999999,-0.19999999999999962,0.4,0.08333333333333333,0.34748264944121654,0.17374132472060827,0.0010693855411944258,0.04908901257975851,9032148.747848729,0.003877854628470988,0.09837828499827794,False,True
 -0.5499999999999999,-0.19999999999999962,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.19999999999999962,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.19999999999999962,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -578,15 +578,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,-0.19999999999999962,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.19999999999999962,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.14999999999999958,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.14999999999999958,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.14999999999999958,0.1,1.0,0.15562955220723307,0.0778147761036165,0.0010453569117537657,0.03697355922436656,420.03076747730756,0.002380778222815093,0.7194983889654414,False,True
--0.5499999999999999,-0.14999999999999958,0.15000000000000002,1.0,0.2705234192998928,0.1352617096499464,0.01009277335642717,0.3569744928609304,44.431620868057145,0.022506493813863514,0.7650004405974686,True,True
--0.5499999999999999,-0.14999999999999958,0.2,1.0,0.27186063035943087,0.13593031517971543,0.008372329101824455,0.2961235558990688,47.69863955630345,0.020964958530052865,0.7588949144788552,True,True
--0.5499999999999999,-0.14999999999999958,0.25,1.0,0.31616488657141745,0.15808244328570872,0.006529535994943301,0.23094522368599024,58.029582417283585,0.01723258997381805,0.7564342700231225,True,True
--0.5499999999999999,-0.14999999999999958,0.30000000000000004,1.0,0.354097463867875,0.1770487319339375,0.004267279734391048,0.15093076652810322,85.62381986599463,0.01167899308352592,0.7516707223479504,True,True
--0.5499999999999999,-0.14999999999999958,0.35000000000000003,1.0,0.390968619580037,0.1954843097900185,0.006228974577946034,0.22031457187036843,40.424468495805044,0.02473749284060761,0.7636020684291012,True,True
--0.5499999999999999,-0.14999999999999958,0.4,1.0,0.4769772665836596,0.2384886332918298,0.0040956410077292145,0.14486002212102844,83.72574445869783,0.011943757644499342,0.7633781046349186,True,True
--0.5499999999999999,-0.14999999999999958,0.45,1.0,0.03997578479258568,0.019987892396292846,3.743087368395934e-08,1.3239044095014748e-06,10737375.860827047,9.31326250437297e-08,0.7039977201829619,False,True
+-0.5499999999999999,-0.14999999999999958,0.05,0.06666666666666667,0.1436988577123279,0.07184942885616394,0.002277962254764671,0.10456744875703101,18384915.81340313,0.0078795464050912,0.07228125195411168,False,True
+-0.5499999999999999,-0.14999999999999958,0.1,0.15,0.22681532773975308,0.11340766386987651,0.005888594593160367,0.2703097086368704,1907258.782271068,0.016306854766883344,0.1563431891143507,False,True
+-0.5499999999999999,-0.14999999999999958,0.15000000000000002,0.15,0.31103816491866015,0.15551908245933008,0.008782826128216965,0.40316634710837973,57.239794533708015,0.023214081248466925,0.17874185932755068,False,True
+-0.5499999999999999,-0.14999999999999958,0.2,0.175,0.3370020115468944,0.1685010057734472,0.00850810464707645,0.39055554798669534,1470039.3708921808,0.023300765100905424,0.1975858324634495,False,True
+-0.5499999999999999,-0.14999999999999958,0.25,0.175,0.38117809547765574,0.19058904773882782,0.009046170854372695,0.4152549083214225,58.77604349845548,0.025141795357035306,0.20465747991561134,False,True
+-0.5499999999999999,-0.14999999999999958,0.30000000000000004,0.175,0.42142606700507573,0.21071303350253787,0.008256781161975858,0.37901880913392205,48.3621518808486,0.023879589113374886,0.20493244652523726,False,True
+-0.5499999999999999,-0.14999999999999958,0.35000000000000003,0.175,0.42802332577453506,0.21401166288726753,0.00522185658538971,0.23970380534936156,918971.3231677752,0.016571095876274776,0.19092982270001713,False,True
+-0.5499999999999999,-0.14999999999999958,0.4,0.1,0.4512418107496799,0.22562090537483995,0.0035099426475932952,0.16112020608534883,1638979.5500908715,0.010849142598956705,0.13232111594339854,False,True
+-0.5499999999999999,-0.14999999999999958,0.45,0.058333333333333334,0.24850055588094203,0.12425027794047101,0.0006740742252722665,0.030942664595149237,9364990.730264677,0.0028072076375948124,0.06905837614470195,False,True
 -0.5499999999999999,-0.14999999999999958,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.14999999999999958,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.14999999999999958,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -594,85 +594,85 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,-0.14999999999999958,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.14999999999999958,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.14999999999999958,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.09999999999999953,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.09999999999999953,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.09999999999999953,0.1,1.0,0.1819185169914611,0.09095925849573057,0.005799640975195788,0.20512933589037616,84.32750748898688,0.011858526722797295,0.7398906379604635,True,True
--0.5499999999999999,-0.09999999999999953,0.15000000000000002,1.0,0.2281898167661059,0.11409490838305293,0.01058769097656124,0.37447939069387254,40.76819104774193,0.024528927438325222,0.7627198134898303,True,True
--0.5499999999999999,-0.09999999999999953,0.2,1.0,0.2562293418201356,0.1281146709100678,0.010083802721834607,0.35665720764890474,38.692780052620826,0.02584461490747954,0.763873116437652,True,True
--0.5499999999999999,-0.09999999999999953,0.25,1.0,0.25714501703990256,0.12857250851995128,0.010462524800227007,0.37005234861709774,30.4674400093063,0.032821923998587195,0.7660019289655587,True,True
--0.5499999999999999,-0.09999999999999953,0.30000000000000004,1.0,0.3213389308962688,0.1606694654481344,0.01003569337561927,0.3549556129671858,30.394994019205704,0.032900154524492124,0.7709194698387947,True,True
--0.5499999999999999,-0.09999999999999953,0.35000000000000003,1.0,0.4274572028497902,0.21372860142489516,0.00762436329106649,0.26966851658099994,48.98930858132714,0.02041261714068981,0.7717538336571479,True,True
--0.5499999999999999,-0.09999999999999953,0.4,1.0,0.4826349727114575,0.24131748635572875,0.0055535162163328775,0.19642407145286098,69.41937725828016,0.014405199813607198,0.7693464243977925,True,True
--0.5499999999999999,-0.09999999999999953,0.45,1.0,0.48227571790887913,0.24113785895443957,0.00013214709462400925,0.0046739523836043335,3121.8426447648044,0.0003203236555917994,0.7487269993948075,False,True
--0.5499999999999999,-0.09999999999999953,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.5499999999999999,-0.09999999999999953,0.0,0.025,0.09506082829551576,0.047530414147757875,0.0008080756756456936,0.03709385949136964,9479878.420619957,0.0050985247882491015,0.03122532125751345,False,True
+-0.5499999999999999,-0.09999999999999953,0.05,0.10833333333333334,0.1962416871918111,0.09812084359590556,0.005370385518614297,0.24652186898558412,740366.0657128108,0.015065338300493095,0.12161622278112218,False,True
+-0.5499999999999999,-0.09999999999999953,0.1,0.15833333333333333,0.24210666988827775,0.1210533349441389,0.009053810308489335,0.415605589385256,400828.0170830255,0.023496011573134027,0.17895416041800008,False,True
+-0.5499999999999999,-0.09999999999999953,0.15000000000000002,0.2,0.2896937605708624,0.14484688028543122,0.009924571721679017,0.45557697137934366,48.62494410799076,0.025208035477366043,0.2170478767427572,False,True
+-0.5499999999999999,-0.09999999999999953,0.2,0.20833333333333334,0.33883487019379027,0.16941743509689514,0.011001890310285995,0.5050301421127609,288021.80859120586,0.028520271332412923,0.23307186169722974,False,True
+-0.5499999999999999,-0.09999999999999953,0.25,0.21666666666666667,0.3763821499673199,0.18819107498365995,0.010153154192336915,0.46606980800878317,276958.6338158215,0.02619984264692403,0.23853184672896938,False,True
+-0.5499999999999999,-0.09999999999999953,0.30000000000000004,0.2,0.4373078850877488,0.2186539425438744,0.009734419927546974,0.4468482543220832,42.6802041628218,0.026533910463905495,0.23106900498737376,False,True
+-0.5499999999999999,-0.09999999999999953,0.35000000000000003,0.19166666666666668,0.45656834989705336,0.22828417494852668,0.00709308483004481,0.32560055942261784,327417.2167028321,0.020743159262838134,0.21445787352491763,False,True
+-0.5499999999999999,-0.09999999999999953,0.4,0.14166666666666666,0.4777145350342657,0.23885726751713285,0.005484538804017181,0.2517619548548058,797024.7271240028,0.016117615247807984,0.1737260771803546,False,True
+-0.5499999999999999,-0.09999999999999953,0.45,0.09166666666666666,0.45995369485024223,0.2299768474251211,0.0025757835045739043,0.11823861833547478,2226162.1006020913,0.008519944231838512,0.12283789240842223,False,True
+-0.5499999999999999,-0.09999999999999953,0.5,0.008333333333333333,0.036020484693250254,0.018010242346625144,1.2671749180402669e-08,5.816832479608372e-07,21273887.122346357,4.700598410854533e-08,0.009435444671581564,False,True
 -0.5499999999999999,-0.09999999999999953,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.09999999999999953,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.09999999999999953,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.09999999999999953,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.09999999999999953,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,-0.09999999999999953,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.04999999999999949,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.04999999999999949,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,-0.04999999999999949,0.1,1.0,0.18605242012238968,0.09302621006119484,0.006075036803444916,0.2148698980385041,85.22278495406773,0.011733951202593398,0.7412656269363488,True,True
--0.5499999999999999,-0.04999999999999949,0.15000000000000002,1.0,0.26483888647469744,0.13241944323734872,0.011798036345083052,0.4172884788261755,41.72309401190925,0.023967541805969095,0.7706094907106842,True,True
--0.5499999999999999,-0.04999999999999949,0.2,1.0,0.32300304397095647,0.16150152198547824,0.012588411476259453,0.4452435068108191,37.44240428728657,0.026707686619962166,0.7794954237401738,True,True
--0.5499999999999999,-0.04999999999999949,0.25,1.0,0.3701305448193558,0.1850652724096779,0.01188836028803265,0.42048317493089876,37.700500311602404,0.026524846931339156,0.7817138566681594,True,True
--0.5499999999999999,-0.04999999999999949,0.30000000000000004,1.0,0.395675129184209,0.1978375645921045,0.01045677235044976,0.36984888840161273,40.64004872272911,0.024606269712685137,0.7790130287298506,True,True
--0.5499999999999999,-0.04999999999999949,0.35000000000000003,1.0,0.44179040431340744,0.22089520215670375,0.009298407575112176,0.32887831830942144,45.34107597497667,0.022055056667699423,0.7792723779290527,True,True
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+-0.5499999999999999,0.10000000000000064,0.4,0.14166666666666666,0.48392178300996197,0.24196089150498098,0.005103061621580661,0.2342506481406705,139.8555483328232,0.014232384027184599,0.17240714818444838,False,True
+-0.5499999999999999,0.10000000000000064,0.45,0.06666666666666667,0.2335167084807908,0.1167583542403954,0.0012017755176655272,0.05516623447034536,19115869.011735022,0.004451162696972786,0.07598007723147755,False,True
+-0.5499999999999999,0.10000000000000064,0.5,0.008333333333333333,0.040462716274574095,0.020231358137287034,5.3481985131497784e-09,2.455033979586255e-07,59281564.280234404,1.6868650686625336e-08,0.009879631197995608,False,True
 -0.5499999999999999,0.10000000000000064,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.10000000000000064,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.10000000000000064,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -680,15 +680,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,0.10000000000000064,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.10000000000000064,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.1500000000000007,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.1500000000000007,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.5499999999999999,0.1500000000000007,0.05,0.075,0.13373088416374682,0.06686544208187341,0.001752649172363167,0.08045350713639078,2579488.504068809,0.006192720823928501,0.0745377112124066,False,True
+-0.5499999999999999,0.1500000000000007,0.1,0.10833333333333334,0.17380798950381507,0.08690399475190753,0.005559079781464448,0.25518367961043453,2199940.6129688127,0.016464073198170066,0.12037890756457531,False,True
+-0.5499999999999999,0.1500000000000007,0.15000000000000002,0.15833333333333333,0.20277984741986782,0.10138992370993392,0.006348919606688302,0.2914404416694222,1438065.20784661,0.018954638228686215,0.16215082606513095,False,True
+-0.5499999999999999,0.1500000000000007,0.2,0.16666666666666666,0.23737709070881544,0.11868854535440773,0.008269343800431544,0.37959548376943036,2279227.5403319737,0.022206414496886043,0.18058456556417987,False,True
+-0.5499999999999999,0.1500000000000007,0.25,0.18333333333333332,0.2941271287816278,0.1470635643908139,0.0074138663880616885,0.34032569767281057,1966200.0081602803,0.019844505821072937,0.19376306656088446,False,True
+-0.5499999999999999,0.1500000000000007,0.30000000000000004,0.175,0.3656252592585888,0.1828126296292944,0.006973217160802342,0.32009816080520465,855027.9805179166,0.018534982868596814,0.19292584029323903,False,True
+-0.5499999999999999,0.1500000000000007,0.35000000000000003,0.175,0.3655367335734245,0.18276836678671224,0.004410236683551661,0.20244725190203314,2539364.583967738,0.012126893046930001,0.18051108785223877,False,True
+-0.5499999999999999,0.1500000000000007,0.4,0.1,0.3933521863790464,0.1966760931895232,0.0029502322143756116,0.13542729044469345,3568224.852664435,0.008969780390093154,0.1237749257213833,False,True
+-0.5499999999999999,0.1500000000000007,0.45,0.025,0.22922243413191032,0.11461121706595516,0.000522694828389769,0.02399375343857869,48837436.18290683,0.003921463701026732,0.043213765127151575,False,True
 -0.5499999999999999,0.1500000000000007,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.1500000000000007,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.1500000000000007,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -697,14 +697,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,0.1500000000000007,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.1500000000000007,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.20000000000000073,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.20000000000000073,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.5499999999999999,0.20000000000000073,0.05,0.008333333333333333,0.11593298034426103,0.05796649017213053,1.4768238955648937e-08,6.779203944210848e-07,22421932.736110765,4.4599188293411e-08,0.017426703619717706,False,True
+-0.5499999999999999,0.20000000000000073,0.1,0.06666666666666667,0.2121837394232261,0.10609186971161305,0.0032075922149637378,0.1472411291583593,110.23906598797537,0.009989684553310759,0.08360812198015628,False,True
+-0.5499999999999999,0.20000000000000073,0.15000000000000002,0.08333333333333333,0.2486270703388717,0.12431353516943584,0.004743129526551348,0.2177283458837893,898930.0641752504,0.01498011862945155,0.10646688681854459,False,True
+-0.5499999999999999,0.20000000000000073,0.2,0.10833333333333334,0.30058352108476805,0.15029176054238402,0.005089471603005384,0.23362681270704777,188.14470435007794,0.01648126194406712,0.13090249290692163,False,True
+-0.5499999999999999,0.20000000000000073,0.25,0.11666666666666667,0.3072369205610323,0.15361846028051615,0.005331595012827908,0.24474123183165697,1555563.0515171073,0.01631662637830405,0.138496144543766,False,True
+-0.5499999999999999,0.20000000000000073,0.30000000000000004,0.10833333333333334,0.38846900045134564,0.19423450022567282,0.004711882965841323,0.216294005552186,885017.5693375702,0.015299170491839471,0.13783955098287046,False,True
+-0.5499999999999999,0.20000000000000073,0.35000000000000003,0.1,0.3632782935472301,0.18163914677361506,0.0029490442835513006,0.13537275973623322,2697985.842293029,0.00946619040990552,0.12081172436933689,False,True
+-0.5499999999999999,0.20000000000000073,0.4,0.03333333333333333,0.27331335518165434,0.1366566775908272,0.0008565036079405129,0.03931689251926792,7151524.8618361205,0.0038935725081320565,0.05498571535423877,False,True
 -0.5499999999999999,0.20000000000000073,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.20000000000000073,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.20000000000000073,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -716,11 +716,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.5499999999999999,0.2500000000000008,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.2500000000000008,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.2500000000000008,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.2500000000000008,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.2500000000000008,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.2500000000000008,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.2500000000000008,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.5499999999999999,0.2500000000000008,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.5499999999999999,0.2500000000000008,0.15000000000000002,0.058333333333333334,0.1995740767255328,0.0997870383627664,0.0005191737388296032,0.023832121545257618,6567733.206234904,0.0022205481809846454,0.06339600797851083,False,True
+-0.5499999999999999,0.2500000000000008,0.2,0.06666666666666667,0.27078942959686586,0.13539471479843293,0.0017920310738388841,0.08226129168413866,1269005.8020917862,0.006795987000731274,0.08265133749484024,False,True
+-0.5499999999999999,0.2500000000000008,0.25,0.058333333333333334,0.3309342374143101,0.16546711870715505,0.0018706383938051905,0.0858696775936556,136.6255899874231,0.007993996930352368,0.08331312452716513,False,True
+-0.5499999999999999,0.2500000000000008,0.30000000000000004,0.058333333333333334,0.2903947987718699,0.14519739938593496,0.0009640224148041993,0.044252429665952164,7111035.0180956265,0.005006718497209316,0.07479872802683647,False,True
+-0.5499999999999999,0.2500000000000008,0.35000000000000003,0.025,0.12663827058060204,0.06331913529030103,1.4687638601685463e-08,6.742205203932139e-07,18016276.652032793,5.6306168512912075e-08,0.030163900110729093,False,True
 -0.5499999999999999,0.2500000000000008,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.2500000000000008,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.5499999999999999,0.2500000000000008,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -937,10 +937,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.4999999999999999,-0.34999999999999976,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.34999999999999976,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.34999999999999976,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.34999999999999976,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.34999999999999976,0.2,1.0,0.1859297881568231,0.09296489407841156,1.8090179019950744e-09,6.3983726309459e-08,126297347.34995176,7.917822669934183e-09,0.7185929860058372,False,True
--0.4999999999999999,-0.34999999999999976,0.25,1.0,0.3145378637965089,0.15726893189825444,0.0011043559067884423,0.03906031333922007,166.81846055037903,0.005994540521144659,0.7359592717656873,False,True
--0.4999999999999999,-0.34999999999999976,0.30000000000000004,1.0,0.35116465663153323,0.17558232831576664,0.0003413169820324308,0.012072148285016281,296.1053079011594,0.003377176885492633,0.7366613981802042,False,True
+-0.4999999999999999,-0.34999999999999976,0.15000000000000002,0.016666666666666666,0.18756476842875408,0.09378238421437704,1.5974962175023106e-08,7.333137479070334e-07,20459633.891206242,4.8938596990214704e-08,0.030423221734776566,False,True
+-0.4999999999999999,-0.34999999999999976,0.2,0.06666666666666667,0.2014226460679307,0.10071132303396535,4.456225345314712e-05,0.0020455831279527392,27536334.470905207,0.00021169343460598357,0.0670346589297156,False,True
+-0.4999999999999999,-0.34999999999999976,0.25,0.08333333333333333,0.23314426466582203,0.11657213233291101,0.000389087855264892,0.01786066660336206,11035328.30764496,0.0016651909621517504,0.08360034555646692,False,True
+-0.4999999999999999,-0.34999999999999976,0.30000000000000004,0.041666666666666664,0.22279230981207823,0.11139615490603912,7.054128647652324e-05,0.0032381231705926193,19942315.73932355,0.0006946069400597302,0.05183917065893972,False,True
 -0.4999999999999999,-0.34999999999999976,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.34999999999999976,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.34999999999999976,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -952,14 +952,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.4999999999999999,-0.34999999999999976,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.34999999999999976,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.2999999999999997,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.2999999999999997,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.2999999999999997,0.1,1.0,0.14754718326417354,0.07377359163208681,5.2809263012221676e-09,1.8678275253394526e-07,66628441.8973212,1.500860550725568e-08,0.7147547385055532,False,True
--0.4999999999999999,-0.2999999999999997,0.15000000000000002,1.0,0.28261682597881677,0.14130841298940838,0.009099088003248493,0.32182852133384726,42.11723633445472,0.023743248300144248,0.7628188595612807,True,True
--0.4999999999999999,-0.2999999999999997,0.2,1.0,0.357951591317552,0.178975795658776,0.010669938824931032,0.37738844085519535,33.49607002211609,0.029854248553337504,0.7765194280726084,True,True
--0.4999999999999999,-0.2999999999999997,0.25,1.0,0.42511456752063476,0.21255728376031738,0.0109323643851981,0.38667025349299,29.496142686974235,0.03390273808392782,0.7845687559097552,True,True
--0.4999999999999999,-0.2999999999999997,0.30000000000000004,1.0,0.4599035603132758,0.2299517801566379,0.007933997936361679,0.2806200822778593,33.289996796986316,0.030039053716116215,0.7770562696307252,True,True
--0.4999999999999999,-0.2999999999999997,0.35000000000000003,1.0,0.4742340495639553,0.23711702478197766,0.004581231994859196,0.1620350433215369,43.42526230321993,0.023028070472777322,0.7659297163358268,True,True
--0.4999999999999999,-0.2999999999999997,0.4,1.0,0.48135739741337036,0.24067869870668518,0.0012211615456888777,0.043191648923331556,99.88854453092453,0.010011157991780957,0.7534560204328482,False,True
+-0.4999999999999999,-0.2999999999999997,0.05,0.016666666666666666,0.14809846315789327,0.07404923157894662,1.5148542832872024e-08,6.953778417999632e-07,20348690.291920632,4.920287152531332e-08,0.026476587440527326,False,True
+-0.4999999999999999,-0.2999999999999997,0.1,0.09166666666666666,0.2144827694985081,0.10724138474925406,0.0027433203546458314,0.12592922029701625,7365009.138914857,0.008425207463309726,0.09905038639255007,False,True
+-0.4999999999999999,-0.2999999999999997,0.15000000000000002,0.10833333333333334,0.2831583645605108,0.1415791822802554,0.006544354472120541,0.3004116725287913,61.96391843438668,0.018455372084626227,0.13603587425072616,False,True
+-0.4999999999999999,-0.2999999999999997,0.2,0.13333333333333333,0.327919865099201,0.1639599325496005,0.006718418617861897,0.30840190309656074,489424.5080705011,0.019302579302963634,0.15889576808320585,False,True
+-0.4999999999999999,-0.2999999999999997,0.25,0.13333333333333333,0.37537253576008744,0.18768626788004372,0.0070386542176712795,0.323101979712494,54.79745913545891,0.0214132939631548,0.16532211427690693,False,True
+-0.4999999999999999,-0.2999999999999997,0.30000000000000004,0.13333333333333333,0.41082178522560264,0.20541089261280132,0.005511287154168075,0.25298980958676565,824461.2827864424,0.017685145503251468,0.16148300736489532,False,True
+-0.4999999999999999,-0.2999999999999997,0.35000000000000003,0.125,0.43904633165808754,0.21952316582904377,0.0034791032256279246,0.15970455502734063,554576.2201899732,0.012118241359575448,0.14858691280450037,False,True
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 -0.4999999999999999,-0.2999999999999997,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -968,186 +968,186 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.4999999999999999,-0.2999999999999997,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.4999999999999999,-0.2999999999999997,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.24999999999999967,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.24999999999999967,0.05,1.0,0.09637538040141513,0.048187690200707574,2.2807772490495404e-08,8.066953185763661e-07,17703783.652776487,5.64851005645434e-08,0.7096376243581834,False,True
--0.4999999999999999,-0.24999999999999967,0.1,1.0,0.2455300358985405,0.12276501794927025,0.01205572777232344,0.4264028484156964,36.89874285892141,0.027101194309994577,0.7699034078624231,True,True
--0.4999999999999999,-0.24999999999999967,0.15000000000000002,1.0,0.33228342463714355,0.16614171231857178,0.01553185672219164,0.5493511526306315,27.373145205899124,0.03653215560280714,0.7918166732870582,True,True
--0.4999999999999999,-0.24999999999999967,0.2,1.0,0.4057218232858558,0.2028609116429279,0.01666381060740085,0.5893875875969627,23.393596249523004,0.04274674100296901,0.8037856151885787,True,True
--0.4999999999999999,-0.24999999999999967,0.25,1.0,0.45580454604135745,0.22790227302067873,0.014900134732087315,0.5270075777694182,23.284701208171033,0.04294665373028028,0.8025758777541055,True,True
--0.4999999999999999,-0.24999999999999967,0.30000000000000004,1.0,0.4537578845236319,0.22687894226181599,0.011392577623518483,0.40294768106969137,25.12560639311408,0.03980003444911365,0.7896505600042436,True,True
--0.4999999999999999,-0.24999999999999967,0.35000000000000003,1.0,0.48652866387244464,0.24326433193622232,0.007932078859069306,0.28055220582616336,30.66237164366406,0.03261326330964998,0.7799694133008257,True,True
--0.4999999999999999,-0.24999999999999967,0.4,1.0,0.5255866786069338,0.2627933393034669,0.005080736522789846,0.17970217694702673,39.87021161693911,0.025081381806647682,0.7730370237360608,True,True
--0.4999999999999999,-0.24999999999999967,0.45,1.0,0.5532261637884519,0.27661308189422595,0.0025522934220572435,0.09027287325252122,94.79982037067579,0.010548543260394902,0.7654047580301367,False,True
--0.4999999999999999,-0.24999999999999967,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.4999999999999999,-0.19999999999999962,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.19999999999999962,0.05,1.0,0.17640551870594337,0.08820275935297171,0.01104206240375914,0.3905501974054072,43.158704229465684,0.023170297117137188,0.7590126013228488,True,True
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--0.4999999999999999,-0.19999999999999962,0.2,1.0,0.42032543491797875,0.21016271745898937,0.01884973662127356,0.6667022961192552,20.841128454823053,0.047982046757581734,0.8135009777794815,True,True
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--0.4999999999999999,-0.19999999999999962,0.30000000000000004,1.0,0.4351599808789061,0.2175799904394531,0.012095337553310975,0.4278038192867359,23.855804857197462,0.04191851861623207,0.7904882318781874,True,True
--0.4999999999999999,-0.19999999999999962,0.35000000000000003,1.0,0.4879381501042041,0.24396907505210205,0.00999060492562417,0.3533608653192921,26.073275886223335,0.03835344681885034,0.7879652462242347,True,True
--0.4999999999999999,-0.19999999999999962,0.4,1.0,0.475110309997917,0.2375551549989585,0.00875419183960949,0.3096297798426088,28.504849389142084,0.03508174999863405,0.781982183983916,True,True
--0.4999999999999999,-0.19999999999999962,0.45,1.0,0.5702060185409742,0.28510300927048704,0.0047681762072608455,0.1686471322943729,56.90234743699974,0.017573967422126354,0.7756427118257473,True,True
--0.4999999999999999,-0.19999999999999962,0.5,1.0,0.5943230634600792,0.2971615317300396,0.0032238012909777377,0.11402364744456897,80.98643029480017,0.012347747601490626,0.7720694458506139,True,True
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 -0.4999999999999999,-0.19999999999999962,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.14999999999999958,0.0,1.0,0.04219192487660672,0.02109596243830338,3.8665443642325566e-08,1.3675703048134385e-06,11786724.03832468,8.484121599423958e-08,0.7042193377288127,False,True
--0.4999999999999999,-0.14999999999999958,0.05,1.0,0.20943116557751532,0.10471558278875766,0.01580912661565118,0.5591579991838926,31.36022151320448,0.03188752986504419,0.7800476694626451,True,True
--0.4999999999999999,-0.14999999999999958,0.1,1.0,0.2954982492722492,0.14774912463612455,0.0199696613940798,0.7063132696045871,23.738922026180255,0.04212491194407108,0.8043936430820907,True,True
--0.4999999999999999,-0.14999999999999958,0.15000000000000002,1.0,0.3626392778258826,0.1813196389129413,0.020641009941549278,0.7300584087058456,20.62718267202803,0.04847971804536982,0.8141177404577098,True,True
--0.4999999999999999,-0.14999999999999958,0.2,1.0,0.38302444826858134,0.19151222413429067,0.017215044840356037,0.6088843655198964,21.141933041682876,0.047299364635071235,0.8039208178423549,True,True
--0.4999999999999999,-0.14999999999999958,0.25,1.0,0.362938427416298,0.18146921370814903,0.012039966127665188,0.4258453698208808,26.53833040114223,0.03768134561933459,0.7826465142856514,True,True
--0.4999999999999999,-0.14999999999999958,0.30000000000000004,1.0,0.40763767290010067,0.20381883645005036,0.011547924515202293,0.40844219441284857,25.26982438112307,0.03957289078713922,0.7855652758100088,True,True
--0.4999999999999999,-0.14999999999999958,0.35000000000000003,1.0,0.3337281590008311,0.16686407950041554,0.011198173947701789,0.3960717559761419,25.664741766804614,0.03896396114846559,0.7768763876125439,True,True
--0.4999999999999999,-0.14999999999999958,0.4,1.0,0.4613153755122172,0.2306576877561086,0.009319744383041229,0.32963298661720564,30.966998542409804,0.03229244185969522,0.7823240803989117,True,True
--0.4999999999999999,-0.14999999999999958,0.45,1.0,0.5725844328986637,0.28629221644933184,0.006646246818644411,0.2350732057213298,45.455409724255105,0.021999581704852056,0.7829657220324846,True,True
--0.4999999999999999,-0.14999999999999958,0.5,1.0,0.6114042790845364,0.3057021395422682,0.005020203285594643,0.17756115773596645,58.80254623016877,0.01700606630343171,0.7805971503123934,True,True
--0.4999999999999999,-0.14999999999999958,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.4999999999999999,-0.14999999999999958,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.14999999999999958,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.09999999999999953,0.0,1.0,0.06871327496927868,0.03435663748463935,0.004070825144518156,0.1439823020066624,121.23176480596196,0.008248663304383914,0.7220944240280325,False,True
--0.4999999999999999,-0.09999999999999953,0.05,1.0,0.21733524852900726,0.10866762426450365,0.01766910177393482,0.6249440488071523,28.896885379132303,0.03460580567514445,0.7876885103011303,True,True
--0.4999999999999999,-0.09999999999999953,0.1,1.0,0.27823173986166505,0.13911586993083253,0.01962774578185998,0.6942199481791458,22.91952807693823,0.043630915816659434,0.801608260385747,True,True
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--0.4999999999999999,-0.09999999999999953,0.2,1.0,0.2100119135143291,0.10500595675716452,0.006306525115022564,0.2230574813429524,51.60212210939273,0.019379047975697627,0.7452448442832978,True,True
--0.4999999999999999,-0.09999999999999953,0.25,1.0,0.28308010074817175,0.14154005037408587,0.007510747599612514,0.2656500072569994,42.565441827199315,0.02349323669876912,0.757222334470394,True,True
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--0.4999999999999999,-0.09999999999999953,0.35000000000000003,1.0,0.36135889554683953,0.18067944777341977,0.011125872088134,0.3935144886383514,27.137557040418013,0.036849300713063,0.7791722684898253,True,True
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--0.4999999999999999,-0.09999999999999953,0.45,1.0,0.5758167183914764,0.2879083591957382,0.008245402648112642,0.2916342540150077,39.780587154880365,0.025137889396631523,0.7892588861803115,True,True
--0.4999999999999999,-0.09999999999999953,0.5,1.0,0.618436655545833,0.30921832777291647,0.006467892499897543,0.22876493541387508,53.18713757634428,0.018801538220902067,0.786600312918061,True,True
--0.4999999999999999,-0.09999999999999953,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.4999999999999999,-0.09999999999999953,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.09999999999999953,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.09999999999999953,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.09999999999999953,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.09999999999999953,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,-0.04999999999999949,0.0,1.0,0.06145935930220196,0.03072967965110098,0.0030456016067944265,0.10772084645589856,167.87917789191806,0.005956665440765591,0.7175136871198866,False,True
--0.4999999999999999,-0.04999999999999949,0.05,1.0,0.20424863984261693,0.10212431992130848,0.017089485285475502,0.6044434099129046,29.37464097319968,0.034042969272276284,0.7842735019027798,True,True
--0.4999999999999999,-0.04999999999999949,0.1,1.0,0.2289110614887004,0.11445553074435019,0.017346130968902546,0.6135207922587564,25.471380004781047,0.03925975002923875,0.7881691603776695,True,True
--0.4999999999999999,-0.04999999999999949,0.15000000000000002,1.0,0.27729339785133444,0.13864669892566722,0.01654374430039521,0.5851409244113946,24.171092866473693,0.04137173298426842,0.7903806055246998,True,True
--0.4999999999999999,-0.04999999999999949,0.2,1.0,0.19342080073318582,0.09671040036659292,0.012410351376554192,0.43894564282969895,26.058970674331665,0.03837450128657659,0.7670740944849461,True,True
--0.4999999999999999,-0.04999999999999949,0.25,1.0,0.23861084579437666,0.11930542289718833,0.01289079009782538,0.45593843190955285,24.277400736831495,0.041190571052135604,0.7735739848756065,True,True
--0.4999999999999999,-0.04999999999999949,0.30000000000000004,1.0,0.30733812791977994,0.15366906395988997,0.01332710716592586,0.4713706682841615,23.412909409733825,0.04271147948770478,0.7821420275691645,True,True
--0.4999999999999999,-0.04999999999999949,0.35000000000000003,1.0,0.39818519270733915,0.19909259635366958,0.012039302018956088,0.42582188074991256,26.96696814701643,0.037082403723588044,0.7861089477180839,True,True
--0.4999999999999999,-0.04999999999999949,0.4,1.0,0.49927780927629895,0.24963890463814947,0.010733486348576349,0.379636073317031,31.86168364495521,0.031385660955911505,0.7910299543549242,True,True
--0.4999999999999999,-0.04999999999999949,0.45,1.0,0.5761703304565682,0.2880851652282841,0.009980896378933487,0.35301748066089034,36.133762547550184,0.027674948012651104,0.7956862759130109,True,True
--0.4999999999999999,-0.04999999999999949,0.5,1.0,0.6134878054473523,0.3067439027236762,0.007442912622306895,0.26325073049066977,52.431665817046785,0.019072443806943735,0.7895810979744965,True,True
--0.4999999999999999,-0.04999999999999949,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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+-0.4999999999999999,-0.04999999999999949,0.05,0.26666666666666666,0.24037500457784658,0.12018750228892328,0.014710902576894065,0.6752884285775669,44.07189320014618,0.03409905405354794,0.2816429153875628,False,True
+-0.4999999999999999,-0.04999999999999949,0.1,0.2916666666666667,0.27318399019227296,0.13659199509613648,0.016411960294342057,0.7533736845250456,393018.4665624835,0.03877749971845947,0.31070018411024447,False,True
+-0.4999999999999999,-0.04999999999999949,0.15000000000000002,0.325,0.30262637789946284,0.15131318894973142,0.016329082455304976,0.7495692649529141,561597.3074304579,0.03937589171452284,0.3366571534566899,False,True
+-0.4999999999999999,-0.04999999999999949,0.2,0.3416666666666667,0.327692056630656,0.163846028315328,0.016126450018521844,0.7402676371908591,169232.30895375233,0.03932145376534653,0.3498947814253528,False,True
+-0.4999999999999999,-0.04999999999999949,0.25,0.35833333333333334,0.34288881616822736,0.17144440808411368,0.015337923469367397,0.7040711596812771,762369.6979488902,0.03773496625911327,0.35930282754419507,False,True
+-0.4999999999999999,-0.04999999999999949,0.30000000000000004,0.375,0.3514559086371256,0.17572795431856283,0.0124085859105755,0.5696030163086986,1207416.968644573,0.03139308263497317,0.3577452007580797,False,True
+-0.4999999999999999,-0.04999999999999949,0.35000000000000003,0.3,0.41220919607114553,0.20610459803557274,0.012559661094885724,0.5765379629087907,402404.3401085896,0.0326296349253446,0.3121376793905281,False,True
+-0.4999999999999999,-0.04999999999999949,0.4,0.275,0.46364900464871245,0.23182450232435625,0.011008637602643439,0.505339869434344,4071685.365430359,0.029462451655120757,0.2923451325738177,False,True
+-0.4999999999999999,-0.04999999999999949,0.45,0.25,0.5025206565126646,0.2512603282563324,0.00826976036234416,0.37961460560358734,987716.4211454225,0.022547109654110095,0.2654682371770362,False,True
+-0.4999999999999999,-0.04999999999999949,0.5,0.16666666666666666,0.5573916712411711,0.27869583562058553,0.0054879281462225475,0.25191753902510466,383590.36822400434,0.015861796204140508,0.1991837673137083,False,True
+-0.4999999999999999,-0.04999999999999949,0.55,0.058333333333333334,0.5194663452683064,0.25973317263415324,0.0026030629391502365,0.11949085193645519,1499436.235190716,0.009350713597955612,0.10566412441360505,False,True
 -0.4999999999999999,-0.04999999999999949,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.04999999999999949,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.04999999999999949,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.04999999999999949,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,-0.04999999999999949,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,5.551115123125783e-16,0.0,1.0,0.04322853764786305,0.021614268823931544,6.153791901225323e-08,2.1765541199958704e-06,8392787.59640704,1.1914992349241644e-07,0.7043230833351907,False,True
--0.4999999999999999,5.551115123125783e-16,0.05,1.0,0.1938217329850718,0.09691086649253587,0.015901853034851896,0.5624376692309672,32.99821541952005,0.03030466912497826,0.7786564071341018,True,True
--0.4999999999999999,5.551115123125783e-16,0.1,1.0,0.2647889081178891,0.13239445405894454,0.019273520522150048,0.6816912429384835,25.97352567576419,0.038500741583520216,0.7984980892639892,True,True
--0.4999999999999999,5.551115123125783e-16,0.15000000000000002,1.0,0.33636631419686924,0.16818315709843462,0.0207429024923412,0.7336622785601201,22.131289969055395,0.045184894391800644,0.811521348714879,True,True
--0.4999999999999999,5.551115123125783e-16,0.2,1.0,0.2707637958180033,0.13538189790900165,0.015314433739943883,0.5416610504076604,24.821173560788296,0.040288183698050005,0.7852713029923712,True,True
--0.4999999999999999,5.551115123125783e-16,0.25,1.0,0.2814515088409416,0.1407257544204708,0.01546079894458015,0.5468378876210161,22.410573549371186,0.044621794170466064,0.7872911190632425,True,True
--0.4999999999999999,5.551115123125783e-16,0.30000000000000004,1.0,0.34137223431803837,0.17068611715901919,0.01554229006279686,0.5497201727542254,22.31884504792524,0.04480518583535795,0.7935897592907621,True,True
--0.4999999999999999,5.551115123125783e-16,0.35000000000000003,1.0,0.4192616148563956,0.20963080742819784,0.01472992790146234,0.5209874785461335,24.253496613639623,0.04123116826960809,0.7981480261672136,True,True
--0.4999999999999999,5.551115123125783e-16,0.4,1.0,0.4990474154553632,0.24952370772768157,0.013448700952160742,0.47567135736568106,27.782620410503743,0.03599372504193851,0.8010712497862983,True,True
--0.4999999999999999,5.551115123125783e-16,0.45,1.0,0.5723765136310849,0.2861882568155424,0.011380544225368596,0.4025220680047538,35.87695447503211,0.027873045932509735,0.8002771627568348,True,True
--0.4999999999999999,5.551115123125783e-16,0.5,1.0,0.5914697051784572,0.2957348525892286,0.00679189829927172,0.24022479900448493,65.51196794695585,0.015264386516037136,0.7846958890698978,True,True
--0.4999999999999999,5.551115123125783e-16,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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+-0.4999999999999999,5.551115123125783e-16,0.05,0.275,0.2438846587958779,0.12194232939793895,0.015170583937418325,0.6963896153995358,232186.12160580195,0.03523087710971388,0.2900505151305128,False,True
+-0.4999999999999999,5.551115123125783e-16,0.1,0.3,0.28925022178992654,0.14462511089496327,0.016861470666962752,0.7740079829013479,324841.2351959566,0.039538119115111105,0.32027963238063856,False,True
+-0.4999999999999999,5.551115123125783e-16,0.15000000000000002,0.31666666666666665,0.32679075794004053,0.16339537897002024,0.0174360392957911,0.8003829483015593,204634.2282681848,0.041869212575574744,0.33857095854838415,False,True
+-0.4999999999999999,5.551115123125783e-16,0.2,0.3333333333333333,0.3368626305247687,0.16843131526238433,0.017039173477456204,0.7821652425273086,413454.39250879135,0.04204530102062633,0.34944065074060365,False,True
+-0.4999999999999999,5.551115123125783e-16,0.25,0.36666666666666664,0.3574689382776529,0.17873446913882646,0.015249115583676986,0.699994527587515,584537.7352721686,0.0375977426270643,0.3661727875158899,False,True
+-0.4999999999999999,5.551115123125783e-16,0.30000000000000004,0.35833333333333334,0.38157921331704125,0.19078960665852063,0.01395476022019883,0.6405785131821874,363373.53595985007,0.034291613801014746,0.35647826736335764,False,True
+-0.4999999999999999,5.551115123125783e-16,0.35000000000000003,0.30833333333333335,0.4144570931906452,0.2072285465953226,0.01310424242923017,0.6015363932620545,401455.9885207943,0.033419188288010084,0.32077460080740433,False,True
+-0.4999999999999999,5.551115123125783e-16,0.4,0.2916666666666667,0.4668706889943197,0.23343534449715986,0.011333217994282654,0.5202393891253658,262135.0281675187,0.029356587086969445,0.30581333318733217,False,True
+-0.4999999999999999,5.551115123125783e-16,0.45,0.25,0.5289565862591445,0.2644782931295723,0.00948543036367679,0.435418651655677,284340.8499669144,0.02504346585298878,0.27394187037678097,False,True
+-0.4999999999999999,5.551115123125783e-16,0.5,0.18333333333333332,0.5139013296392064,0.2569506648196032,0.006028864941785354,0.27674867067906167,1338158.613443428,0.016778778129419258,0.20907621117810207,False,True
+-0.4999999999999999,5.551115123125783e-16,0.55,0.06666666666666667,0.3855465061527219,0.19277325307636092,0.0023163630025260324,0.1063301944809204,4689587.236648415,0.00782395670659911,0.0966367324006908,False,True
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--0.4999999999999999,0.20000000000000073,0.25,1.0,0.1916248029540885,0.09581240147704426,9.216339965949758e-08,3.2597564308562807e-06,7065189.086650849,1.415390285717088e-07,0.7191628204249547,False,True
--0.4999999999999999,0.20000000000000073,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.20000000000000073,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.20000000000000073,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.20000000000000073,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.20000000000000073,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.4999999999999999,0.20000000000000073,0.0,0.10833333333333334,0.15683428666461566,0.07841714333230783,0.004913436569326437,0.22554611061237362,115.68667957823246,0.012652304557602221,0.1153366035167925,False,True
+-0.4999999999999999,0.20000000000000073,0.05,0.15,0.21895677502468336,0.1094783875123417,0.008784381534331446,0.4032377463814942,417961.47682464414,0.021605716398941547,0.16938002378051192,False,True
+-0.4999999999999999,0.20000000000000073,0.1,0.20833333333333334,0.25919142946774515,0.12959571473387257,0.011175375480409123,0.5129937954169412,431783.65735870955,0.025967415346501016,0.2256485973564521,False,True
+-0.4999999999999999,0.20000000000000073,0.15000000000000002,0.25,0.2778465524089314,0.1389232762044657,0.01316595109080565,0.6043690641255256,551666.7577716172,0.030450953992892018,0.2662666570527349,False,True
+-0.4999999999999999,0.20000000000000073,0.2,0.2833333333333333,0.3091799927914131,0.15458999639570656,0.013229804231438286,0.6073001750327028,651634.3622162142,0.030733958627785104,0.2930547459785234,False,True
+-0.4999999999999999,0.20000000000000073,0.25,0.2916666666666667,0.3546060853608591,0.17730304268042954,0.013003669513727185,0.596919699914214,727740.749258784,0.030384092377130856,0.30235765443188706,False,True
+-0.4999999999999999,0.20000000000000073,0.30000000000000004,0.275,0.40121161703500685,0.20060580851750345,0.011119551809466827,0.5104312688261348,654725.6272544535,0.026606967553767402,0.28632498534149087,False,True
+-0.4999999999999999,0.20000000000000073,0.35000000000000003,0.23333333333333334,0.43435008648854223,0.21717504324427112,0.01027373896654579,0.4716051245714658,657707.0225741491,0.025228897448446443,0.25645174418417876,False,True
+-0.4999999999999999,0.20000000000000073,0.4,0.2,0.49096474324384914,0.24548237162192457,0.007784180873298089,0.35732459257458055,757663.3602896259,0.019819593569929628,0.2268108929388359,False,True
+-0.4999999999999999,0.20000000000000073,0.45,0.15833333333333333,0.44296430634866574,0.22148215317433287,0.004920490268103996,0.22586990319670075,2123245.410900865,0.013903315450932673,0.17910708583296323,False,True
+-0.4999999999999999,0.20000000000000073,0.5,0.05,0.24323931393101816,0.12161965696550907,0.0007788919957249494,0.03575421352126147,11775876.958363233,0.0028575118525409377,0.06318510393048204,False,True
 -0.4999999999999999,0.20000000000000073,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.20000000000000073,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.20000000000000073,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.20000000000000073,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.20000000000000073,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.20000000000000073,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.2500000000000008,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.4999999999999999,0.2500000000000008,0.0,0.025,0.09461756575004909,0.04730878287502454,1.7105131783709884e-08,7.851929888364742e-07,22883950.712816477,5.330522681570042e-08,0.026961840424826473,False,True
+-0.4999999999999999,0.2500000000000008,0.05,0.09166666666666666,0.20718986276673235,0.10359493138336619,0.004815802061794994,0.22106430177561268,317.1695649836668,0.013214990045197784,0.10831358212542094,False,True
+-0.4999999999999999,0.2500000000000008,0.1,0.15,0.2357813569338676,0.1178906784669338,0.00779071930556522,0.35762473239455095,2436770.361984525,0.02008142213737583,0.16634875114657943,False,True
+-0.4999999999999999,0.2500000000000008,0.15000000000000002,0.18333333333333332,0.273459118238597,0.1367295591192985,0.009290710958251016,0.4264802632314304,1198739.37495719,0.023466320824639075,0.2006739035628,False,True
+-0.4999999999999999,0.2500000000000008,0.2,0.21666666666666667,0.29676153314300846,0.14838076657150423,0.008999444365021791,0.41310997823288537,1595422.0695345555,0.02228667167694635,0.22488248497195068,False,True
+-0.4999999999999999,0.2500000000000008,0.25,0.225,0.3168324225084408,0.1584162112542204,0.007821775333535353,0.3590503265221847,2611864.151037827,0.020052448202241033,0.22709351972328667,False,True
+-0.4999999999999999,0.2500000000000008,0.30000000000000004,0.18333333333333332,0.3902176149182456,0.1951088074591228,0.008359213569972752,0.3837208605186062,888746.1245582676,0.022289527507767356,0.20795613362779525,False,True
+-0.4999999999999999,0.2500000000000008,0.35000000000000003,0.15833333333333333,0.42928408083949693,0.21464204041974846,0.0074953194341079235,0.3440647136291674,987901.3953774867,0.020259235289748354,0.19019413630917462,False,True
+-0.4999999999999999,0.2500000000000008,0.4,0.14166666666666666,0.44156603074919015,0.22078301537459508,0.00526104964468591,0.2415029212965264,1874604.9269524468,0.014542988935255276,0.16892786076476382,False,True
+-0.4999999999999999,0.2500000000000008,0.45,0.075,0.4531316583739715,0.22656582918698576,0.0028248486155322485,0.1296716889110851,2974602.615600182,0.008863744603593448,0.11166670918886501,False,True
 -0.4999999999999999,0.2500000000000008,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.2500000000000008,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.2500000000000008,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1156,14 +1156,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.4999999999999999,0.2500000000000008,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.2500000000000008,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.3000000000000008,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.3000000000000008,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.4999999999999999,0.3000000000000008,0.05,0.016666666666666666,0.09489882638835229,0.04744941319417614,9.5012860005603e-09,4.361464879022428e-07,24019370.811129533,4.34916154869237e-08,0.021156597269312235,False,True
+-0.4999999999999999,0.3000000000000008,0.1,0.058333333333333334,0.23554803291914292,0.11777401645957146,0.0036975342645097077,0.16973140091446684,1251226.9793394434,0.012659189544479454,0.08262719567114225,False,True
+-0.4999999999999999,0.3000000000000008,0.15000000000000002,0.075,0.27682239859387436,0.13841119929693718,0.0066293623192435445,0.30431386786999487,56.32758048171368,0.02054830988984153,0.11266845763537107,False,True
+-0.4999999999999999,0.3000000000000008,0.2,0.10833333333333334,0.2971246965770664,0.14856234828853318,0.005736046028084983,0.2633071280505969,1545255.1640801292,0.01804364299317129,0.1336808800954168,False,True
+-0.4999999999999999,0.3000000000000008,0.25,0.125,0.3322697018634804,0.1661348509317402,0.0056317322199607,0.2585187129823176,3113317.212936005,0.016900349945077317,0.14826887647908754,False,True
+-0.4999999999999999,0.3000000000000008,0.30000000000000004,0.125,0.3673632430090626,0.1836816215045313,0.004555760007700717,0.209127346231551,1138316.960017033,0.013738420070575103,0.14652290093111886,False,True
+-0.4999999999999999,0.3000000000000008,0.35000000000000003,0.1,0.4113778415035343,0.20568892075176715,0.00392224241736646,0.18004639108166037,1346049.6479650654,0.011337355415038079,0.13027615880002327,False,True
+-0.4999999999999999,0.3000000000000008,0.4,0.08333333333333333,0.3085491006965773,0.15427455034828866,0.0007263269063346753,0.0333412686712187,15589640.424250329,0.002509647428750024,0.09277333501298793,False,True
 -0.4999999999999999,0.3000000000000008,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.3000000000000008,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.3000000000000008,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1175,10 +1175,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.4999999999999999,0.35000000000000087,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.35000000000000087,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.35000000000000087,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.35000000000000087,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.35000000000000087,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.35000000000000087,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.4999999999999999,0.35000000000000087,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.4999999999999999,0.35000000000000087,0.15000000000000002,0.016666666666666666,0.18824170522225603,0.09412085261112801,8.327252798224295e-09,3.8225373508443735e-07,44689439.95143542,2.7008936979798632e-08,0.030490878115159478,False,True
+-0.4999999999999999,0.35000000000000087,0.2,0.03333333333333333,0.2748710262551595,0.1374355131275798,0.0005948885987262171,0.027307732133547574,7277826.17757821,0.0028907219133573053,0.05384028136353978,False,True
+-0.4999999999999999,0.35000000000000087,0.25,0.041666666666666664,0.2997746481861814,0.14988732409309072,0.0004362390741463212,0.020025093451920512,2461746.7236852925,0.002466791662386008,0.06139331999671545,False,True
+-0.4999999999999999,0.35000000000000087,0.30000000000000004,0.041666666666666664,0.1860077109127362,0.0930038554563681,1.4557493007556283e-08,6.682463245009898e-07,28699768.70972667,4.812186720327485e-08,0.04776750939475946,False,True
 -0.4999999999999999,0.35000000000000087,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.35000000000000087,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.4999999999999999,0.35000000000000087,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1344,12 +1344,12 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.44999999999999984,-0.44999999999999984,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.3999999999999998,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.3999999999999998,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.3999999999999998,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.3999999999999998,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.3999999999999998,0.2,1.0,0.28404813970390974,0.14202406985195487,0.0030054249448394506,0.10629982539263556,101.32623607780297,0.009869112302570555,0.7400217077399115,True,True
--0.44999999999999984,-0.3999999999999998,0.25,1.0,0.3643640107434873,0.18218200537174364,0.0049862286388071275,0.17635949770865797,57.771374781668115,0.0173096105802048,0.755803311903235,True,True
--0.44999999999999984,-0.3999999999999998,0.30000000000000004,1.0,0.40513598994965133,0.20256799497482567,0.003332688469138987,0.11787491248644341,80.58445100294276,0.012409341850032108,0.7535420244286126,True,True
--0.44999999999999984,-0.3999999999999998,0.35000000000000003,1.0,0.23464565810997406,0.11732282905498705,1.5123848256704457e-08,5.34920172174947e-07,23845935.447984282,4.1935867946188305e-08,0.7234646234966015,False,True
+-0.44999999999999984,-0.3999999999999998,0.1,0.016666666666666666,0.20623221323237634,0.10311610661618814,5.010318642694872e-09,2.299933797544496e-07,87117491.65065268,1.690108269687973e-08,0.032289912679350545,False,True
+-0.44999999999999984,-0.3999999999999998,0.15000000000000002,0.041666666666666664,0.23017240519437804,0.11508620259718902,0.0004799875142026151,0.022033319336356487,12692991.279124927,0.0036780865225373672,0.05475504777199385,False,True
+-0.44999999999999984,-0.3999999999999998,0.2,0.08333333333333333,0.26917734120433634,0.13458867060216817,0.001790174338507369,0.08217606021191937,3101395.269762804,0.006489269634916373,0.09411760043845054,False,True
+-0.44999999999999984,-0.3999999999999998,0.25,0.1,0.2802394287124254,0.1401197143562127,0.0014613713959123191,0.06708270878388142,3984693.033858733,0.005082070955167126,0.1052404208451474,False,True
+-0.44999999999999984,-0.3999999999999998,0.30000000000000004,0.075,0.2936152329965951,0.1468076164982976,0.0009785318002181282,0.044918467662233084,19916982.9454518,0.004141176061676671,0.08676748767205049,False,True
+-0.44999999999999984,-0.3999999999999998,0.35000000000000003,0.041666666666666664,0.26018239445038405,0.13009119722519202,0.00011941715565539959,0.005481718267538371,14136946.993149996,0.00033305583837725544,0.05576638352229663,False,True
 -0.44999999999999984,-0.3999999999999998,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.3999999999999998,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.3999999999999998,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1360,15 +1360,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.44999999999999984,-0.3999999999999998,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.3999999999999998,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.34999999999999976,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.34999999999999976,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.34999999999999976,0.1,1.0,0.22230853484940832,0.11115426742470415,0.008340487026317832,0.2949973234598575,49.8082964901488,0.02007697653739926,0.7537382834846664,True,True
--0.44999999999999984,-0.34999999999999976,0.15000000000000002,1.0,0.31347846878460606,0.15673923439230303,0.012797236923080935,0.4526295200841762,31.82330140867286,0.031423515340475515,0.7797531504209257,True,True
--0.44999999999999984,-0.34999999999999976,0.2,1.0,0.39254639728559615,0.19627319864279807,0.014776279776541494,0.5226269126754055,25.810515071913763,0.03874389942292048,0.7953917209383922,True,True
--0.44999999999999984,-0.34999999999999976,0.25,1.0,0.44850051923640705,0.22425025961820352,0.013491306972959251,0.47717830319020854,25.098573977738855,0.03984290107044857,0.7965521723497063,True,True
--0.44999999999999984,-0.34999999999999976,0.30000000000000004,1.0,0.4948809530610543,0.24744047653052714,0.011083983850206118,0.39203293030318664,26.077833614395125,0.03834674372294982,0.7925260627087191,True,True
--0.44999999999999984,-0.34999999999999976,0.35000000000000003,1.0,0.5150896016015791,0.25754480080078956,0.007599765691617772,0.2687985163066739,29.502114009999314,0.03389587606572295,0.7817783993973976,True,True
--0.44999999999999984,-0.34999999999999976,0.4,1.0,0.5278711817964323,0.2639355908982162,0.003565209094905539,0.12609900803792662,41.42316871120047,0.024141079283758853,0.7678111269118117,True,True
--0.44999999999999984,-0.34999999999999976,0.45,1.0,0.5409064901040348,0.2704532450520174,0.0014552843389441625,0.05147241204343748,173.4248541609221,0.005766186209344509,0.7598145088356817,False,True
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 -0.44999999999999984,-0.34999999999999976,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.34999999999999976,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.34999999999999976,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1376,221 +1376,221 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.44999999999999984,-0.34999999999999976,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.34999999999999976,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.34999999999999976,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.2999999999999997,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.2999999999999997,0.05,1.0,0.18678999541619679,0.09339499770809838,0.011605889547095282,0.4104923779583346,39.5493901690197,0.025284839936280907,0.7622567213310811,True,True
--0.44999999999999984,-0.2999999999999997,0.1,1.0,0.2900421183235273,0.14502105916176364,0.01816283593593907,0.6424070885352114,25.036854869883253,0.03994111901024744,0.7972390325868985,True,True
--0.44999999999999984,-0.2999999999999997,0.15000000000000002,1.0,0.3612118906130571,0.18060594530652854,0.019508500236422702,0.6900023147690691,21.89723831604608,0.045667859370876016,0.8096882064753002,True,True
--0.44999999999999984,-0.2999999999999997,0.2,1.0,0.43149580329345816,0.21574790164672908,0.019764075729637582,0.6990418452188405,19.81912725960839,0.05045630853978623,0.8180993957052084,True,True
--0.44999999999999984,-0.2999999999999997,0.25,1.0,0.49806862995056317,0.24903431497528164,0.01861017197102654,0.6582290582381254,19.041083265943467,0.052518020431567655,0.8208815708620256,True,True
--0.44999999999999984,-0.2999999999999997,0.30000000000000004,1.0,0.548235416672833,0.2741177083364165,0.01587794686846652,0.5615921244713363,19.572365521959696,0.05109244454271564,0.8160919985686884,True,True
--0.44999999999999984,-0.2999999999999997,0.35000000000000003,1.0,0.583799642554118,0.291899821277059,0.01246664346975348,0.4409366556774312,21.083104503748174,0.047431344839609965,0.8072167643071159,True,True
--0.44999999999999984,-0.2999999999999997,0.4,1.0,0.6190768894047112,0.30953844470235564,0.0091254169729937,0.32275975899176623,24.001863278300448,0.04166343206000669,0.7983500080456484,True,True
--0.44999999999999984,-0.2999999999999997,0.45,1.0,0.621416016159584,0.310708008079792,0.004197080048923373,0.14844785165090926,52.3364008917072,0.01910716027466504,0.7788971028085158,True,True
--0.44999999999999984,-0.2999999999999997,0.5,1.0,0.6077863625294773,0.3038931812647387,0.0026456449506089144,0.09357465298993148,75.03258701454381,0.013327542636150465,0.7714688558155559,False,True
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+-0.44999999999999984,-0.2999999999999997,0.2,0.25833333333333336,0.3386669296616589,0.16933346483082945,0.013131759986198609,0.6027995576196716,859013.6392126152,0.03111556449885035,0.27809153851135143,False,True
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 -0.44999999999999984,-0.2999999999999997,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.2999999999999997,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.2999999999999997,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.44999999999999984,-0.2999999999999997,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.24999999999999967,0.0,1.0,0.1124146422789262,0.0562073211394631,0.010021119031351881,0.3544401283753993,46.713586172407986,0.021407048397322548,0.7488261819051648,True,True
--0.44999999999999984,-0.24999999999999967,0.05,1.0,0.23580123824490873,0.11790061912245435,0.019371585821899573,0.6851597455402039,24.721886177244155,0.04044998803215605,0.7961410971817268,True,True
--0.44999999999999984,-0.24999999999999967,0.1,1.0,0.30983255016581,0.15491627508290504,0.02187213618923473,0.7736025023256066,20.51109779548332,0.04875409448933216,0.8132189146980747,True,True
--0.44999999999999984,-0.24999999999999967,0.15000000000000002,1.0,0.3839729165440487,0.19198645827202435,0.022630106256988004,0.8004113853733652,18.52122168319391,0.053992118722248406,0.8238376420639661,True,True
--0.44999999999999984,-0.24999999999999967,0.2,1.0,0.4656725957795167,0.23283629788975838,0.0226345297927644,0.8005678428092617,16.898989894332523,0.059175134505251935,0.832541557309403,True,True
--0.44999999999999984,-0.24999999999999967,0.25,1.0,0.45901903078028167,0.22950951539014083,0.020950567142051065,0.7410072352333139,16.47722750822877,0.06068982172520847,0.8260716087738804,True,True
--0.44999999999999984,-0.24999999999999967,0.30000000000000004,1.0,0.4705800138141471,0.23529000690707358,0.01780065530960641,0.629597007416445,16.983475525834123,0.058880763155889936,0.8159057784386481,True,True
--0.44999999999999984,-0.24999999999999967,0.35000000000000003,1.0,0.4861145343263119,0.24305726716315595,0.014682947768697266,0.5193258233720706,17.51913686155157,0.05708043768957951,0.8062520795387962,True,True
--0.44999999999999984,-0.24999999999999967,0.4,1.0,0.5404006595111082,0.2702003297555541,0.011185085646356932,0.3956088317064697,19.39645486747621,0.05155581300020515,0.7987565304217782,True,True
--0.44999999999999984,-0.24999999999999967,0.45,1.0,0.6173429771897924,0.3086714885948962,0.0077268153210040625,0.2732921748301221,25.508873341931626,0.03920204500275692,0.792983719702267,True,True
--0.44999999999999984,-0.24999999999999967,0.5,1.0,0.672549336807357,0.3362746684036785,0.004380636670018317,0.15494012383543293,52.47840532108618,0.01905545716184575,0.7846544917804635,True,True
--0.44999999999999984,-0.24999999999999967,0.55,1.0,0.6296987933012166,0.31484939665060824,0.0020882228535887754,0.07385901454586351,114.37057309385982,0.008743507818554012,0.7712301315665634,False,True
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+-0.44999999999999984,-0.24999999999999967,0.05,0.23333333333333334,0.21008486688431804,0.10504243344215901,0.012412014446040351,0.569760399604134,952994.829681117,0.02910310411582059,0.2442281703937606,False,True
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 -0.44999999999999984,-0.24999999999999967,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.44999999999999984,-0.24999999999999967,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,-0.24999999999999967,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,-0.19999999999999962,0.0,1.0,0.14768828759320055,0.07384414379660029,0.01614559448470517,0.5710586376583571,30.38416561332426,0.03291187958757346,0.7751658804839131,True,True
--0.44999999999999984,-0.19999999999999962,0.05,1.0,0.24734469454399508,0.12367234727199754,0.02198473351290391,0.7775849926773499,21.552590856469887,0.04639813406470011,0.8071327821286045,True,True
--0.44999999999999984,-0.19999999999999962,0.1,1.0,0.327268079879512,0.163634039939756,0.024126257821710764,0.8533292432503463,18.026181211887994,0.05547486670893197,0.8236072189838791,True,True
--0.44999999999999984,-0.19999999999999962,0.15000000000000002,1.0,0.400130867638899,0.2000654338194495,0.024058584401454686,0.8509356806463972,16.368787625343092,0.06109187942861125,0.8312158427713907,True,True
--0.44999999999999984,-0.19999999999999962,0.2,1.0,0.41932319129743184,0.20966159564871592,0.022832488312543912,0.8075695003032142,15.61692379066634,0.06403309726129715,0.8290925788861943,True,True
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 -0.44999999999999984,-0.04999999999999949,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.44999999999999984,5.551115123125783e-16,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.44999999999999984,5.551115123125783e-16,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,5.551115123125783e-16,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.0500000000000006,0.0,1.0,0.14913032176535804,0.07456516088267903,0.017160891517836965,0.6069689995287767,31.023352230027058,0.03223378288033517,0.778833310417447,True,True
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--0.44999999999999984,0.0500000000000006,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.44999999999999984,0.1500000000000007,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.44999999999999984,0.2500000000000008,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.44999999999999984,0.2500000000000008,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.2500000000000008,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.44999999999999984,0.3000000000000008,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.3000000000000008,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -1598,15 +1598,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.44999999999999984,0.3000000000000008,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.44999999999999984,0.35000000000000087,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.35000000000000087,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.44999999999999984,0.35000000000000087,0.05,0.06666666666666667,0.18021213862373248,0.09010606931186624,0.0017317724909772093,0.07949518515081928,37684745.570332065,0.005938141633409463,0.07323121320746279,False,True
+-0.44999999999999984,0.35000000000000087,0.1,0.11666666666666667,0.2564309792710306,0.1282154896355153,0.005689939469948967,0.2611906552490101,2063401.0972085968,0.015305239609647496,0.1349593540796355,False,True
+-0.44999999999999984,0.35000000000000087,0.15000000000000002,0.15,0.2725528977556486,0.13627644887782434,0.007188682164887373,0.32998885400105066,2054803.251462698,0.01842780184090157,0.16709695535976007,False,True
+-0.44999999999999984,0.35000000000000087,0.2,0.16666666666666666,0.31713803914877936,0.15856901957438968,0.008020612116475204,0.3681777188078061,9923607.757945683,0.019966050923841284,0.18719484755470933,False,True
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+-0.44999999999999984,0.35000000000000087,0.30000000000000004,0.15,0.37612664887010094,0.1880633244350505,0.007878028982858215,0.36163259081592386,112.8745757208163,0.020617674631164037,0.18083769143171888,False,True
+-0.44999999999999984,0.35000000000000087,0.35000000000000003,0.13333333333333333,0.42444256910165173,0.21222128455082584,0.006317422382346974,0.289994594888857,152.74902231756636,0.017933480872650693,0.16657039781964927,False,True
+-0.44999999999999984,0.35000000000000087,0.4,0.10833333333333334,0.4360214834164694,0.2180107417082347,0.003967774889769609,0.18213651108467555,1851460.8445849346,0.011543635136988622,0.1388034962971467,False,True
+-0.44999999999999984,0.35000000000000087,0.45,0.03333333333333333,0.47058962815342276,0.23529481407671138,0.0010265451455296806,0.04712246951301794,362.6030944486077,0.0032063664166060747,0.07542517974163801,False,True
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@@ -1617,11 +1617,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.44999999999999984,0.4000000000000009,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.44999999999999984,0.4000000000000009,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.4000000000000009,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.4000000000000009,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.4000000000000009,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.44999999999999984,0.4000000000000009,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.44999999999999984,0.4000000000000009,0.15000000000000002,0.041666666666666664,0.2391538631508979,0.11957693157544895,0.0007057755829783141,0.03239788190198644,8775454.602666486,0.003016202243764232,0.05662346139633152,False,True
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+-0.44999999999999984,0.4000000000000009,0.25,0.058333333333333334,0.33977184734268145,0.16988592367134064,0.0022847267835575517,0.10487796729895835,2444622.454715642,0.007022117573282073,0.08600052655482551,False,True
+-0.44999999999999984,0.4000000000000009,0.30000000000000004,0.058333333333333334,0.371941975624301,0.1859709878121505,0.0018867338559414647,0.08660852276487617,2201993.940130653,0.006658699936496751,0.08735425316590073,False,True
+-0.44999999999999984,0.4000000000000009,0.35000000000000003,0.03333333333333333,0.2542517195237327,0.12712585976186636,8.312727775833687e-05,0.0038158697928927536,13179052.32867771,0.00048422829911637914,0.04918851509490752,False,True
 -0.44999999999999984,0.4000000000000009,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,0.4000000000000009,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.44999999999999984,0.4000000000000009,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1752,12 +1752,12 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.3999999999999998,-0.4999999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.44999999999999984,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.44999999999999984,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.44999999999999984,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.44999999999999984,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.44999999999999984,0.2,1.0,0.2437334981049961,0.121866749052498,2.8654801665087925e-08,1.0135007426785586e-06,12770959.464453908,7.830265241882204e-08,0.724373458990839,False,True
--0.3999999999999998,-0.44999999999999984,0.25,1.0,0.33757679019571935,0.16878839509785964,0.0035017238595812378,0.12385357867141683,101.08953870716968,0.009892220493244347,0.747132258936038,True,True
--0.3999999999999998,-0.44999999999999984,0.30000000000000004,1.0,0.3829639206087923,0.19148196030439613,0.0027935456032235546,0.09880579794844681,129.04287819759736,0.007749362185828437,0.7489519080743067,False,True
--0.3999999999999998,-0.44999999999999984,0.35000000000000003,1.0,0.28367062966421125,0.14183531483210562,2.9089314225188627e-08,1.0288691548390157e-06,13395453.226448245,7.465219601719637e-08,0.728367173318556,False,True
+-0.3999999999999998,-0.44999999999999984,0.1,0.016666666666666666,0.20631079696677657,0.10315539848338828,8.086698439127327e-09,3.7121134157438717e-07,45979986.47981386,2.3690754988161882e-08,0.03229778585355398,False,True
+-0.3999999999999998,-0.44999999999999984,0.15000000000000002,0.025,0.26026280064787277,0.13013140032393639,0.0008356574359203922,0.03835997103387683,33775294.50570269,0.006578025607825215,0.04802007972895748,False,True
+-0.3999999999999998,-0.44999999999999984,0.2,0.06666666666666667,0.2778044917868919,0.13890224589344596,0.0011884634346437815,0.05455515737443908,7229416.533014195,0.005505592631908392,0.08045319084599059,False,True
+-0.3999999999999998,-0.44999999999999984,0.25,0.075,0.2993261048830603,0.14966305244153014,0.0020686655860981634,0.09495990647663302,3419633.907460315,0.007267829989823514,0.09265538413495168,False,True
+-0.3999999999999998,-0.44999999999999984,0.30000000000000004,0.06666666666666667,0.30996211459017853,0.15498105729508924,0.0011968276533752301,0.05493910799160315,7989563.399667265,0.004876378774492015,0.08364442680229402,False,True
+-0.3999999999999998,-0.44999999999999984,0.35000000000000003,0.025,0.20749538339499604,0.10374769169749802,0.00021041570569488213,0.009658910491998967,12663066.425567916,0.0022726938144615526,0.03944269877014566,False,True
 -0.3999999999999998,-0.44999999999999984,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.44999999999999984,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.44999999999999984,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1767,16 +1767,16 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.3999999999999998,-0.44999999999999984,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.44999999999999984,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.44999999999999984,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.3999999999999998,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.3999999999999998,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.3999999999999998,0.1,1.0,0.22383192134968405,0.11191596067484202,0.00890906140256988,0.3151074103951837,49.084473421022935,0.020373041214633302,0.75593123729595,True,True
--0.3999999999999998,-0.3999999999999998,0.15000000000000002,1.0,0.3189664751049006,0.1594832375524503,0.014208358882881656,0.5025399389725586,30.289201141769016,0.03301506683254828,0.7854521480910006,True,True
--0.3999999999999998,-0.3999999999999998,0.2,1.0,0.38980873824269224,0.19490436912134612,0.015242186689623145,0.5391057216354632,26.355561250796082,0.03794265621908866,0.7966857116097243,True,True
--0.3999999999999998,-0.3999999999999998,0.25,1.0,0.45225899276464615,0.22612949638232308,0.014465928072894452,0.5116499851149171,25.178200449746587,0.039716897277440995,0.8003625875157003,True,True
--0.3999999999999998,-0.3999999999999998,0.30000000000000004,1.0,0.49614117139698677,0.24807058569849338,0.01150685544757778,0.40698960957122066,27.680735749621387,0.03612620739468801,0.7939256988362895,True,True
--0.3999999999999998,-0.3999999999999998,0.35000000000000003,1.0,0.47750150167028027,0.23875075083514014,0.0055336033030752695,0.19571976532604285,49.904518462024015,0.020038307946343648,0.7693259574942666,True,True
--0.3999999999999998,-0.3999999999999998,0.4,1.0,0.47755701837279474,0.2387785091863974,0.004312859497026826,0.15254289156817136,42.74347606384854,0.02339538315884997,0.7653495293099816,True,True
--0.3999999999999998,-0.3999999999999998,0.45,1.0,0.5333890919266476,0.2666945459633238,0.00196233766872253,0.06940654162892085,171.14565661149086,0.005842976215692003,0.7608638609771261,False,True
+-0.3999999999999998,-0.3999999999999998,0.0,0.016666666666666666,0.07331926939913064,0.03665963469956532,5.548160639107241e-09,2.546824479256163e-07,29438164.065575868,3.436453117449404e-08,0.018998622511277638,False,True
+-0.3999999999999998,-0.3999999999999998,0.05,0.041666666666666664,0.17693637336078905,0.08846818668039454,0.00309645095354958,0.1421393070656498,26610934.36902321,0.011488440289181437,0.062223078738228695,False,True
+-0.3999999999999998,-0.3999999999999998,0.1,0.13333333333333333,0.22810689863013234,0.11405344931506617,0.005465672209624201,0.2508959037873304,6647587.733023336,0.014605792645819465,0.14269419283966156,False,True
+-0.3999999999999998,-0.3999999999999998,0.15000000000000002,0.15833333333333333,0.29017986574330834,0.14508993287165417,0.008883175146973073,0.4077727627127865,1455205.9453285818,0.021901435070236164,0.18281873968596646,False,True
+-0.3999999999999998,-0.3999999999999998,0.2,0.2,0.2939700137315215,0.14698500686576074,0.00923169705660318,0.4237712924731989,3768408.1641252674,0.022652384046182167,0.21403936902509024,False,True
+-0.3999999999999998,-0.3999999999999998,0.25,0.18333333333333332,0.344176519102583,0.17208825955129148,0.010237454506770265,0.4699395248099606,339345.9234611157,0.025024010438093238,0.21224733876839702,False,True
+-0.3999999999999998,-0.3999999999999998,0.30000000000000004,0.18333333333333332,0.3763971075123308,0.18819855375616543,0.008839628113973139,0.4057737822063199,1216700.620958319,0.022511514731369336,0.20880157377833533,False,True
+-0.3999999999999998,-0.3999999999999998,0.35000000000000003,0.16666666666666666,0.41768594731744296,0.20884297365872148,0.007759169053531375,0.35617645143382837,273.0308735077958,0.021226089975530472,0.19617551553934684,False,True
+-0.3999999999999998,-0.3999999999999998,0.4,0.13333333333333333,0.41048085892025765,0.20524042946012883,0.004424304336094154,0.20309301261790627,886812.352981825,0.013036041952014066,0.1559943246823511,False,True
+-0.3999999999999998,-0.3999999999999998,0.45,0.05,0.3504744678551546,0.1752372339275773,0.0010610445619147763,0.048706128745057614,6391540.077118494,0.0038288260956242993,0.07530094226958364,False,True
 -0.3999999999999998,-0.3999999999999998,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.3999999999999998,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.3999999999999998,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -1784,271 +1784,271 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.3999999999999998,-0.3999999999999998,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.3999999999999998,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.3999999999999998,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.34999999999999976,0.0,1.0,0.043019430967005556,0.021509715483502775,1.3091077876957994e-08,4.6302247371423443e-07,31760178.154799927,3.148596947806699e-08,0.7043019925475448,False,True
--0.3999999999999998,-0.34999999999999976,0.05,1.0,0.20518074053782756,0.10259037026891378,0.014706509101967717,0.5201591716202001,31.941702693629843,0.03130703486962556,0.7756646947027653,True,True
--0.3999999999999998,-0.34999999999999976,0.1,1.0,0.3028225765055623,0.15141128825278116,0.0200740381704788,0.7100050048200385,22.90374831097625,0.04366097576811223,0.8056488557093713,True,True
--0.3999999999999998,-0.34999999999999976,0.15000000000000002,1.0,0.3746505386795969,0.18732526933979846,0.021329102826928185,0.7543957835903147,20.336975307416864,0.04917152058670773,0.817821784285662,True,True
--0.3999999999999998,-0.34999999999999976,0.2,1.0,0.44463297220557174,0.22231648610278587,0.021177923322074636,0.7490486678699666,18.86576118862464,0.053006077517997685,0.8246687717593536,True,True
--0.3999999999999998,-0.34999999999999976,0.25,1.0,0.5079544510549873,0.25397722552749363,0.019737418777146427,0.6980990070354497,18.35184630180044,0.05449043020275804,0.8260543888293195,True,True
--0.3999999999999998,-0.34999999999999976,0.30000000000000004,1.0,0.5170591147956305,0.25852955739781525,0.017412055658776807,0.6158525034647643,18.406044591579686,0.05432997812351375,0.8187241596383908,True,True
--0.3999999999999998,-0.34999999999999976,0.35000000000000003,1.0,0.542883789846966,0.271441894923483,0.013358593078201983,0.47248430347343046,19.89168803905774,0.0502722543228202,0.8065640347643217,True,True
--0.3999999999999998,-0.34999999999999976,0.4,1.0,0.5062811400044923,0.25314057000224616,0.00997905139637026,0.3529522248891034,24.30084254456416,0.041150837049163363,0.7900384201942758,True,True
--0.3999999999999998,-0.34999999999999976,0.45,1.0,0.5928185865132847,0.2964092932566423,0.00574113828394812,0.20306013570113018,43.59751275670086,0.02293708830565057,0.7818815810520064,True,True
--0.3999999999999998,-0.34999999999999976,0.5,1.0,0.6206388780247247,0.31031943901236236,0.0029635957968717564,0.1048203570289609,94.61110883937454,0.010569583346117217,0.7736028818399803,True,True
--0.3999999999999998,-0.34999999999999976,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.3999999999999998,-0.34999999999999976,0.0,0.10833333333333334,0.13466464966333527,0.06733232483166765,0.0046385361299397295,0.2129270966016149,5334940.768953603,0.012466657149581017,0.11183917367478645,False,True
+-0.3999999999999998,-0.34999999999999976,0.05,0.2,0.19877378375541596,0.09938689187770798,0.009605401680330755,0.44092580809792586,720671.4654965932,0.0220212141546538,0.20617208060079956,False,True
+-0.3999999999999998,-0.34999999999999976,0.1,0.26666666666666666,0.24556816076399612,0.12278408038199809,0.01104546974554113,0.5070306100104927,1559362.9322535447,0.024781218188854544,0.26440466556300096,False,True
+-0.3999999999999998,-0.34999999999999976,0.15000000000000002,0.2833333333333333,0.308818437945141,0.1544092189725705,0.01385479282074503,0.6359896154083572,451312.1625983558,0.031018048049899462,0.29591594347367306,False,True
+-0.3999999999999998,-0.34999999999999976,0.2,0.2916666666666667,0.33912006918625437,0.16956003459312718,0.013483690707062308,0.6189545652555385,2346656.9693256803,0.03166062521155999,0.3031401926320019,False,True
+-0.3999999999999998,-0.34999999999999976,0.25,0.26666666666666666,0.39699476922615456,0.19849738461307725,0.013694850176370532,0.6286476174298076,223954.43184734415,0.033181877749316704,0.2925490931071945,False,True
+-0.3999999999999998,-0.34999999999999976,0.30000000000000004,0.25833333333333336,0.4029271985305648,0.2014635992652824,0.012355821837726374,0.5671809373333675,300491.7379853018,0.031175013811781987,0.2809616483009048,False,True
+-0.3999999999999998,-0.34999999999999976,0.35000000000000003,0.20833333333333334,0.4598671470093163,0.22993357350465815,0.011965778091447393,0.5492763915636918,311239.5773341825,0.03204149864489226,0.2499518370551234,False,True
+-0.3999999999999998,-0.34999999999999976,0.4,0.19166666666666668,0.4717809559186412,0.2358904779593206,0.010114602366096454,0.4643001271870499,500837.7918476326,0.027719644801252958,0.23054673945736104,False,True
+-0.3999999999999998,-0.34999999999999976,0.45,0.175,0.44425863555506784,0.22212931777753386,0.006480590746379499,0.2974846661176721,1206699.5771350954,0.017330044124344673,0.19840733457970844,False,True
+-0.3999999999999998,-0.34999999999999976,0.5,0.075,0.48389701809495544,0.24194850904747767,0.002954251910393849,0.1356118103402829,357.0572313020497,0.01007022652279702,0.11545790549580354,False,True
+-0.3999999999999998,-0.34999999999999976,0.55,0.008333333333333333,0.20212191047546768,0.10106095523773384,1.640864241497921e-08,7.532213807809731e-07,16296617.920071889,6.136242531453966e-08,0.026045605839260712,False,True
 -0.3999999999999998,-0.34999999999999976,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.34999999999999976,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.34999999999999976,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.34999999999999976,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.34999999999999976,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.2999999999999997,0.0,1.0,0.13660616317895158,0.06830308158947579,0.014082901363645489,0.4981025922965429,33.94679886231314,0.029457858576397346,0.7664166614051892,True,True
--0.3999999999999998,-0.2999999999999997,0.05,1.0,0.2455068766013676,0.1227534383006838,0.021568552440061308,0.7628649526873805,21.840097916443362,0.04578734050671048,0.8054159169795458,True,True
--0.3999999999999998,-0.2999999999999997,0.1,1.0,0.3259356041136248,0.16296780205681244,0.023957470542711908,0.847359352597484,18.46007766899118,0.05417095301176067,0.822746590972287,True,True
--0.3999999999999998,-0.2999999999999997,0.15000000000000002,1.0,0.40758069243596307,0.20379034621798153,0.02453763295104281,0.8678793003043266,16.70662314229189,0.05985650071130014,0.8335316493451589,True,True
--0.3999999999999998,-0.2999999999999997,0.2,1.0,0.4362861001707274,0.21814305008536372,0.023782672879611517,0.8411768787684445,15.757300438661495,0.0634626472911846,0.8340925626230357,True,True
--0.3999999999999998,-0.2999999999999997,0.25,1.0,0.4199801141834246,0.2099900570917123,0.022024809434877845,0.7790024506363628,15.41584891573525,0.06486830569410244,0.8263850870513889,True,True
--0.3999999999999998,-0.2999999999999997,0.30000000000000004,1.0,0.4159909101852764,0.2079954550926382,0.01967538312567536,0.6959048484587015,15.379964324682708,0.06501965667079856,0.8176915415314776,True,True
--0.3999999999999998,-0.2999999999999997,0.35000000000000003,1.0,0.4503476557425755,0.22517382787128776,0.015962746600182248,0.5645914330017996,16.309624374620018,0.06131349055220925,0.8076252579296584,True,True
--0.3999999999999998,-0.2999999999999997,0.4,1.0,0.49298163427202346,0.24649081713601173,0.012484374781598558,0.4415638000539196,17.831565275930707,0.05608032634969679,0.799062576067564,True,True
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 -0.3999999999999998,-0.2999999999999997,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.3999999999999998,-0.2999999999999997,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.24999999999999967,0.0,1.0,0.17886740401186163,0.08943370200593082,0.020827611545528493,0.7366583798530326,23.12270250283544,0.04324753993961741,0.7958773323804511,True,True
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 -0.3999999999999998,-0.24999999999999967,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.24999999999999967,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.24999999999999967,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.24999999999999967,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.19999999999999962,0.0,1.0,0.1899971453192988,0.09499857265964941,0.0233824094022887,0.8270198332486345,19.828054199734176,0.05043359222048502,0.8067450570788417,True,True
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--0.3999999999999998,-0.19999999999999962,0.1,1.0,0.33278323217548567,0.1663916160877428,0.025196978046100462,0.8911998855009279,14.712917786253668,0.06796748371246422,0.8291950601388877,True,True
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--0.3999999999999998,-0.19999999999999962,0.2,1.0,0.2997943087819363,0.14989715439096815,0.02343176502864303,0.8287655080067475,13.266405981340819,0.07537836558052165,0.8203938182369206,True,True
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--0.3999999999999998,-0.19999999999999962,0.4,1.0,0.3469514841083479,0.17347574205417396,0.012822654882249086,0.4535285359208721,15.14739723436845,0.06601794252355613,0.7866497962552775,True,True
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--0.3999999999999998,-0.19999999999999962,0.6000000000000001,1.0,0.7643474849183317,0.38217374245916585,0.004938426696858277,0.17466877570566242,43.48385159914797,0.022997042884297485,0.7962013303508291,True,True
--0.3999999999999998,-0.19999999999999962,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.3999999999999998,-0.19999999999999962,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.19999999999999962,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.19999999999999962,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,-0.14999999999999958,0.0,1.0,0.20018896933036626,0.10009448466518313,0.024776309310406735,0.8763211199442745,17.77510941067446,0.056258444153021656,0.8132768533427661,True,True
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 -0.3999999999999998,-0.14999999999999958,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.3999999999999998,-0.09999999999999953,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.3999999999999998,-0.04999999999999949,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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+-0.3999999999999998,-0.04999999999999949,0.55,0.36666666666666664,0.43735054276587243,0.21867527138293621,0.01081683535270879,0.4965353899485341,157168.18831221826,0.029393455643732212,0.3529946055024805,False,True
+-0.3999999999999998,-0.04999999999999949,0.6000000000000001,0.24166666666666667,0.4837586227176771,0.24187931135883856,0.006402112641709449,0.2938822116997072,1361555.8321493613,0.019206351122729688,0.24885138522067807,False,True
+-0.3999999999999998,-0.04999999999999949,0.65,0.05,0.5257732960812641,0.262886648040632,0.0036650072107162024,0.16823828090176454,3626752.951737523,0.010998448919051032,0.10550100259020799,False,True
 -0.3999999999999998,-0.04999999999999949,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.04999999999999949,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,-0.04999999999999949,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,5.551115123125783e-16,0.0,1.0,0.1844104493575692,0.0922052246787846,0.023906496172037498,0.8455564239595577,18.204565090784453,0.05493127659455055,0.8084898149911678,True,True
--0.3999999999999998,5.551115123125783e-16,0.05,1.0,0.25833930843407554,0.12916965421703777,0.025086492861061956,0.8872921000484139,15.827278024947931,0.06318205811665017,0.8208813466599139,True,True
--0.3999999999999998,5.551115123125783e-16,0.1,1.0,0.09337233245882463,0.04668616622941232,0.014110369314743559,0.49907411494615417,19.23794205227624,0.05198062178468832,0.7644427069189667,False,True
--0.3999999999999998,5.551115123125783e-16,0.15000000000000002,1.0,0.08710365083394642,0.0435518254169732,0.012078387436619655,0.42720430524870745,20.35763892462145,0.049121610011056215,0.7563429566093709,False,True
--0.3999999999999998,5.551115123125783e-16,0.2,1.0,0.11296927308422985,0.05648463654211493,0.013657959078899192,0.483072674231864,16.93477791838677,0.059050080542143175,0.7655092027858237,True,True
--0.3999999999999998,5.551115123125783e-16,0.25,1.0,0.18503786787644264,0.09251893393822132,0.015616272384691609,0.552336876895534,14.610821612956613,0.06844242073547016,0.7805817165507447,True,True
--0.3999999999999998,5.551115123125783e-16,0.30000000000000004,1.0,0.25054709763902794,0.125273548819514,0.01775772431211105,0.6280785673883471,13.15834618560167,0.07599739252144291,0.7954623057548817,True,True
--0.3999999999999998,5.551115123125783e-16,0.35000000000000003,1.0,0.27392003050336294,0.13696001525168147,0.014776649561196786,0.5226399917058294,16.985084677098154,0.058875184855860754,0.7855435207065052,True,True
--0.3999999999999998,5.551115123125783e-16,0.4,1.0,0.3217413865880668,0.1608706932940334,0.012181916893639096,0.4308660713570435,18.49051786972294,0.05408177355120111,0.7806689231496311,True,True
--0.3999999999999998,5.551115123125783e-16,0.45,1.0,0.38331800696227575,0.19165900348113787,0.007062160485482432,0.24978378774375135,32.13565484684614,0.031118083785621562,0.7664219878491648,True,True
--0.3999999999999998,5.551115123125783e-16,0.5,1.0,0.46891609574024246,0.23445804787012123,0.008535349834078991,0.3018894877363593,30.241984480299188,0.03306661309384302,0.7803872196570445,True,True
--0.3999999999999998,5.551115123125783e-16,0.55,1.0,0.3811047605555853,0.19055238027779264,0.021934298814847354,0.7758011518909255,20.20244648665743,0.04949898761095696,0.8206404900057468,True,True
--0.3999999999999998,5.551115123125783e-16,0.6000000000000001,1.0,0.4541220718672148,0.22706103593360732,0.01311590776927043,0.46390069002832407,33.658941017456044,0.029709787942567654,0.7947732549838106,True,True
--0.3999999999999998,5.551115123125783e-16,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.3999999999999998,5.551115123125783e-16,0.0,0.5,0.21131678377203902,0.10565839188601951,0.018160469541575856,0.8336371527756218,518546.6450907306,0.04336462561006692,0.45883185621577277,False,True
+-0.3999999999999998,5.551115123125783e-16,0.05,0.5666666666666667,0.2385052165900321,0.11925260829501602,0.01908308566476183,0.8759888704047738,166902.29611829916,0.046810281614484375,0.5127971035275957,False,True
+-0.3999999999999998,5.551115123125783e-16,0.1,0.625,0.21706407511786813,0.10853203755893404,0.01879079634167177,0.8625716380733257,474172.5349803511,0.04812372819551635,0.550275944138671,False,True
+-0.3999999999999998,5.551115123125783e-16,0.15000000000000002,0.6833333333333333,0.20098909476329596,0.100494547381648,0.018569736218793903,0.8524241068651572,432890.1718393757,0.04896628773285075,0.5885712822694638,False,True
+-0.3999999999999998,5.551115123125783e-16,0.2,0.6916666666666667,0.2003271799754652,0.1001635899877326,0.0189001888493367,0.8675931854741791,104152.5899289497,0.050962176200488964,0.59605492083168,False,True
+-0.3999999999999998,5.551115123125783e-16,0.25,0.6666666666666666,0.20612500676366227,0.10306250338183114,0.018734947595698735,0.8600079604397456,30.740862392067434,0.052031733367675415,0.5784831367237749,False,True
+-0.3999999999999998,5.551115123125783e-16,0.30000000000000004,0.65,0.20388886936880643,0.10194443468440323,0.017432455054611013,0.8002184174998975,32.493476808043766,0.04940239218926232,0.5603509679057966,False,True
+-0.3999999999999998,5.551115123125783e-16,0.35000000000000003,0.5833333333333334,0.22686801820907543,0.11343400910453773,0.0166694100012355,0.7651916411118082,35.12286073989854,0.04764534537801291,0.5123038338032231,False,True
+-0.3999999999999998,5.551115123125783e-16,0.4,0.5166666666666667,0.2519836194947848,0.1259918097473924,0.015844748047203715,0.7273364060482228,447165.1798547526,0.045902679777114354,0.46418893719867893,False,True
+-0.3999999999999998,5.551115123125783e-16,0.45,0.48333333333333334,0.2923434846169015,0.14617174230845076,0.014379521253414716,0.6600767193012234,165452.405032158,0.0408457009322316,0.437659923818369,False,True
+-0.3999999999999998,5.551115123125783e-16,0.5,0.4166666666666667,0.3575433616410059,0.178771680820503,0.012538091601602486,0.5755478381256023,459892.5799542346,0.036056407488961884,0.3885814273922237,False,True
+-0.3999999999999998,5.551115123125783e-16,0.55,0.36666666666666664,0.4296603978245388,0.2148301989122694,0.010626344487047953,0.4877911081712534,354636.98511366104,0.02999688615605376,0.35141150588185127,False,True
+-0.3999999999999998,5.551115123125783e-16,0.6000000000000001,0.275,0.4604896296440671,0.23024481482203354,0.007323334930752973,0.33616994684628665,493439.9978477361,0.01999589493800633,0.27416554714283603,False,True
+-0.3999999999999998,5.551115123125783e-16,0.65,0.058333333333333334,0.5341071086922679,0.26705355434613387,0.004463981529009479,0.20491435220697016,1860613.3564318113,0.014507790373694261,0.11618625846062657,False,True
 -0.3999999999999998,5.551115123125783e-16,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,5.551115123125783e-16,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,5.551115123125783e-16,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.0500000000000006,0.0,1.0,0.1847469100186007,0.09237345500930035,0.02347840656016358,0.8304151870863042,20.281217799292207,0.04930670387233168,0.8064468800977236,True,True
--0.3999999999999998,0.0500000000000006,0.05,1.0,0.2720577533577476,0.1360288766788738,0.026375002765472756,0.9328658143714865,16.764392111215777,0.05965023923195914,0.8264573806961192,True,True
--0.3999999999999998,0.0500000000000006,0.1,1.0,0.34790300917290995,0.17395150458645497,0.02621906149388996,0.927350278217699,14.99758308922044,0.06667741022343486,0.8341930697614043,True,True
--0.3999999999999998,0.0500000000000006,0.15000000000000002,1.0,0.19739684472456012,0.09869842236228005,0.016191890843810394,0.5726961082255891,18.511073437319276,0.0540217186005004,0.7824114671550648,True,True
--0.3999999999999998,0.0500000000000006,0.2,1.0,0.19960839440912465,0.09980419720456236,0.015520165881725093,0.5489376555967359,17.68191125513039,0.05655497223717909,0.780510102224304,True,True
--0.3999999999999998,0.0500000000000006,0.25,1.0,0.2384753244738769,0.11923766223693845,0.017412898555668816,0.6158823161515187,15.088167142141456,0.06627710248563748,0.7920634743111034,True,True
--0.3999999999999998,0.0500000000000006,0.30000000000000004,1.0,0.29321330982533167,0.14660665491266583,0.01906358660433022,0.6742660238038125,14.006914770141414,0.07139330940549597,0.803887264303464,True,True
--0.3999999999999998,0.0500000000000006,0.35000000000000003,1.0,0.32015816936480446,0.16007908468240223,0.00932318954249135,0.3297548395513894,29.548280130215897,0.033842917272791796,0.7683755926188985,True,True
--0.3999999999999998,0.0500000000000006,0.4,1.0,0.36349190772705314,0.18174595386352657,0.011105811203475247,0.39280494886424766,23.62921452140618,0.0423204926720997,0.77986173492634,True,True
--0.3999999999999998,0.0500000000000006,0.45,1.0,0.4254180573434484,0.21270902867172423,0.011559868874880948,0.40886465824793716,24.458785157003792,0.040885105027964164,0.787516782061935,True,True
--0.3999999999999998,0.0500000000000006,0.5,1.0,0.35646489423149036,0.17823244711574518,0.02531748079264413,0.8954619852545483,17.4944100334452,0.05716111592721805,0.8309087995413257,True,True
--0.3999999999999998,0.0500000000000006,0.55,1.0,0.3791068884105916,0.1895534442052958,0.020152697972092588,0.7127871482208652,23.482524163987037,0.04258485983093933,0.8134478896462396,True,True
--0.3999999999999998,0.0500000000000006,0.6000000000000001,1.0,0.4573962743261199,0.22869813716305995,0.007132465044582225,0.25227041192960786,65.14647928868686,0.015350023687143853,0.7725016709942871,True,True
--0.3999999999999998,0.0500000000000006,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.3999999999999998,0.0500000000000006,0.0,0.4666666666666667,0.20142099369389324,0.10071049684694663,0.01872183194266553,0.8594059002547728,429555.11808286683,0.04526196381446358,0.4372755524429796,False,True
+-0.3999999999999998,0.0500000000000006,0.05,0.55,0.238196089563511,0.1190980447817555,0.01880318146911821,0.8631401642536416,820656.7931485205,0.04622321449469475,0.4997559468311848,False,True
+-0.3999999999999998,0.0500000000000006,0.1,0.6083333333333333,0.22869773831727452,0.11434886915863726,0.01932925426976667,0.8872889799371387,26.86651819273179,0.04914343044407945,0.5423463482031826,False,True
+-0.3999999999999998,0.0500000000000006,0.15000000000000002,0.65,0.2040339076150951,0.10201695380754755,0.01856790900491979,0.8523402305442263,1432922.8168310262,0.04940014267434624,0.5655774280833666,False,True
+-0.3999999999999998,0.0500000000000006,0.2,0.675,0.20176230434150302,0.10088115217075151,0.018332546992834497,0.8415361862337452,369890.37075782917,0.04958228195387555,0.5817880772529124,False,True
+-0.3999999999999998,0.0500000000000006,0.25,0.65,0.2047291108634547,0.10236455543172733,0.018793764756934284,0.8627079000373697,23.96978898539381,0.05220544162708421,0.5669642452527909,False,True
+-0.3999999999999998,0.0500000000000006,0.30000000000000004,0.65,0.20058495901912998,0.100292479509565,0.01721411770883776,0.7901958724958543,328733.9119739758,0.0483976212000107,0.5589178452714995,False,True
+-0.3999999999999998,0.0500000000000006,0.35000000000000003,0.5833333333333334,0.2238429644753837,0.11192148223769188,0.015915573224408154,0.7305875609225154,297026.8853393793,0.04564027649342971,0.5083404135224662,False,True
+-0.3999999999999998,0.0500000000000006,0.4,0.49166666666666664,0.26582440683023406,0.13291220341511703,0.016037565491247865,0.7361874869462385,24.991619188337978,0.046131531695459464,0.44898100921385986,False,True
+-0.3999999999999998,0.0500000000000006,0.45,0.475,0.2943513016784619,0.14717565083923095,0.01356177119427157,0.6225387674643771,478524.0934512032,0.038606645345899,0.4280496714488738,False,True
+-0.3999999999999998,0.0500000000000006,0.5,0.39166666666666666,0.36616058882312996,0.18308029441156498,0.012629843877460894,0.579759629336847,147859.5411551602,0.03639476488735397,0.37239816497139977,False,True
+-0.3999999999999998,0.0500000000000006,0.55,0.31666666666666665,0.4559382313770879,0.227969115688544,0.012147611434324544,0.5576232589114084,31.687208749635573,0.033847205716615876,0.3264075362671779,False,True
+-0.3999999999999998,0.0500000000000006,0.6000000000000001,0.26666666666666666,0.5003248215202734,0.2501624107601367,0.007117762744048843,0.3267333729723813,357672.27262608137,0.019383834435648797,0.271310869559497,False,True
+-0.3999999999999998,0.0500000000000006,0.65,0.058333333333333334,0.45272699718440634,0.22636349859220317,0.00411721351131244,0.18899633300131027,4553727.691974634,0.013273194066025215,0.10633298575850753,False,True
 -0.3999999999999998,0.0500000000000006,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.0500000000000006,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.0500000000000006,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.10000000000000064,0.0,1.0,0.16985535675348512,0.08492767837674256,0.02118224522840495,0.7492015307418426,24.64563603606689,0.040575134621676945,0.7959632022117005,True,True
--0.3999999999999998,0.10000000000000064,0.05,1.0,0.261832104026037,0.1309160520130185,0.025898739021836904,0.9160206913960272,18.95519173409219,0.05275599498165181,0.8230608790403716,True,True
--0.3999999999999998,0.10000000000000064,0.1,1.0,0.343330426213441,0.1716652131067205,0.027351295082421505,0.9673966060992991,16.41070729309211,0.06093582574722534,0.8371662858059965,True,True
--0.3999999999999998,0.10000000000000064,0.15000000000000002,1.0,0.2689170468177167,0.13445852340885836,0.021257699444109098,0.7518702947608081,17.11702305351821,0.058421373674273004,0.8079208715252798,True,True
--0.3999999999999998,0.10000000000000064,0.2,1.0,0.2643880378228068,0.13219401891140337,0.020005450746014022,0.7075791145121619,16.5306480869297,0.06049369599698905,0.8032460848331958,True,True
--0.3999999999999998,0.10000000000000064,0.25,1.0,0.28856643285589756,0.14428321642794878,0.02025938423134185,0.7165605682656622,15.589747825863624,0.06414471941283774,0.8069271720534397,True,True
--0.3999999999999998,0.10000000000000064,0.30000000000000004,1.0,0.3584735307037125,0.17923676535185626,0.01654168664412448,0.585068146515985,19.251832127587758,0.05194310823888334,0.799548478545858,True,True
--0.3999999999999998,0.10000000000000064,0.35000000000000003,1.0,0.3796642594974485,0.18983212974872424,0.016335792246472833,0.5777858024477118,19.19775983771434,0.05208941087158849,0.8009539472816749,True,True
--0.3999999999999998,0.10000000000000064,0.4,1.0,0.42433958342099787,0.2121697917104989,0.015763091630237435,0.5575297732254184,20.75810287902304,0.04817395914395203,0.8030043315790368,True,True
--0.3999999999999998,0.10000000000000064,0.45,1.0,0.3084769864818052,0.1542384932409026,0.02693784463268571,0.952773146381602,17.11584187381566,0.05842540539492604,0.8319675538258333,True,True
--0.3999999999999998,0.10000000000000064,0.5,1.0,0.32013772433656806,0.16006886216828403,0.024353647492959353,0.8613718604487289,19.996331934543644,0.05000917184578817,0.8231518756631084,True,True
--0.3999999999999998,0.10000000000000064,0.55,1.0,0.3635228517253984,0.1817614258626992,0.016100272735177994,0.5694556383655283,31.548939374986677,0.031696786637234645,0.796467527672816,True,True
--0.3999999999999998,0.10000000000000064,0.6000000000000001,1.0,0.17073853767992003,0.08536926883995995,6.245260180567865e-08,2.2089058250010884e-06,7383568.047704549,1.3543587511337236e-07,0.7170740882021619,False,True
--0.3999999999999998,0.10000000000000064,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.3999999999999998,0.10000000000000064,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.10000000000000064,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.3999999999999998,0.1500000000000007,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.1500000000000007,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.1500000000000007,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.20000000000000073,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.20000000000000073,0.05,1.0,0.17912498165335117,0.08956249082667557,0.01444677962026918,0.5109727174379782,41.2250592631591,0.024257090659757025,0.7714354789751087,True,True
--0.3999999999999998,0.20000000000000073,0.1,1.0,0.28468715931434085,0.14234357965717043,0.02269286298637534,0.8026310479829877,25.30534651972272,0.03951734070205212,0.812683554799938,True,True
--0.3999999999999998,0.20000000000000073,0.15000000000000002,1.0,0.35040328570429774,0.1752016428521489,0.025076624754497876,0.8869430718663863,22.00141935658252,0.04545161308898123,0.8282797970659665,True,True
--0.3999999999999998,0.20000000000000073,0.2,1.0,0.41325126439666504,0.20662563219833252,0.026162868725214908,0.9253627784104776,19.787101089911484,0.05053797397891939,0.8389152016786061,True,True
--0.3999999999999998,0.20000000000000073,0.25,1.0,0.42959148111666157,0.21479574055833078,0.02583902930285768,0.9139087994612,19.40942537791271,0.05152136039745669,0.8395021640975316,True,True
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--0.3999999999999998,0.20000000000000073,0.4,1.0,0.2617626413284921,0.13088132066424604,0.024967957947921945,0.8830996012168094,22.22586322427974,0.04499262817910973,0.8189854870724411,True,True
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--0.3999999999999998,0.20000000000000073,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.20000000000000073,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.20000000000000073,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.3999999999999998,0.20000000000000073,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.20000000000000073,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.20000000000000073,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.2500000000000008,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.2500000000000008,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.2500000000000008,0.1,1.0,0.18100008189109834,0.09050004094554917,0.006698145821262298,0.23690883795889617,95.12527070382393,0.010512453658262757,0.7428421373508256,True,True
--0.3999999999999998,0.2500000000000008,0.15000000000000002,1.0,0.30357426616613103,0.15178713308306552,0.01857795083035297,0.6570894185231383,33.36607886009255,0.02997055794884011,0.7990634242638108,True,True
--0.3999999999999998,0.2500000000000008,0.2,1.0,0.33506719824131953,0.1675335991206598,0.02077008042118016,0.7346235433207243,29.34584186739463,0.03407637800110927,0.8103767119563152,True,True
--0.3999999999999998,0.2500000000000008,0.25,1.0,0.3371285568499899,0.16856427842499494,0.0213445892346059,0.7549435272413173,28.089048479339976,0.0356010635535863,0.8127673147644894,True,True
--0.3999999999999998,0.2500000000000008,0.30000000000000004,1.0,0.36228259255125805,0.18114129627562903,0.02039101675760778,0.7212163207182682,29.08022979871208,0.03438762371989806,0.8117886536989425,True,True
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@@ -2059,11 +2059,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.3999999999999998,0.45000000000000095,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.45000000000000095,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.45000000000000095,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.45000000000000095,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.45000000000000095,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.45000000000000095,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.45000000000000095,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.3999999999999998,0.45000000000000095,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.3999999999999998,0.45000000000000095,0.15000000000000002,0.025,0.23652663575560787,0.11826331787780393,0.0005238739301341348,0.024047878857459272,32443858.244670283,0.001406964019292821,0.043698147863235996,False,True
+-0.3999999999999998,0.45000000000000095,0.2,0.05,0.2803457504127524,0.14017287520637614,0.001277844445503587,0.05865809817312227,24003533.83058102,0.004144258377377365,0.06931481069632521,False,True
+-0.3999999999999998,0.45000000000000095,0.25,0.075,0.30524059787476626,0.15262029893738313,0.0018641269773180546,0.08557077790450136,6728331.140140294,0.006016187709910637,0.09218275634891782,False,True
+-0.3999999999999998,0.45000000000000095,0.30000000000000004,0.075,0.3149444331039198,0.15747221655195992,0.001081319843130424,0.04963684409168686,6263926.683705183,0.004603329866171648,0.08941846070617783,False,True
+-0.3999999999999998,0.45000000000000095,0.35000000000000003,0.025,0.34830033767443985,0.17415016883721993,0.00021071001963318518,0.00967242066215109,7922095.859299512,0.0031254388533811066,0.053609819718997205,False,True
 -0.3999999999999998,0.45000000000000095,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.45000000000000095,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.3999999999999998,0.45000000000000095,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2161,10 +2161,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.34999999999999976,-0.4999999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.4999999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.4999999999999999,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.4999999999999999,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.4999999999999999,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.4999999999999999,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.4999999999999999,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.34999999999999976,-0.4999999999999999,0.15000000000000002,0.008333333333333333,0.25091214278339324,0.12545607139169662,2.010393862365637e-08,9.228500461088006e-07,17998923.784115687,5.555887740813229e-08,0.030924645452565007,False,True
+-0.34999999999999976,-0.4999999999999999,0.2,0.025,0.277086232957458,0.138543116478729,2.011565053945069e-08,9.233876692200299e-07,16185418.238263912,6.193632010345802e-08,0.045208721828144734,False,True
+-0.34999999999999976,-0.4999999999999999,0.25,0.025,0.25573210162930177,0.12786605081465088,0.0002100522888100253,0.009642228224149613,8755918.368813993,0.0005557890756573998,0.04409301189291088,False,True
+-0.34999999999999976,-0.4999999999999999,0.30000000000000004,0.016666666666666666,0.29187393321675364,0.1459369666083768,2.3637954081750367e-08,1.085075289107384e-06,16766071.862452377,6.334352522984746e-08,0.040854174830223466,False,True
 -0.34999999999999976,-0.4999999999999999,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.4999999999999999,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.4999999999999999,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2176,15 +2176,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.34999999999999976,-0.4999999999999999,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.4999999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.44999999999999984,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.44999999999999984,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.44999999999999984,0.1,1.0,0.17877156209308318,0.08938578104654159,0.0036275256869771817,0.12830310329162914,123.70125443282524,0.008083992410733022,0.7315158657795445,True,True
--0.34999999999999976,-0.44999999999999984,0.15000000000000002,1.0,0.29127520582245847,0.14563760291122926,0.011245474546388063,0.3977447458107248,40.21035635110226,0.024869215066664604,0.7713889166699848,True,True
--0.34999999999999976,-0.44999999999999984,0.2,1.0,0.3723698036032053,0.18618490180160263,0.013994293979288258,0.494968609695565,30.713003605421275,0.03255949866990689,0.7899897911968677,True,True
--0.34999999999999976,-0.44999999999999984,0.25,1.0,0.42999783421959215,0.21499891710979607,0.013046079437461881,0.46143090967614686,30.432238199001553,0.03285989001092034,0.7924288633906659,True,True
--0.34999999999999976,-0.44999999999999984,0.30000000000000004,1.0,0.30755698543162496,0.15377849271581248,0.007597729892075447,0.2687265114688039,32.49830681664106,0.030770833892700803,0.7607054330793129,True,True
--0.34999999999999976,-0.44999999999999984,0.35000000000000003,1.0,0.3909632374210185,0.19548161871050923,0.006012693363043437,0.21266485317773234,40.88945034421202,0.02445618592565123,0.7628084276524401,True,True
--0.34999999999999976,-0.44999999999999984,0.4,1.0,0.40112863780341035,0.20056431890170517,0.005055539405220981,0.17881097212670102,66.01036909186988,0.015149135109634636,0.7595088745039745,True,True
--0.34999999999999976,-0.44999999999999984,0.45,1.0,0.3129142134010333,0.15645710670051666,3.622332020404018e-08,1.281194068560143e-06,10928701.466818761,9.150217919632585e-08,0.731291558609728,False,True
+-0.34999999999999976,-0.44999999999999984,0.05,0.016666666666666666,0.18111917909717246,0.09055958954858624,0.0026093187898598796,0.11977802014880988,228.1125075179785,0.009739765379762037,0.04273036312924111,False,True
+-0.34999999999999976,-0.44999999999999984,0.1,0.1,0.2080129694468006,0.10400648472340034,0.004353138517534138,0.19982622096235475,2428670.6935016452,0.011258314183228564,0.11190975045923839,False,True
+-0.34999999999999976,-0.44999999999999984,0.15000000000000002,0.175,0.237279673104574,0.118639836552287,0.005925964376740839,0.27202512904010095,3632882.3700604304,0.014938812846060896,0.1749243614990736,False,True
+-0.34999999999999976,-0.44999999999999984,0.2,0.16666666666666666,0.299818321503588,0.149909160751794,0.009211004557492719,0.42282142518024346,595162.968669818,0.022161803917087535,0.19114682172675856,False,True
+-0.34999999999999976,-0.44999999999999984,0.25,0.16666666666666666,0.35038852542792465,0.17519426271396232,0.00923195178984747,0.4237829857334421,455958.0720547832,0.02254475291403653,0.196338293074207,False,True
+-0.34999999999999976,-0.44999999999999984,0.30000000000000004,0.16666666666666666,0.3858715360239482,0.1929357680119741,0.008017310753011278,0.36802617320861086,499403.72880938475,0.02090706180282901,0.19414714377020548,False,True
+-0.34999999999999976,-0.44999999999999984,0.35000000000000003,0.16666666666666666,0.3988630166245588,0.1994315083122794,0.005468484935243553,0.2510250189829198,1352816.1073334392,0.015495823712568229,0.18320505259867134,False,True
+-0.34999999999999976,-0.44999999999999984,0.4,0.10833333333333334,0.41383557343765937,0.20691778671882968,0.003416103849110815,0.15681263525917996,3537517.9019870935,0.010643011337838144,0.1339624553368011,False,True
+-0.34999999999999976,-0.44999999999999984,0.45,0.041666666666666664,0.3614665001873309,0.18073325009366542,0.0008069049021532592,0.037040116372088296,4442982.186287831,0.004661738968925569,0.06948350221950116,False,True
 -0.34999999999999976,-0.44999999999999984,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.44999999999999984,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.44999999999999984,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2192,305 +2192,305 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.34999999999999976,-0.44999999999999984,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.44999999999999984,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.44999999999999984,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.3999999999999998,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.3999999999999998,0.05,1.0,0.18970590089662734,0.09485295044831367,0.012738311329862313,0.45054536214136937,37.65894306504033,0.026554117525210832,0.7666805380563206,True,True
--0.34999999999999976,-0.3999999999999998,0.1,1.0,0.28730512900614913,0.14365256450307456,0.0193378812010674,0.6839676361463104,24.752339326379676,0.040400221846277,0.8011672986998737,True,True
--0.34999999999999976,-0.3999999999999998,0.15000000000000002,1.0,0.3720627835986372,0.1860313917993186,0.02183524357057879,0.7722976356284238,20.5885932253289,0.048570584160697164,0.8192931003387758,True,True
--0.34999999999999976,-0.3999999999999998,0.2,1.0,0.4416097968750589,0.22080489843752946,0.021806899467994724,0.7712951240998059,19.143274761945584,0.05223766635733416,0.8265142587332198,True,True
--0.34999999999999976,-0.3999999999999998,0.25,1.0,0.4986404267776278,0.2493202133888139,0.019618028482008797,0.6938762539274418,19.493257755143745,0.051299788884939766,0.8243816469590008,True,True
--0.34999999999999976,-0.3999999999999998,0.30000000000000004,1.0,0.5396390269227567,0.26981951346137834,0.016545872718660013,0.5852162051101522,20.371454710767612,0.04908829605959001,0.8173943528092498,True,True
--0.34999999999999976,-0.3999999999999998,0.35000000000000003,1.0,0.2011026021891513,0.10055130109457565,0.01106776210214077,0.3914591781654496,25.87862768488629,0.038641925384012246,0.7631203705738613,True,True
--0.34999999999999976,-0.3999999999999998,0.4,1.0,0.2143333102390874,0.10716665511954372,0.011205330703979825,0.3963248855523901,28.130354273650596,0.035548787984657444,0.7646206983776135,True,True
--0.34999999999999976,-0.3999999999999998,0.45,1.0,0.5706860180631206,0.2853430090315603,0.005770471971370465,0.20409764816886677,46.91147115922568,0.021316747808609496,0.7796100414040597,True,True
--0.34999999999999976,-0.3999999999999998,0.5,1.0,0.5918883774690047,0.29594418873450234,0.0029048251081859808,0.10274167795356759,117.75035069631659,0.00849254371154975,0.7703122599134121,True,True
--0.34999999999999976,-0.3999999999999998,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.34999999999999976,-0.3999999999999998,0.0,0.1,0.1321884126251655,0.06609420631258274,0.003436576624441504,0.1577524163643446,14753643.970819397,0.00944289069594278,0.09993837196854528,False,True
+-0.34999999999999976,-0.3999999999999998,0.05,0.225,0.19421839213392927,0.09710919606696464,0.008639269378343315,0.3965765262916649,2809648.2248006198,0.01927768436672672,0.2185072602792321,False,True
+-0.34999999999999976,-0.3999999999999998,0.1,0.275,0.25257125803101604,0.12628562901550802,0.01135088327551399,0.5210502951823351,2269157.5179562788,0.024847205025811888,0.2723468758239163,False,True
+-0.34999999999999976,-0.3999999999999998,0.15000000000000002,0.2833333333333333,0.3129485424009724,0.15647427120048624,0.013827677890353527,0.6347449331980468,722504.1758686472,0.030339618366693934,0.29613664272990464,False,True
+-0.34999999999999976,-0.3999999999999998,0.2,0.2916666666666667,0.3435527147201629,0.17177635736008146,0.013669080425520857,0.627464684264072,1339818.7998349576,0.030777790075332982,0.30434618557262344,False,True
+-0.34999999999999976,-0.3999999999999998,0.25,0.25833333333333336,0.38372508833048,0.19186254416524,0.014564924898853405,0.6685874776130549,398720.5139160794,0.03403547960525998,0.28946813788821285,False,True
+-0.34999999999999976,-0.3999999999999998,0.30000000000000004,0.25833333333333336,0.4048018755172304,0.2024009377586152,0.01206195461736229,0.5536912732959065,752498.2040307613,0.029381914814668144,0.27962083969611384,False,True
+-0.34999999999999976,-0.3999999999999998,0.35000000000000003,0.225,0.4072416091685682,0.2036208045842841,0.010667402713222607,0.48967584263188485,1212802.8251233425,0.027466259728924327,0.24993837115293774,False,True
+-0.34999999999999976,-0.3999999999999998,0.4,0.19166666666666668,0.4637799713441794,0.2318899856720897,0.009673972123843338,0.44407346180608165,584610.6718941673,0.02577627025116842,0.22752963700680964,False,True
+-0.34999999999999976,-0.3999999999999998,0.45,0.175,0.4610600719559293,0.23053003597796465,0.006217295216743203,0.28539836321883716,1220234.3025777405,0.017213384804167724,0.19886718199789344,False,True
+-0.34999999999999976,-0.3999999999999998,0.5,0.08333333333333333,0.48306309182743706,0.24153154591371853,0.003062772765388039,0.14059334544690674,983579.8562089639,0.009861533842007168,0.12168513044496843,False,True
+-0.34999999999999976,-0.3999999999999998,0.55,0.008333333333333333,0.25935046424527186,0.12967523212263593,3.5142307879663204e-09,1.6131704863521172e-07,37680056.00605739,2.653923868476314e-08,0.03176839854348925,False,True
 -0.34999999999999976,-0.3999999999999998,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.3999999999999998,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.3999999999999998,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.3999999999999998,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,-0.3999999999999998,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,-0.34999999999999976,0.0,1.0,0.14707705718079614,0.07353852859039807,0.015368403481415334,0.5435699232626461,31.48168201930308,0.031764503542151754,0.7722411483985594,True,True
--0.34999999999999976,-0.34999999999999976,0.05,1.0,0.25102702724940773,0.12551351362470387,0.02219788645484196,0.7851240664941316,21.445097390954153,0.0466307045274516,0.808278179827099,True,True
--0.34999999999999976,-0.34999999999999976,0.1,1.0,0.3345574235800612,0.1672787117900306,0.024679809579971124,0.8729079904587569,18.21678245274374,0.05489443608359645,0.8262359850122414,True,True
--0.34999999999999976,-0.34999999999999976,0.15000000000000002,1.0,0.4102465438185903,0.20512327190929516,0.025172318799731454,0.8903277048171812,16.592197953319435,0.06026929059148221,0.8360843539227254,True,True
--0.34999999999999976,-0.34999999999999976,0.2,1.0,0.4304971046567663,0.21524855232838316,0.02436430481517732,0.8617488026488223,15.642834849541043,0.06392703174446328,0.8356172939050052,True,True
--0.34999999999999976,-0.34999999999999976,0.25,1.0,0.407511972667746,0.20375598633387298,0.022663066460718036,0.8015771652433381,15.227866297434373,0.06566908196249127,0.8274758219873575,True,True
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--0.34999999999999976,5.551115123125783e-16,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.34999999999999976,5.551115123125783e-16,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,5.551115123125783e-16,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -2502,9 +2502,9 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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--0.34999999999999976,0.500000000000001,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,0.500000000000001,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.34999999999999976,0.500000000000001,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.34999999999999976,0.500000000000001,0.2,0.008333333333333333,0.14553608225399695,0.07276804112699847,1.5655657325826243e-08,7.186563964138614e-07,17180201.256026827,5.820653583142394e-08,0.020387019245026252,False,True
+-0.34999999999999976,0.500000000000001,0.25,0.016666666666666666,0.29724830374435196,0.14862415187217598,0.0006851891880622827,0.03145288520988958,7405783.065415771,0.0034805030120035707,0.04488483586329118,False,True
+-0.34999999999999976,0.500000000000001,0.30000000000000004,0.016666666666666666,0.3325021657379595,0.16625108286897972,0.00022505161543843075,0.01033075645385366,13667850.408295512,0.0009047119566436035,0.04604043008151234,False,True
 -0.34999999999999976,0.500000000000001,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,0.500000000000001,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.34999999999999976,0.500000000000001,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2584,14 +2584,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.2999999999999997,-0.5499999999999999,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.5499999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.4999999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.4999999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.4999999999999999,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.4999999999999999,0.15000000000000002,1.0,0.19651077732144634,0.09825538866072317,4.794637338998484e-08,1.6958304443160073e-06,9982311.318036845,1.0017720026354207e-07,0.7196512573329089,False,True
--0.2999999999999997,-0.4999999999999999,0.2,1.0,0.3048234154619458,0.1524117077309729,0.0070361781039882075,0.24886480867529603,66.89758787777659,0.014948246396558413,0.75686364705338,True,True
--0.2999999999999997,-0.4999999999999999,0.25,1.0,0.25662140081183066,0.12831070040591533,0.0061437798577194,0.2173012928663408,72.58353728718357,0.013777228826998649,0.748769992250517,True,True
--0.2999999999999997,-0.4999999999999999,0.30000000000000004,1.0,0.3118039918622581,0.15590199593112905,0.004911244007653245,0.1737073425741651,87.92039227918298,0.011373925594524648,0.7496885260030948,True,True
--0.2999999999999997,-0.4999999999999999,0.35000000000000003,1.0,0.4130149761784973,0.20650748808924865,0.0025385347814648,0.0897862395419945,180.4776380638031,0.005540852939593205,0.7508342068660084,False,True
--0.2999999999999997,-0.4999999999999999,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.2999999999999997,-0.4999999999999999,0.05,0.008333333333333333,0.15522098176418042,0.07761049088209022,2.624906098384433e-08,1.2049353906576825e-06,13728173.807041785,7.284290059665882e-08,0.0213555592875805,False,True
+-0.2999999999999997,-0.4999999999999999,0.1,0.05,0.19860059509273312,0.09930029754636656,0.0014442593981379207,0.06629720061900198,8735381.93624358,0.003644150889104397,0.06185419466008395,False,True
+-0.2999999999999997,-0.4999999999999999,0.15000000000000002,0.09166666666666666,0.23244042742266113,0.11622021371133057,0.0037561268303836883,0.1724210306994886,6223384.329119959,0.010078894910817041,0.10566070196996334,False,True
+-0.2999999999999997,-0.4999999999999999,0.2,0.125,0.29943713398981026,0.14971856699490513,0.006358494460184592,0.2918799651954311,647418.5732848255,0.01639292115921358,0.14827100203444551,False,True
+-0.2999999999999997,-0.4999999999999999,0.25,0.125,0.3471589317985323,0.17357946589926615,0.007100545300579572,0.3259430244343692,654515.2701290915,0.018258919066272385,0.1566360875299174,False,True
+-0.2999999999999997,-0.4999999999999999,0.30000000000000004,0.11666666666666667,0.38894738067531603,0.19447369033765802,0.006278586311560835,0.28821186612179345,69.71814941462274,0.016258511556444356,0.15100844250202203,False,True
+-0.2999999999999997,-0.4999999999999999,0.35000000000000003,0.11666666666666667,0.3945956943296432,0.1972978471648216,0.0033126588708844275,0.15206410290872738,3172920.747905641,0.009333266413769456,0.13726597303188068,False,True
+-0.2999999999999997,-0.4999999999999999,0.4,0.05,0.39701300156410224,0.19850650078205112,0.002157767311445483,0.09905002696916128,2105262.5061334795,0.007673988482707061,0.08537370170159705,False,True
 -0.2999999999999997,-0.4999999999999999,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.4999999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.4999999999999999,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2600,323 +2600,323 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.2999999999999997,-0.4999999999999999,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.4999999999999999,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.4999999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.44999999999999984,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.44999999999999984,0.05,1.0,0.13576185258148415,0.06788092629074208,0.005172999638814872,0.18296546027755245,95.14636697978845,0.01051012281850769,0.7329237435677544,True,True
--0.2999999999999997,-0.44999999999999984,0.1,1.0,0.2537296207501407,0.12686481037507036,0.015514580643923252,0.5487401095544926,32.488825816226424,0.030779813523921753,0.7833249543828554,True,True
--0.2999999999999997,-0.44999999999999984,0.15000000000000002,1.0,0.3436063840116591,0.17180319200582955,0.019669908688785646,0.695711221368962,24.520988480683503,0.04078139022996567,0.8080098995610586,True,True
--0.2999999999999997,-0.44999999999999984,0.2,1.0,0.4138311198472819,0.20691555992364094,0.02013758313334638,0.7122525467089164,22.45008525121712,0.04454326069663978,0.8170626927252839,True,True
--0.2999999999999997,-0.44999999999999984,0.25,1.0,0.47623689056128093,0.23811844528064044,0.01833842567641109,0.6486175775993164,22.358610949336935,0.04472594466203947,0.8169580412822637,True,True
--0.2999999999999997,-0.44999999999999984,0.30000000000000004,1.0,0.2834982181878164,0.1417491090939082,0.014209304233602664,0.5025733753811937,26.39621118462896,0.03788422486835701,0.7823955818437367,True,True
--0.2999999999999997,-0.44999999999999984,0.35000000000000003,1.0,0.2902965626471968,0.1451482813235984,0.012588571083441514,0.44524915200772003,28.892886517077066,0.034610595220711755,0.7770156309875629,True,True
--0.2999999999999997,-0.44999999999999984,0.4,1.0,0.5244329929379281,0.26221649646896406,0.006050810439155106,0.21401302809792308,61.90082556669959,0.01615487339763639,0.7754600894433488,True,True
--0.2999999999999997,-0.44999999999999984,0.45,1.0,0.5740779584083201,0.28703897920416005,0.005644918585890464,0.1996569107693536,70.47537013397405,0.014189354353168877,0.7787924223530842,True,True
--0.2999999999999997,-0.44999999999999984,0.5,1.0,0.34593423844665944,0.17296711922332972,4.2588779286922224e-08,1.5063360040512235e-06,9642199.927605744,1.0371077217938486e-07,0.7345935848493435,False,True
+-0.2999999999999997,-0.44999999999999984,0.0,0.05,0.1587086387269624,0.07935431936348118,0.0030736694152612236,0.14109354463802776,1499496.6403261258,0.008916194302532559,0.06587183776675228,False,True
+-0.2999999999999997,-0.44999999999999984,0.05,0.175,0.18975910804486013,0.09487955402243009,0.006025173608233444,0.27657922391530293,3383730.6901037474,0.013997916129494855,0.17053362480896575,False,True
+-0.2999999999999997,-0.44999999999999984,0.1,0.24166666666666667,0.25463452928057945,0.12731726464028972,0.01095438568758353,0.5028494926354606,734134.387782957,0.023401290822929608,0.24725519794056364,False,True
+-0.2999999999999997,-0.44999999999999984,0.15000000000000002,0.25833333333333336,0.2999809116237789,0.14999045581188944,0.013320063362192554,0.6114434249966826,718837.1761087737,0.028552581201234554,0.27483102511550295,False,True
+-0.2999999999999997,-0.44999999999999984,0.2,0.25833333333333336,0.3289689933594198,0.1644844966797099,0.014076617098532076,0.6461722243396709,1476021.5484480013,0.031004084447524213,0.28144786354799484,False,True
+-0.2999999999999997,-0.44999999999999984,0.25,0.25,0.3590791888678233,0.17953959443391165,0.01360031790882561,0.6243082136395499,703795.026424332,0.031564448305582464,0.27649518508129556,False,True
+-0.2999999999999997,-0.44999999999999984,0.30000000000000004,0.25833333333333336,0.38045333746862425,0.19022666873431213,0.010546104279856203,0.484107766300146,2256149.18923514,0.025815189563761085,0.26987096266658644,False,True
+-0.2999999999999997,-0.44999999999999984,0.35000000000000003,0.21666666666666667,0.4256200242918399,0.21281001214591996,0.009407245742460294,0.4318296692853399,1039727.7206484487,0.023915746736472673,0.23980321069803193,False,True
+-0.2999999999999997,-0.44999999999999984,0.4,0.175,0.46859879287621276,0.23429939643810638,0.007814080547039711,0.35869710548399747,1056890.4646848158,0.02046161449001743,0.20727575128502274,False,True
+-0.2999999999999997,-0.44999999999999984,0.45,0.13333333333333333,0.49446462414712794,0.24723231207356397,0.004290748872607262,0.1969622902781589,2424375.44460577,0.012489557491043059,0.1637249805249663,False,True
+-0.2999999999999997,-0.44999999999999984,0.5,0.058333333333333334,0.42994653493295437,0.21497326746647724,0.0020773359795335762,0.09535791171985619,3083947.012443992,0.007579758459081988,0.0941217538445226,False,True
 -0.2999999999999997,-0.44999999999999984,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.44999999999999984,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.44999999999999984,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.44999999999999984,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.44999999999999984,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.44999999999999984,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.3999999999999998,0.0,1.0,0.12330148646878045,0.06165074323439022,0.011798400518117948,0.4173013593774229,41.65535850375391,0.024006515271200287,0.7564609361117404,True,True
--0.2999999999999997,-0.3999999999999998,0.05,1.0,0.23878543561859675,0.11939271780929837,0.021053147874731813,0.7446354456104639,23.65799686809008,0.042269005511377404,0.8025689886740438,True,True
--0.2999999999999997,-0.3999999999999998,0.1,1.0,0.3176698472149813,0.15883492360749066,0.02432146653319244,0.8602336419049373,19.582960460657713,0.051064802077072785,0.8228968291196991,True,True
--0.2999999999999997,-0.3999999999999998,0.15000000000000002,1.0,0.3968182281424694,0.1984091140712347,0.025337477834158732,0.8961692669402951,17.459844392107886,0.0572742790572,0.8350261774139964,True,True
--0.2999999999999997,-0.3999999999999998,0.2,1.0,0.466868768207562,0.233434384103781,0.02461195656097368,0.8705080755701232,16.70628991446611,0.059857694624217736,0.8397234538401903,True,True
--0.2999999999999997,-0.3999999999999998,0.25,1.0,0.4413078424716875,0.22065392123584376,0.022831822500467905,0.8075459509853231,16.17787987280241,0.06181279672414687,0.8310666590181157,True,True
--0.2999999999999997,-0.3999999999999998,0.30000000000000004,1.0,0.22387049161638933,0.11193524580819467,0.015610311211774414,0.5521260342852997,19.387594877986995,0.05157937363047811,0.7827575899532166,True,True
--0.2999999999999997,-0.3999999999999998,0.35000000000000003,1.0,0.2293265791022819,0.11466328955114094,0.01321582561214346,0.4674347158136791,21.559371330473503,0.046383541740299974,0.7743144836656262,True,True
--0.2999999999999997,-0.3999999999999998,0.4,1.0,0.26554335765559867,0.13277167882779936,0.009461177043670008,0.3346353631215566,28.663826068133424,0.03488717792329659,0.7635065898700452,True,True
--0.2999999999999997,-0.3999999999999998,0.45,1.0,0.39819365233783904,0.19909682616891955,0.004855629915308667,0.17174031015309282,60.497773083344356,0.016529534049863445,0.7586463496540795,True,True
--0.2999999999999997,-0.3999999999999998,0.5,1.0,0.5677377023577735,0.28386885117888677,0.005912909697149084,0.20913557314037196,57.57590902851298,0.017368375365334525,0.7794241650863479,True,True
--0.2999999999999997,-0.3999999999999998,0.55,1.0,0.6380870681980035,0.31904353409900177,0.003164876410482236,0.11193951471029157,113.9702593458098,0.00877421887133089,0.7758800801779626,True,True
+-0.2999999999999997,-0.3999999999999998,0.0,0.25,0.17335881669714504,0.08667940834857252,0.010618169458779721,0.48741584214226735,62.55888445517266,0.023324196058747686,0.243409885489816,False,True
+-0.2999999999999997,-0.3999999999999998,0.05,0.31666666666666665,0.24000373811687964,0.12000186905843982,0.014097093525958176,0.6471121730904139,1317624.2287075636,0.030281198979552938,0.31340637768535134,False,True
+-0.2999999999999997,-0.3999999999999998,0.1,0.35,0.28608754890107974,0.14304377445053987,0.01696801275712524,0.7788986849005711,278033.8897480621,0.036634988492998455,0.3551621222294649,False,True
+-0.2999999999999997,-0.3999999999999998,0.15000000000000002,0.39166666666666666,0.3126004715343846,0.15630023576719232,0.01667798092239135,0.7655850801852125,1138563.9582609371,0.03693664083130122,0.3856788859217565,False,True
+-0.2999999999999997,-0.3999999999999998,0.2,0.4,0.3409008765079718,0.1704504382539859,0.01703347335767824,0.7819035845557841,161579.50304373537,0.038323332813548286,0.39611277938773043,False,True
+-0.2999999999999997,-0.3999999999999998,0.25,0.39166666666666666,0.36429293776349797,0.18214646888174899,0.01627826668264088,0.7472366206375891,1285219.8995362152,0.037385602755734396,0.3890581827823488,False,True
+-0.2999999999999997,-0.3999999999999998,0.30000000000000004,0.36666666666666664,0.3754819674423929,0.18774098372119646,0.014512407130844783,0.6661767050010028,633208.8132130201,0.03461397900409757,0.364293931811416,False,True
+-0.2999999999999997,-0.3999999999999998,0.35000000000000003,0.3,0.3975870703867501,0.19879353519337506,0.013934834744990802,0.639663855310479,1817398.1984954516,0.034770681664249015,0.3172021607361478,False,True
+-0.2999999999999997,-0.3999999999999998,0.4,0.26666666666666666,0.4464784147801827,0.22323920739009134,0.011714026018608874,0.5377199788439658,238003.09173063614,0.030236482245556605,0.2881101542536371,False,True
+-0.2999999999999997,-0.3999999999999998,0.45,0.23333333333333334,0.46973400531971976,0.23486700265985988,0.00941311250820338,0.43209897696369426,2064386.082580991,0.025268119577114837,0.2560434435193862,False,True
+-0.2999999999999997,-0.3999999999999998,0.5,0.175,0.512662031770975,0.2563310158854875,0.0069297441958219705,0.31810258031286204,59.744393935073546,0.01918046804020553,0.20749450801240424,False,True
+-0.2999999999999997,-0.3999999999999998,0.55,0.08333333333333333,0.4567538371954429,0.22837691859772144,0.0023561136896790534,0.10815490774525835,3296508.8819995364,0.008191884709422574,0.11564339629834572,False,True
 -0.2999999999999997,-0.3999999999999998,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.3999999999999998,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.3999999999999998,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.3999999999999998,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,-0.3999999999999998,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.34999999999999976,0.0,1.0,0.17896771902714317,0.08948385951357159,0.021351567687992037,0.7551903503661903,22.32350034293079,0.0447958422646364,0.797895391165797,True,True
--0.2999999999999997,-0.34999999999999976,0.05,1.0,0.27140540437169147,0.13570270218584574,0.025398379140532428,0.8983233045065379,17.88043213625137,0.05592705994917038,0.8225655768827399,True,True
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 -0.2999999999999997,-0.34999999999999976,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.2999999999999997,0.0,1.0,0.19460143568208502,0.09730071784104251,0.024713128370661093,0.8740864533043252,17.78153775239457,0.05623810572094885,0.8124925994707359,True,True
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 -0.2999999999999997,-0.2999999999999997,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.24999999999999967,0.0,1.0,0.17736941898379582,0.08868470949189791,0.0247293939657831,0.8746617562824767,15.587226872228188,0.06415509366722541,0.8116186268933497,True,True
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 -0.2999999999999997,-0.14999999999999958,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.09999999999999953,0.0,1.0,0.15729178946350686,0.0786458947317534,0.022077798580501757,0.7808766404866861,13.43645419285837,0.0744243969165525,0.8012592826866746,True,True
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--0.2999999999999997,-0.09999999999999953,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.2999999999999997,-0.09999999999999953,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,-0.04999999999999949,0.0,1.0,0.17108821923499934,0.08554410961749967,0.022444911133679295,0.7938611604858378,13.479009433542425,0.07418942800882304,0.803913880772966,True,True
--0.2999999999999997,-0.04999999999999949,0.05,1.0,0.22674175557669737,0.1133708777883487,0.020521995547004013,0.7258489509447742,12.339718881492503,0.08103912330610973,0.803362982982758,True,True
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--0.2999999999999997,-0.04999999999999949,0.15000000000000002,1.0,0.08001091022570662,0.04000545511285331,0.014374729762449618,0.5084243632297207,12.70410912965893,0.07871468906620409,0.766714996252163,False,True
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--0.2999999999999997,-0.04999999999999949,0.25,1.0,0.01283460077021964,0.006417300385109819,0.010505396176518808,0.37156867988399084,14.598559933999626,0.06849990715022578,0.7452903187804436,False,True
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--0.2999999999999997,-0.04999999999999949,0.4,1.0,0.09900540180464959,0.049502700902324795,0.00963768243826579,0.34087823824595676,17.330841431433537,0.05770060293704959,0.7497584242987655,False,True
--0.2999999999999997,-0.04999999999999949,0.45,1.0,0.17252195244660667,0.08626097622330334,0.009883268435353483,0.3495644470478514,17.447417285896798,0.05731507326349829,0.7579401472757956,True,True
--0.2999999999999997,-0.04999999999999949,0.5,1.0,0.2550687044346288,0.1275343522173144,0.01017683080723758,0.3599475474232941,16.90017242871886,0.05917099391846149,0.7674187245776384,True,True
--0.2999999999999997,-0.04999999999999949,0.55,1.0,0.35996674405933005,0.17998337202966502,0.00964318934177175,0.34107301365771436,18.814885930536335,0.053149405406625584,0.7754189163123669,True,True
--0.2999999999999997,-0.04999999999999949,0.6000000000000001,1.0,0.4870802368244829,0.24354011841224146,0.008117563284401573,0.28711266312845896,26.1694333735402,0.03821252015386334,0.7812405420106805,True,True
--0.2999999999999997,-0.04999999999999949,0.65,1.0,0.34604757592413704,0.17302378796206852,0.015215233621385141,0.5381524100405704,23.858837690221304,0.041913190115041125,0.7926113176079748,True,True
--0.2999999999999997,-0.04999999999999949,0.7000000000000001,1.0,0.5014039069897881,0.25070195349489405,0.0005377969545638349,0.01902151057373376,492.95159975060056,0.0020285967234798747,0.7522454014287001,False,True
--0.2999999999999997,-0.04999999999999949,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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+-0.2999999999999997,-0.04999999999999949,0.30000000000000004,0.7916666666666666,0.1433627550903164,0.07168137754515821,0.017772751266108694,0.8158393552847827,17.215387206700086,0.06069509057342203,0.6561563867615187,False,True
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+-0.2999999999999997,-0.04999999999999949,0.4,0.8166666666666667,0.1317607195474659,0.06588035977373295,0.015348400756987186,0.7045521084915585,20.871763127325337,0.053516983867786375,0.6606496478573477,True,True
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+-0.2999999999999997,-0.04999999999999949,0.5,0.575,0.18934540925684565,0.09467270462842282,0.014211934752201819,0.6523838381565531,28.25701853406698,0.04896921019299486,0.4915698457606394,False,True
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 -0.2999999999999997,-0.04999999999999949,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,5.551115123125783e-16,0.0,1.0,0.17968577834276825,0.08984288917138412,0.02296081979661544,0.8121084971504338,13.739994668735685,0.0727802320241899,0.8064574507517392,True,True
--0.2999999999999997,5.551115123125783e-16,0.05,1.0,0.23288681083337578,0.11644340541668789,0.020408209326420172,0.7218244101220467,12.876198349607568,0.07766267440629679,0.8032373895361719,True,True
--0.2999999999999997,5.551115123125783e-16,0.1,1.0,0.1732254431532036,0.08661272157660181,0.01275301428402208,0.45106539557711456,17.50905859727004,0.05711329336026983,0.7681404132090588,True,True
--0.2999999999999997,5.551115123125783e-16,0.15000000000000002,1.0,0.11009699060219913,0.05504849530109957,0.011709069711673322,0.4141417898318409,17.60176289889864,0.05681249124589353,0.7581051271679933,True,True
--0.2999999999999997,5.551115123125783e-16,0.2,1.0,0.06547412281673241,0.03273706140836621,0.011908812432330317,0.421206553290914,15.20361654202726,0.06577382421344108,0.7552454500321086,False,True
--0.2999999999999997,5.551115123125783e-16,0.25,1.0,0.04243088197491867,0.02121544098745933,0.011898019916916608,0.42082482939992333,13.688725663546533,0.07305281912869294,0.7536308530503534,False,True
--0.2999999999999997,5.551115123125783e-16,0.30000000000000004,1.0,0.045854337222935256,0.022927168611467638,0.011327264945271117,0.40063761629647465,13.823158233989316,0.07234236800828679,0.7518834321527695,False,True
--0.2999999999999997,5.551115123125783e-16,0.35000000000000003,1.0,0.07407036896893678,0.03703518448446839,0.011705850541414205,0.4140279299808269,13.626768416536091,0.07338497062823611,0.7561483269578,False,True
--0.2999999999999997,5.551115123125783e-16,0.4,1.0,0.1242220516070943,0.062111025803547146,0.012328844545726312,0.43606280195217584,13.787756973145488,0.07252811330716875,0.7632812966866439,True,True
--0.2999999999999997,5.551115123125783e-16,0.45,1.0,0.1925678717953578,0.09628393589767888,0.012988269171448845,0.45938620009401626,14.075121318828689,0.07104734498183482,0.7723001416871209,True,True
--0.2999999999999997,5.551115123125783e-16,0.5,1.0,0.2771014213206347,0.13855071066031735,0.013330319838826906,0.47148429832806305,14.71232512491777,0.06797022166852022,0.7816555941317218,True,True
--0.2999999999999997,5.551115123125783e-16,0.55,1.0,0.26410681486681653,0.13205340743340827,0.02368493089389153,0.8377198115628887,14.344092299693191,0.06971511191556196,0.8171541738345266,True,True
--0.2999999999999997,5.551115123125783e-16,0.6000000000000001,1.0,0.2616979490174941,0.13084897450874705,0.021372384332291477,0.7559266208420479,17.73236650640105,0.05639405206525125,0.8074018621924793,True,True
--0.2999999999999997,5.551115123125783e-16,0.65,1.0,0.32345141461361526,0.16172570730680763,0.014014706690443062,0.49569059333227894,26.61554662469492,0.03757202563228305,0.7856714033578177,True,True
--0.2999999999999997,5.551115123125783e-16,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,5.551115123125783e-16,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.2999999999999997,5.551115123125783e-16,0.0,0.7583333333333333,0.16175300239432847,0.08087650119716423,0.019668927905918815,0.9028813390590518,21.431111636887966,0.05505611257424518,0.6428023787360958,False,True
+-0.2999999999999997,5.551115123125783e-16,0.05,0.8083333333333333,0.16757258546540996,0.08378629273270494,0.020116336774759803,0.9234191701263205,18.36434081010233,0.05980810549912934,0.6809133194424193,True,True
+-0.2999999999999997,5.551115123125783e-16,0.1,0.85,0.1534806519933476,0.07674032599667378,0.01971349689009847,0.9049272311538884,17.353928170582318,0.06189853815781276,0.7070306421305048,True,True
+-0.2999999999999997,5.551115123125783e-16,0.15000000000000002,0.8416666666666667,0.14684320872028744,0.07342160436014372,0.01927820355414342,0.8849455508136849,17.3703487123613,0.06211446719931976,0.6985569893399959,True,True
+-0.2999999999999997,5.551115123125783e-16,0.2,0.775,0.14901110496503042,0.07450555248251522,0.019261128145341366,0.8841617222268945,16.60314336418762,0.06258448458643956,0.6520757311778365,False,True
+-0.2999999999999997,5.551115123125783e-16,0.25,0.775,0.14566989059551547,0.07283494529775773,0.018720168366746188,0.8593295355611369,17.77956241080569,0.061871192268393056,0.6491870618425045,False,True
+-0.2999999999999997,5.551115123125783e-16,0.30000000000000004,0.8166666666666667,0.1388552307306487,0.06942761536532435,0.017688404387770088,0.8119675010167676,17.837652883897793,0.05995596223710478,0.6727445360651189,True,True
+-0.2999999999999997,5.551115123125783e-16,0.35000000000000003,0.8333333333333334,0.13130862895175852,0.06565431447587926,0.01654047233002262,0.7592728936438891,18.428255214436476,0.058183429898662785,0.6782098285827644,True,True
+-0.2999999999999997,5.551115123125783e-16,0.4,0.8166666666666667,0.13072948669175904,0.06536474334587952,0.015397635899643247,0.7068121956576053,20.242395385974618,0.05457584623498928,0.660878419525102,True,True
+-0.2999999999999997,5.551115123125783e-16,0.45,0.7333333333333333,0.136800744161062,0.068400372080531,0.01412097831836327,0.6482085792317659,24.012631612345228,0.04950413839555745,0.5967846795121718,False,True
+-0.2999999999999997,5.551115123125783e-16,0.5,0.6,0.18745764026970477,0.09372882013485238,0.013799437908911576,0.633448606708811,33.6478817063311,0.048719967631108,0.5069626214609624,False,True
+-0.2999999999999997,5.551115123125783e-16,0.55,0.5416666666666666,0.2492175095624143,0.12460875478120716,0.012738516837835155,0.5847481466801181,1147787.6499555039,0.042751354793478864,0.4668383677702677,False,True
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+-0.2999999999999997,5.551115123125783e-16,0.65,0.3333333333333333,0.40202442438163927,0.2010122121908197,0.008976444323030746,0.412054185623821,495196.9609909231,0.02913513596078212,0.3176547079299576,False,True
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+-0.2999999999999997,5.551115123125783e-16,0.75,0.03333333333333333,0.3723482197098297,0.1861741098549149,0.00165109106293245,0.07579158950296865,8231103.495351043,0.006591890216349169,0.06880650327624808,False,True
 -0.2999999999999997,5.551115123125783e-16,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.0500000000000006,0.0,1.0,0.19490858242218276,0.09745429121109138,0.024353046873890054,0.8613506169629106,14.536899861529946,0.06879045804305225,0.8125049657428145,True,True
--0.2999999999999997,0.0500000000000006,0.05,1.0,0.20511095857722228,0.10255547928861114,0.02039455733545976,0.7213415485360851,14.12910090363999,0.07077591184471257,0.799722841895802,True,True
--0.2999999999999997,0.0500000000000006,0.1,1.0,0.21692785836853598,0.10846392918426799,0.015565492151509886,0.5505408147679859,15.940512462208046,0.06273324037575266,0.7830201913512275,True,True
--0.2999999999999997,0.0500000000000006,0.15000000000000002,1.0,0.15675373814508647,0.07837686907254325,0.01048251047864579,0.37075922839791475,21.34290235230288,0.046853983751692314,0.7574366950294693,True,True
--0.2999999999999997,0.0500000000000006,0.2,1.0,0.11486852421260743,0.05743426210630371,0.013623362994300486,0.4818490343740709,15.052478209338897,0.066434243341476,0.7663151801928154,True,True
--0.2999999999999997,0.0500000000000006,0.25,1.0,0.09520108072993126,0.04760054036496562,0.012499849115996083,0.44211111668125663,14.716031418749266,0.06795310308544229,0.7605265300496629,False,True
--0.2999999999999997,0.0500000000000006,0.30000000000000004,1.0,0.09773458373175352,0.048867291865876766,0.012782120547881028,0.4520948642289106,13.350795346150893,0.07490190464869698,0.762473135260936,False,True
--0.2999999999999997,0.0500000000000006,0.35000000000000003,1.0,0.12349031942378427,0.061745159711892136,0.013580030717511278,0.4803164013717171,12.745804470447759,0.07845718976142983,0.7682263910556931,True,True
--0.2999999999999997,0.0500000000000006,0.4,1.0,0.17374534836075733,0.08687267418037865,0.01467378958124117,0.5190019045434977,12.64865526124101,0.07905978772812944,0.7771807040632385,True,True
--0.2999999999999997,0.0500000000000006,0.45,1.0,0.2356154800465853,0.11780774002329264,0.015471437162373123,0.5472141541106597,13.074259250959566,0.07648616879970517,0.785931580295695,True,True
--0.2999999999999997,0.0500000000000006,0.5,1.0,0.2654691807966036,0.1327345903983018,0.02410589158167386,0.8526089032652987,13.40614197046468,0.07459267567956981,0.8192670759741472,True,True
--0.2999999999999997,0.0500000000000006,0.55,1.0,0.2337542644451551,0.11687713222257755,0.02428673681624228,0.8590052755622419,15.172740567189903,0.065907671430331,0.8158667211437728,True,True
--0.2999999999999997,0.0500000000000006,0.6000000000000001,1.0,0.24661151668323225,0.12330575834161613,0.020636024110517646,0.729882063271231,19.350263208350988,0.051678883602017785,0.8028172463556481,True,True
--0.2999999999999997,0.0500000000000006,0.65,1.0,0.33032759852061644,0.16516379926030822,0.011636842436536534,0.4115871604943791,33.626151121864844,0.02973875887181559,0.7771653517886811,True,True
--0.2999999999999997,0.0500000000000006,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.0500000000000006,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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+-0.2999999999999997,0.0500000000000006,0.15000000000000002,0.85,0.14236642707929345,0.07118321353964673,0.01929217454876132,0.8855868745497285,17.211968702624667,0.06168464282304218,0.7039637944452064,True,True
+-0.2999999999999997,0.0500000000000006,0.2,0.7833333333333333,0.14658156008055756,0.0732907800402788,0.01933433210329891,0.8875220725165125,16.93229463953664,0.06193795901907599,0.6579374924949479,False,True
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+-0.2999999999999997,0.0500000000000006,0.30000000000000004,0.8166666666666667,0.13188585123907193,0.06594292561953596,0.01766973276655792,0.8111103999870072,17.12919022103166,0.060456853596480835,0.6720119771489227,True,True
+-0.2999999999999997,0.0500000000000006,0.35000000000000003,0.825,0.13131716503025878,0.06565858251512939,0.01651313302194933,0.7580179116133366,18.819653967872537,0.05757220879825989,0.6721907285441855,True,True
+-0.2999999999999997,0.0500000000000006,0.4,0.7666666666666667,0.14069728796261025,0.07034864398130514,0.015386597762085097,0.7063055016239045,20.846845109147303,0.05465780286589017,0.6268327259119072,False,True
+-0.2999999999999997,0.0500000000000006,0.45,0.7416666666666667,0.15111503810356608,0.07555751905178304,0.014385837114880224,0.6603666422438752,24.319707596830654,0.04999485240648346,0.6053143199420591,False,True
+-0.2999999999999997,0.0500000000000006,0.5,0.6166666666666667,0.18654343030364265,0.09327171515182131,0.013611323929517664,0.6248134333824706,55.95078362765101,0.0472869094528783,0.5175310439805658,False,True
+-0.2999999999999997,0.0500000000000006,0.55,0.5166666666666667,0.26367978514679324,0.13183989257339662,0.012990729747530124,0.5963257136284849,8438257.36536435,0.04397326339885301,0.4520645428840798,False,True
+-0.2999999999999997,0.0500000000000006,0.6000000000000001,0.4166666666666667,0.3627613514530704,0.1813806757265352,0.011501436342457252,0.5279612745367449,57.86735307516995,0.03869983167205031,0.3846089124328533,False,True
+-0.2999999999999997,0.0500000000000006,0.65,0.325,0.435873758235186,0.217936879117593,0.00885932891728484,0.4066781267521787,129.7945650566269,0.029050792980293717,0.3146602677967658,False,True
+-0.2999999999999997,0.0500000000000006,0.7000000000000001,0.125,0.49005028430378766,0.24502514215189383,0.0060438134672350955,0.2774348669343726,2823304.9643761045,0.020380877131825115,0.16628660283699853,False,True
+-0.2999999999999997,0.0500000000000006,0.75,0.025,0.4718498485741532,0.2359249242870766,0.0023187544461559166,0.10643997117221551,3086756.212119147,0.010062148333720426,0.07633519680800892,False,True
 -0.2999999999999997,0.0500000000000006,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.10000000000000064,0.0,1.0,0.2101070279073568,0.1050535139536784,0.025252068608232366,0.8931484010163324,15.681521642302611,0.06376932180511947,0.8167024750728809,True,True
--0.2999999999999997,0.10000000000000064,0.05,1.0,0.2698564448343153,0.13492822241715766,0.024968846391947533,0.8831310248745365,14.021885123909923,0.07131708691383398,0.8224304556622686,True,True
--0.2999999999999997,0.10000000000000064,0.1,1.0,0.27905938318474405,0.13952969159237202,0.021766288402542428,0.7698587384818585,13.75650039596633,0.07269290671438593,0.8121611028380988,True,True
--0.2999999999999997,0.10000000000000064,0.15000000000000002,1.0,0.22158075098781446,0.11079037549390723,0.018721897609849936,0.6621807176928726,14.154476793127978,0.07064902607298915,0.7954410494753675,True,True
--0.2999999999999997,0.10000000000000064,0.2,1.0,0.18351338000787004,0.09175669000393502,0.014847680042999363,0.5251522912813466,16.33938967608474,0.061201796384482636,0.7769867467673699,True,True
--0.2999999999999997,0.10000000000000064,0.25,1.0,0.16532715182994676,0.08266357591497338,0.013435468728892907,0.4752033426759972,16.67361462524056,0.05997499777230842,0.7700505492278252,True,True
--0.2999999999999997,0.10000000000000064,0.30000000000000004,1.0,0.16752843756774058,0.08376421878387029,0.013477548446192504,0.47669167350561886,14.815387300408895,0.06749739175930315,0.7711717502832663,True,True
--0.2999999999999997,0.10000000000000064,0.35000000000000003,1.0,0.19172122462601796,0.09586061231300896,0.014199698154592865,0.5022336149346043,13.107108101653512,0.07629448023798213,0.7770249319798603,True,True
--0.2999999999999997,0.10000000000000064,0.4,1.0,0.23570825428329628,0.11785412714164814,0.015672562025230572,0.5543278029943475,13.070780300658745,0.07650652654290631,0.786654258382055,True,True
--0.2999999999999997,0.10000000000000064,0.45,1.0,0.2580984084271703,0.12904920421358515,0.024409878222706106,0.8633607029131012,13.061912980919725,0.07655846440419577,0.8198017575744466,True,True
--0.2999999999999997,0.10000000000000064,0.5,1.0,0.21835078976970976,0.10917539488485488,0.025439929005573767,0.8997928948240621,14.359633147874247,0.069639662079253,0.8187783346673024,True,True
--0.2999999999999997,0.10000000000000064,0.55,1.0,0.2069005781897238,0.1034502890948619,0.024233018272257392,0.8571052873906042,16.748138178352274,0.059708129306727926,0.8123713994887056,True,True
--0.2999999999999997,0.10000000000000064,0.6000000000000001,1.0,0.24532720605517344,0.12266360302758673,0.018991613643767433,0.67172038939895,22.50634241820575,0.044431919741500715,0.7961479515195624,True,True
--0.2999999999999997,0.10000000000000064,0.65,1.0,0.35236017128739816,0.17618008564369908,0.007560915581499504,0.26742441447486875,55.230740348662074,0.018105859050436178,0.7637890444812702,True,True
--0.2999999999999997,0.10000000000000064,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.10000000000000064,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.2999999999999997,0.10000000000000064,0.0,0.7083333333333334,0.17329136642648496,0.08664568321324248,0.020435492897567603,0.9380696944918548,20.963247914215717,0.05522472061648326,0.6124919114868156,False,True
+-0.2999999999999997,0.10000000000000064,0.05,0.725,0.1809897034453766,0.0904948517226883,0.02115285916328986,0.9709996344300756,18.040353860180065,0.06038841041315384,0.6287377748288605,False,True
+-0.2999999999999997,0.10000000000000064,0.1,0.8333333333333334,0.15028716181012877,0.07514358090506439,0.019940819233164687,0.9153622229585969,18.163665296389528,0.060345587241056035,0.6959328305343115,True,True
+-0.2999999999999997,0.10000000000000064,0.15000000000000002,0.8583333333333333,0.13864643060764734,0.06932321530382365,0.019511385693867934,0.8956495303882792,17.1241485094014,0.06179075383994218,0.7104420048169201,True,True
+-0.2999999999999997,0.10000000000000064,0.2,0.8,0.14055697611637444,0.07027848805818722,0.01929588267941725,0.8857570923667872,17.50260929133064,0.061095995862122575,0.6687410064345284,True,True
+-0.2999999999999997,0.10000000000000064,0.25,0.7666666666666667,0.14297438873116428,0.07148719436558214,0.018550492890311746,0.8515407622176487,17.2097948321457,0.06087443048075646,0.6422056248096235,False,True
+-0.2999999999999997,0.10000000000000064,0.30000000000000004,0.825,0.1326311657499619,0.06631558287498095,0.017313661175753718,0.7947653100947696,17.72104806956081,0.059222096833489314,0.676161857267822,True,True
+-0.2999999999999997,0.10000000000000064,0.35000000000000003,0.7916666666666666,0.14212129963160397,0.071060649815802,0.016576351102708067,0.7609198707684676,18.927429806763193,0.05679033376287883,0.6501498170829615,False,True
+-0.2999999999999997,0.10000000000000064,0.4,0.7833333333333333,0.14564690210172407,0.07282345105086203,0.01556808789662055,0.7146366143555785,21.897153254313576,0.05259591037782221,0.6396212760168457,False,True
+-0.2999999999999997,0.10000000000000064,0.45,0.6916666666666667,0.16920975337241198,0.08460487668620599,0.014623902057504927,0.6712947617228899,25.900834597946947,0.049546792945659605,0.5731717974707629,False,True
+-0.2999999999999997,0.10000000000000064,0.5,0.6166666666666667,0.20166262829085957,0.10083131414542978,0.013467540076858221,0.6182131876524957,2248151.5144312624,0.045065535751756015,0.5181608018361777,False,True
+-0.2999999999999997,0.10000000000000064,0.55,0.5,0.2719974919819235,0.13599874599096176,0.012383716575673208,0.5684614157849948,385343.40200437343,0.04093237032785997,0.43813912780947784,False,True
+-0.2999999999999997,0.10000000000000064,0.6000000000000001,0.38333333333333336,0.3969389956159361,0.19846949780796805,0.011745842705706383,0.5391804902245774,236004.5229772475,0.03831127655130163,0.36577640957251484,False,True
+-0.2999999999999997,0.10000000000000064,0.65,0.30833333333333335,0.4343175028647962,0.2171587514323981,0.00715637146128658,0.3285056653151922,2430584.7862940263,0.02409212590808159,0.29452486274214035,False,True
+-0.2999999999999997,0.10000000000000064,0.7000000000000001,0.10833333333333334,0.5731042638480175,0.28655213192400875,0.005962128656687572,0.2736852120736346,73.21574848277538,0.020346778025466212,0.16254695872804517,False,True
+-0.2999999999999997,0.10000000000000064,0.75,0.025,0.27267716330082176,0.13633858165041088,0.0007645478293407211,0.03509575972984864,13014494.704306638,0.0033141383992018824,0.048608706142987235,False,True
 -0.2999999999999997,0.10000000000000064,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.1500000000000007,0.0,1.0,0.20579538532654104,0.10289769266327052,0.024971517499838076,0.883225500134302,17.88554036873454,0.055911086810945115,0.8144931972271787,True,True
--0.2999999999999997,0.1500000000000007,0.05,1.0,0.27525350385462893,0.13762675192731447,0.026682647657436945,0.9437470038534873,15.500940399045593,0.06451221501820521,0.8283512722726322,True,True
--0.2999999999999997,0.1500000000000007,0.1,1.0,0.31810238789540796,0.15905119394770398,0.025401534384858607,0.8984349033410121,14.372221835430553,0.06957866441601895,0.8286115955652439,True,True
--0.2999999999999997,0.1500000000000007,0.15000000000000002,1.0,0.30353863032176415,0.15176931516088207,0.023617581742041684,0.8353377181107551,13.810290753882018,0.07240977165682726,0.8211286120089347,True,True
--0.2999999999999997,0.1500000000000007,0.2,1.0,0.266230099661518,0.133115049830759,0.02104092260529514,0.7442030461893013,13.991076548016595,0.0714741282822879,0.8081907274133107,True,True
--0.2999999999999997,0.1500000000000007,0.25,1.0,0.24915292652400337,0.12457646326200168,0.01953820234425039,0.6910528580146418,13.92846353660683,0.07179542792870415,0.8012001212467348,True,True
--0.2999999999999997,0.1500000000000007,0.30000000000000004,1.0,0.2524328247510705,0.12621641237553524,0.018341075441075067,0.6487112979637514,14.017324586269138,0.07134028992804829,0.797248441264287,True,True
--0.2999999999999997,0.1500000000000007,0.35000000000000003,1.0,0.2750505160299674,0.1375252580149837,0.018123399647951052,0.641012253992942,13.918436138582981,0.07184715222625797,0.7987909922249167,True,True
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 -0.2999999999999997,0.1500000000000007,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.20000000000000073,0.0,1.0,0.17813887364417497,0.08906943682208748,0.021779946159210327,0.7703418039969517,23.436910723920693,0.042667739438839974,0.7991148417079965,True,True
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--0.2999999999999997,0.20000000000000073,0.35000000000000003,1.0,0.35842996341531425,0.17921498170765712,0.023409829422652337,0.8279896606209407,14.573266653429913,0.06861879520777832,0.8255038419244033,True,True
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--0.2999999999999997,0.20000000000000073,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.20000000000000073,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.2999999999999997,0.20000000000000073,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.20000000000000073,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.2500000000000008,0.0,1.0,0.082139571375124,0.041069785687562,0.008391668253245188,0.2968075684620162,68.13746800524346,0.014676213095175469,0.7393623352932315,False,True
--0.2999999999999997,0.2500000000000008,0.05,1.0,0.21852241638554487,0.10926120819277244,0.020907687561599206,0.739490613790889,26.670355419874372,0.03749481340929221,0.7995507843585725,True,True
--0.2999999999999997,0.2500000000000008,0.1,1.0,0.21985666296916126,0.10992833148458063,0.02564814232913181,0.9071572577161199,20.372644930842952,0.04908542820017924,0.817609934888546,True,True
--0.2999999999999997,0.2500000000000008,0.15000000000000002,1.0,0.21920155147794465,0.10960077573897235,0.027191287752093753,0.9617372562277986,18.277473636484395,0.05471215668146899,0.8235650964387211,True,True
--0.2999999999999997,0.2500000000000008,0.2,1.0,0.25951520125926525,0.12975760062963262,0.027817032290467836,0.9838694127082904,16.96610914604729,0.05894103305560033,0.8302325647023155,True,True
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--0.2999999999999997,0.2500000000000008,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.2500000000000008,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.2500000000000008,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.2999999999999997,0.45000000000000095,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.45000000000000095,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.2999999999999997,0.45000000000000095,0.0,0.06666666666666667,0.19629292764860856,0.09814646382430428,0.0034876978239703114,0.16009908097695855,2213240.925913645,0.01033041811207206,0.08333890934043059,False,True
+-0.2999999999999997,0.45000000000000095,0.05,0.11666666666666667,0.23214622516382957,0.11607311258191479,0.007986036471078671,0.3665905603635953,2913602.7246657335,0.019329574945907858,0.14347330271399994,False,True
+-0.2999999999999997,0.45000000000000095,0.1,0.18333333333333332,0.28019857594267605,0.14009928797133803,0.009575583686774943,0.439557044631076,1514598.1431064724,0.021699072974453917,0.20247880268815394,False,True
+-0.2999999999999997,0.45000000000000095,0.15000000000000002,0.24166666666666667,0.30616420729811405,0.153082103649057,0.010436495664871027,0.4790762987212525,1842013.7871922248,0.022753322201362745,0.24996604948873957,False,True
+-0.2999999999999997,0.45000000000000095,0.2,0.24166666666666667,0.3503064357429099,0.17515321787145496,0.012325592645553003,0.5657932982287495,59.55373850943396,0.02642814520379251,0.26341945458421184,False,True
+-0.2999999999999997,0.45000000000000095,0.25,0.24166666666666667,0.3826580694246572,0.1913290347123286,0.01259756998995751,0.5782781306550135,382877.8466318093,0.02746427604564461,0.2680067142791982,False,True
+-0.2999999999999997,0.45000000000000095,0.30000000000000004,0.225,0.40315611570131255,0.20157805785065627,0.011470110029049395,0.5265232732418722,13610414.809192168,0.025961681855229866,0.25306410707984145,False,True
+-0.2999999999999997,0.45000000000000095,0.35000000000000003,0.175,0.4236587497589316,0.2118293748794658,0.010939735188051676,0.5021769769447999,3643498.019110215,0.026746468308911253,0.21775821950126428,False,True
+-0.2999999999999997,0.45000000000000095,0.4,0.14166666666666666,0.4615969397898599,0.23079846989492994,0.009829790256741352,0.451226128446255,10529506.287130961,0.02621353666460636,0.19307032715673875,False,True
+-0.2999999999999997,0.45000000000000095,0.45,0.11666666666666667,0.48173731804239767,0.24086865902119883,0.005901582002383914,0.2709058819253563,702500.7039810788,0.018414963357153088,0.1587724829991574,False,True
+-0.2999999999999997,0.45000000000000095,0.5,0.075,0.4615007754421202,0.2307503877210601,0.003028872932293777,0.139037209451878,1582558.0983104706,0.01172266542342941,0.11372606503174275,False,True
 -0.2999999999999997,0.45000000000000095,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.45000000000000095,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.45000000000000095,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2925,14 +2925,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.2999999999999997,0.45000000000000095,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.500000000000001,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.500000000000001,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.2999999999999997,0.500000000000001,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.2999999999999997,0.500000000000001,0.1,0.03333333333333333,0.1912474676899686,0.09562373384498431,0.0003272052700700946,0.01502001196004003,14591358.736221213,0.0008070558795360369,0.0440407868862878,False,True
+-0.2999999999999997,0.500000000000001,0.15000000000000002,0.09166666666666666,0.23500200615557557,0.11750100307778776,0.0022386497419305132,0.10276284942150753,14263669.46629285,0.005591530531874592,0.09850230527756244,False,True
+-0.2999999999999997,0.500000000000001,0.2,0.08333333333333333,0.30722837267591113,0.15361418633795557,0.00632728944992096,0.29044753219313707,3447884.211817723,0.014938070529055913,0.11959473087314375,False,True
+-0.2999999999999997,0.500000000000001,0.25,0.08333333333333333,0.34323157179117747,0.17161578589558873,0.006871101147905898,0.31541063320307394,72.24031811731587,0.01713428360118643,0.1259109821928771,False,True
+-0.2999999999999997,0.500000000000001,0.30000000000000004,0.09166666666666666,0.3662266873896278,0.18311334369481394,0.005382159014900826,0.2470623188841975,11448078.258889055,0.014133879469249905,0.1269089552409742,False,True
+-0.2999999999999997,0.500000000000001,0.35000000000000003,0.06666666666666667,0.3915469122343763,0.19577345611718816,0.0038843514201805365,0.1783070449189641,16052551.106728246,0.011922941052910611,0.10484435648729178,False,True
+-0.2999999999999997,0.500000000000001,0.4,0.05,0.41934490424680976,0.20967245212340488,0.0022682023569696006,0.10411943096813868,219.71175040192233,0.008364249895671737,0.08818285851106203,False,True
+-0.2999999999999997,0.500000000000001,0.45,0.008333333333333333,0.31495094001190727,0.15747547000595363,6.056677084899827e-09,2.78025357702239e-07,46191744.06804196,2.1648890297949503e-08,0.037328457301948864,False,True
 -0.2999999999999997,0.500000000000001,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.500000000000001,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.2999999999999997,0.500000000000001,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -2994,11 +2994,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.24999999999999967,-0.5499999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.5499999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.5499999999999999,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.5499999999999999,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.5499999999999999,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.5499999999999999,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.5499999999999999,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.5499999999999999,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.24999999999999967,-0.5499999999999999,0.15000000000000002,0.025,0.21401384184042757,0.10700692092021379,1.3837095463207242e-08,6.351772369224552e-07,26889047.63147827,4.3500444558536234e-08,0.038901452051810906,False,True
+-0.24999999999999967,-0.5499999999999999,0.2,0.041666666666666664,0.2730846452670425,0.13654232263352123,0.0008860584123484991,0.04067357456656349,4210119.762850393,0.003425917767869144,0.060885080426814175,False,True
+-0.24999999999999967,-0.5499999999999999,0.25,0.06666666666666667,0.3011346721428271,0.15056733607141354,0.0006618616654881848,0.03038205995091378,8293084.2283077575,0.002519358263720371,0.08007027570241278,False,True
+-0.24999999999999967,-0.5499999999999999,0.30000000000000004,0.06666666666666667,0.3122447003736806,0.1561223501868403,0.0005249196031236595,0.024095879370426523,25545472.090761945,0.0020010933522399232,0.08050083397630137,False,True
+-0.24999999999999967,-0.5499999999999999,0.35000000000000003,0.025,0.35649229169627406,0.17824614584813703,7.598540773746994e-05,0.00348802980086728,12995378.125274206,0.00021244611875927634,0.05351927676159006,False,True
 -0.24999999999999967,-0.5499999999999999,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.5499999999999999,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.5499999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -3008,357 +3008,357 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.24999999999999967,-0.5499999999999999,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.5499999999999999,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.5499999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.4999999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.4999999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.4999999999999999,0.1,1.0,0.14704023307914765,0.07352011653957383,5.375466147646894e-08,1.901265622620341e-06,9587817.19461942,1.0429902653559024e-07,0.7147042238643796,False,True
--0.24999999999999967,-0.4999999999999999,0.15000000000000002,1.0,0.28833924950882117,0.14416962475441059,0.01299262287761761,0.4595401877044356,40.13476089985079,0.024916057269927138,0.7772795494483183,True,True
--0.24999999999999967,-0.4999999999999999,0.2,1.0,0.33961391019415427,0.16980695509707713,0.012379652567227154,0.4378598469335714,39.52845719093866,0.025298230038834437,0.780277198716656,True,True
--0.24999999999999967,-0.4999999999999999,0.25,1.0,0.39325146667751637,0.19662573333875819,0.01207990042172236,0.4272578184973132,38.77174695669935,0.0257919768526926,0.7846301262027522,True,True
--0.24999999999999967,-0.4999999999999999,0.30000000000000004,1.0,0.43126293541077737,0.21563146770538866,0.01043378590651916,0.36903587359636325,43.711129572305175,0.022877468731295512,0.7823176277738436,True,True
--0.24999999999999967,-0.4999999999999999,0.35000000000000003,1.0,0.47440576422725983,0.23720288211362991,0.00883132054040097,0.3123577692542137,51.90764859867486,0.01926498362013828,0.7806028517101612,True,True
--0.24999999999999967,-0.4999999999999999,0.4,1.0,0.47148875255446776,0.2357443762772339,0.0034928480869407513,0.12353964866177593,136.20613922137505,0.007341812978112081,0.7602370214194355,True,True
--0.24999999999999967,-0.4999999999999999,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.4999999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.24999999999999967,-0.4999999999999999,0.0,0.008333333333333333,0.15832454042180244,0.0791622702109012,2.9384171071984184e-08,1.3488493044214038e-06,12009365.854735292,8.326834339930614e-08,0.02166593058727836,False,True
+-0.24999999999999967,-0.4999999999999999,0.05,0.075,0.17236839034554333,0.08618419517277165,0.0035389458527949357,0.1624515675542971,6884910.307379365,0.0089436234789693,0.08687635813788097,False,True
+-0.24999999999999967,-0.4999999999999999,0.1,0.15,0.22232098442667894,0.11116049221333944,0.005773648192335765,0.26503321564279597,1131287.8163972306,0.014188925600896681,0.15515431256703716,False,True
+-0.24999999999999967,-0.4999999999999999,0.15000000000000002,0.20833333333333334,0.27604558975242777,0.13802279487621388,0.008279028041728843,0.38004002862678604,2457401.9755575666,0.018630504181169447,0.21330494558937166,False,True
+-0.24999999999999967,-0.4999999999999999,0.2,0.20833333333333334,0.3195550749455585,0.15977753747277929,0.009625537036319715,0.4418501003249705,1353705.627253198,0.022572266226881514,0.22423107748307441,False,True
+-0.24999999999999967,-0.4999999999999999,0.25,0.2,0.36043121221185787,0.18021560610592893,0.009898491332695837,0.45437977869853524,368315.9802678575,0.0235408404144052,0.22383518313247983,False,True
+-0.24999999999999967,-0.4999999999999999,0.30000000000000004,0.18333333333333332,0.407914795199048,0.20395739759952403,0.008717079421244086,0.4001483140404699,409458.2875494477,0.02190035327668727,0.21132967958495386,False,True
+-0.24999999999999967,-0.4999999999999999,0.35000000000000003,0.14166666666666666,0.4286322172614619,0.21431610863073094,0.007309315163660093,0.33552638426134745,1359781.0622146905,0.020127742341201987,0.17759530105306778,False,True
+-0.24999999999999967,-0.4999999999999999,0.4,0.11666666666666667,0.47270365918912954,0.2363518295945648,0.004855889973152541,0.2229044949605036,1560624.9534855094,0.01478414196263171,0.15270589627789316,False,True
+-0.24999999999999967,-0.4999999999999999,0.45,0.075,0.4241067906012666,0.21205339530063327,0.0030645937937822604,0.1406769378299234,3099584.296423277,0.010650514341468385,0.11004342427726584,False,True
+-0.24999999999999967,-0.4999999999999999,0.5,0.008333333333333333,0.338146635819905,0.16907331790995248,6.155815766283173e-09,2.8257621404926996e-07,53217126.4521351,1.879094319193327e-08,0.039648027052039556,False,True
 -0.24999999999999967,-0.4999999999999999,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.4999999999999999,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.4999999999999999,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.4999999999999999,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.4999999999999999,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.24999999999999967,-0.4999999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,-0.44999999999999984,0.0,1.0,0.043950932858268676,0.02197546642913432,4.512175105746368e-08,1.59592548370047e-06,10863321.43884046,9.20528777160753e-08,0.704395262083663,False,True
--0.24999999999999967,-0.44999999999999984,0.05,1.0,0.1903824465322591,0.09519122326612955,0.015313619979738357,0.5416322682655852,34.613285396407875,0.02889064095483394,0.7760905355752677,True,True
--0.24999999999999967,-0.44999999999999984,0.1,1.0,0.291800383107412,0.145900191553706,0.021801908300018814,0.7711185899011211,23.529019369830266,0.04250070898614024,0.8105419681994673,True,True
--0.24999999999999967,-0.44999999999999984,0.15000000000000002,1.0,0.37006131656961205,0.18503065828480603,0.0236649749131717,0.8370139821693783,20.496039743015118,0.04878991455779966,0.825586521329679,True,True
--0.24999999999999967,-0.44999999999999984,0.2,1.0,0.44404594913612205,0.22202297456806103,0.023585156484092918,0.8341908589073059,19.091678848430877,0.052378840433553196,0.8330615648476982,True,True
--0.24999999999999967,-0.44999999999999984,0.25,1.0,0.37449742499034383,0.18724871249517192,0.01452062680534767,0.5135846418824932,25.24541379915892,0.03961115504983428,0.7927693221922671,True,True
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--0.24999999999999967,0.1500000000000007,0.0,1.0,0.202072018259179,0.1010360091295895,0.024803606310288294,0.8772865961662427,16.251735505647172,0.06153188993980875,0.814089050436523,True,True
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--0.24999999999999967,0.1500000000000007,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,0.1500000000000007,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.24999999999999967,0.1500000000000007,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,0.20000000000000073,0.0,1.0,0.1904730953899915,0.09523654769499575,0.023477285891238334,0.8303755497926559,20.09156825816824,0.04977212269416205,0.8070620767876808,True,True
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--0.24999999999999967,0.20000000000000073,0.15000000000000002,1.0,0.30141753284398465,0.15070876642199232,0.02633078108965991,0.9313017239337776,13.636583770759232,0.07333214951858998,0.8306051406296352,True,True
--0.24999999999999967,0.20000000000000073,0.2,1.0,0.2931904282750398,0.14659521413751989,0.02498714213024148,0.8837781326286048,13.110062483304047,0.07627728710473594,0.8253245848008379,True,True
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--0.24999999999999967,0.500000000000001,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,0.500000000000001,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -3369,10 +3369,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.24999999999999967,0.550000000000001,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.24999999999999967,0.550000000000001,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,0.550000000000001,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,0.550000000000001,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.24999999999999967,0.550000000000001,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -3418,13 +3418,13 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.19999999999999962,-0.6,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.19999999999999962,-0.5499999999999999,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.5499999999999999,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.5499999999999999,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.5499999999999999,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.5499999999999999,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.5499999999999999,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.5499999999999999,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -3433,357 +3433,357 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.19999999999999962,-0.5499999999999999,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.19999999999999962,-0.5499999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.4999999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.4999999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.4999999999999999,0.1,1.0,0.2115849182083256,0.1057924591041628,0.009609127127138205,0.3398682564155648,56.83942019006641,0.01759412898263081,0.7569047303606521,True,True
--0.19999999999999962,-0.4999999999999999,0.15000000000000002,1.0,0.3126895689967707,0.15634478449838535,0.01742584728613048,0.6163403038944816,31.133405475045883,0.032119845596590445,0.7961149718487843,True,True
--0.19999999999999962,-0.4999999999999999,0.2,1.0,0.36861055046512214,0.18430527523256104,0.016759989253705882,0.5927893605563175,29.417795998196578,0.033993029304628525,0.7995392940326068,True,True
--0.19999999999999962,-0.4999999999999999,0.25,1.0,0.4169420331724239,0.20847101658621198,0.01572551848765297,0.5562008368621799,29.789977618370752,0.03356833673576305,0.8006711206770366,True,True
--0.19999999999999962,-0.4999999999999999,0.30000000000000004,1.0,0.46367799158982076,0.23183899579491038,0.014196109776782076,0.5021066964649268,32.222322538252094,0.031034386141086764,0.7996819074195833,True,True
--0.19999999999999962,-0.4999999999999999,0.35000000000000003,1.0,0.46516510952124246,0.23258255476062123,0.013014788120696104,0.46032415719702763,35.18738241146959,0.028419277919180856,0.795390854463745,True,True
--0.19999999999999962,-0.4999999999999999,0.4,1.0,0.5155003774461032,0.2577501887230516,0.010191055833398504,0.36045067687249505,46.146166082636505,0.021670272639349956,0.7897621326957948,True,True
--0.19999999999999962,-0.4999999999999999,0.45,1.0,0.47541327834507713,0.23770663917253856,0.0013500525907245394,0.04775043705926256,361.55179207891126,0.0027658556795110067,0.752592957108385,False,True
--0.19999999999999962,-0.4999999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.19999999999999962,-0.4999999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,-0.44999999999999984,0.0,1.0,0.09933726683421971,0.04966863341710986,0.008419757442407456,0.2978010638771976,62.51569536027149,0.01599598302262017,0.7413134313734037,False,True
--0.19999999999999962,-0.44999999999999984,0.05,1.0,0.20603704994897853,0.10301852497448927,0.019509504500900464,0.6900378349169994,27.678641056673012,0.036128941373104004,0.7932203826239081,True,True
--0.19999999999999962,-0.44999999999999984,0.1,1.0,0.30244561687152705,0.1512228084357635,0.0244105082517942,0.8633829866111759,21.136973518099794,0.047310463266467075,0.821313906674917,True,True
--0.19999999999999962,-0.44999999999999984,0.15000000000000002,1.0,0.3837603184073283,0.19188015920366416,0.025913108897011504,0.9165289440558039,18.671110290745396,0.05355867889570339,0.8353847941358835,True,True
--0.19999999999999962,-0.44999999999999984,0.2,1.0,0.3933758142136471,0.19668790710682355,0.01891720012306195,0.6690884340505303,20.68521882229628,0.048343699362948404,0.8110807947627124,True,True
--0.19999999999999962,-0.44999999999999984,0.25,1.0,0.4060506123154898,0.2030253061577449,0.016394893313536774,0.5798761667804505,22.258757854233213,0.0449261367841857,0.8030852915880126,True,True
--0.19999999999999962,-0.44999999999999984,0.30000000000000004,1.0,0.417508262359686,0.208754131179843,0.013830933186460422,0.4891906501483073,25.195918078852795,0.039688968541418325,0.794638788104941,True,True
--0.19999999999999962,-0.44999999999999984,0.35000000000000003,1.0,0.43225641580619484,0.21612820790309742,0.012639541216449968,0.44705193076229893,27.35983399705737,0.03654992937490317,0.7915858275943396,True,True
--0.19999999999999962,-0.44999999999999984,0.4,1.0,0.4418100954211814,0.2209050477105907,0.012605545010736933,0.4458495082105354,28.096812701071787,0.035591225619733345,0.7923250829251449,True,True
--0.19999999999999962,-0.44999999999999984,0.45,1.0,0.46510861264013503,0.23255430632006754,0.01218566940278496,0.43099879503982075,30.915747622363142,0.032345975010672594,0.7928453382690628,True,True
--0.19999999999999962,-0.44999999999999984,0.5,1.0,0.4946941822125567,0.24734709110627834,0.00980517668962519,0.34680239539529645,40.95563860817629,0.02441666236942175,0.7865913239977274,True,True
--0.19999999999999962,-0.44999999999999984,0.55,1.0,0.38986580723803355,0.19493290361901675,5.413638723672061e-08,1.9147670017621818e-06,8242701.782973844,1.2131944431928907e-07,0.7389867843324479,False,True
--0.19999999999999962,-0.44999999999999984,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.19999999999999962,-0.44999999999999984,0.0,0.26666666666666666,0.18806502897167182,0.09403251448583591,0.011040387445922426,0.5067973124201419,69.05064618374504,0.02486818768097155,0.25863971957394516,False,True
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--0.19999999999999962,0.500000000000001,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.500000000000001,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.500000000000001,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.500000000000001,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.500000000000001,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.500000000000001,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.500000000000001,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.19999999999999962,0.500000000000001,0.0,0.06666666666666667,0.18311488938579012,0.09155744469289505,0.003232153976909966,0.14836861087071976,2621271.297619786,0.009106380200056437,0.08072565471232329,False,True
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+-0.19999999999999962,0.500000000000001,0.25,0.25,0.37009960519507146,0.18504980259753578,0.013460726302348291,0.6179004085379959,707040.4787721464,0.02859271257631624,0.27665927263093837,False,True
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+-0.19999999999999962,0.500000000000001,0.35000000000000003,0.16666666666666666,0.3888057216382277,0.19440286081911382,0.011074326977047124,0.5083552707112841,3399543.121981892,0.02623399649281042,0.20900616555089888,False,True
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+-0.19999999999999962,0.500000000000001,0.5,0.08333333333333333,0.4380649013069001,0.21903245065345006,0.002461527137071198,0.11299380059145206,940937.5105187483,0.007758660619411771,0.11421506958510973,False,True
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 -0.19999999999999962,0.500000000000001,0.65,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -3792,13 +3792,13 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.19999999999999962,0.500000000000001,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.19999999999999962,0.550000000000001,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.19999999999999962,0.550000000000001,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.19999999999999962,0.550000000000001,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.19999999999999962,0.550000000000001,0.1,0.016666666666666666,0.1887504791570443,0.09437523957852216,1.8570992567627376e-08,8.524817782299879e-07,60758008.227720834,4.748361414575289e-08,0.030541804578910335,False,True
+-0.19999999999999962,0.550000000000001,0.15000000000000002,0.03333333333333333,0.21879256272143355,0.10939628136071677,0.002143767030161457,0.0984073588596747,9167131.93527925,0.005335550949817003,0.05558688058642586,False,True
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+-0.19999999999999962,0.550000000000001,0.30000000000000004,0.058333333333333334,0.3396873485300054,0.16984367426500271,0.0053236177946813165,0.24437504606715513,1569542.2686195201,0.015040056964325185,0.1007435784894819,False,True
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+-0.19999999999999962,0.550000000000001,0.4,0.05,0.3633129183988137,0.1816564591994068,0.00054684170754493,0.025102190395081454,12277291.593873145,0.0018351939357621478,0.07402503027296573,False,True
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@@ -3828,8 +3828,8 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.14999999999999958,-0.6,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.14999999999999958,-0.6,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.6,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.6,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.14999999999999958,-0.6,0.2,0.008333333333333333,0.2759740744009369,0.13798703720046845,2.0335600456024582e-09,9.33484237581664e-08,100500284.41785009,9.950220596812437e-09,0.03343075110329146,False,True
+-0.14999999999999958,-0.6,0.25,0.016666666666666666,0.2003553704776151,0.10017768523880756,4.832014257926944e-09,2.2180850549747892e-07,36994417.521525815,2.818364370609072e-08,0.031702228713643095,False,True
 -0.14999999999999958,-0.6,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.14999999999999958,-0.6,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.14999999999999958,-0.6,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -3842,15 +3842,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.14999999999999958,-0.6,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.14999999999999958,-0.5499999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.5499999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.5499999999999999,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.5499999999999999,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.5499999999999999,0.2,1.0,0.2444021347637131,0.12220106738185658,7.310922228848222e-08,2.5858232052014173e-06,7937595.447118492,1.2598273704702605e-07,0.7244404846569655,False,True
--0.14999999999999958,-0.5499999999999999,0.25,1.0,0.29075368530571083,0.14537684265285541,7.402746501903353e-08,2.6183008227487337e-06,7779571.577006026,1.2854178280918274e-07,0.7290756432148316,False,True
--0.14999999999999958,-0.5499999999999999,0.30000000000000004,1.0,0.3374816043979019,0.16874080219895096,7.418062321043471e-08,2.6237179232593796e-06,7653588.372269992,1.3065766688252242e-07,0.7337484358773492,False,True
--0.14999999999999958,-0.5499999999999999,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.5499999999999999,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.5499999999999999,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.14999999999999958,-0.5499999999999999,0.05,0.041666666666666664,0.19757797184876544,0.09878898592438273,0.002065078911203532,0.09479526395787836,16016814.087066058,0.006632633135545553,0.0590672535608856,False,True
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 -0.14999999999999958,-0.5499999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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 -0.14999999999999958,-0.5499999999999999,0.6000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -3858,373 +3858,373 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 -0.14999999999999958,-0.5499999999999999,0.7000000000000001,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.14999999999999958,-0.5499999999999999,0.75,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 -0.14999999999999958,-0.5499999999999999,0.8,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.4999999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.4999999999999999,0.05,1.0,0.09710024052357946,0.048550120261789724,6.478604281375684e-08,2.291438038007651e-06,8574539.393804174,1.1662434027915063e-07,0.7097102648585958,False,True
--0.14999999999999958,-0.4999999999999999,0.1,1.0,0.2341284074835191,0.11706420374175955,0.013307371170061151,0.47067261960456613,42.569093256792044,0.023491232115909325,0.7728292259203995,True,True
--0.14999999999999958,-0.4999999999999999,0.15000000000000002,1.0,0.3187835500150647,0.15939177500753235,0.018181405462462902,0.6430638799917728,30.14861058638296,0.03316902439689171,0.7995016454403729,True,True
--0.14999999999999958,-0.4999999999999999,0.2,1.0,0.3870596824737033,0.19352984123685166,0.019664339793761535,0.695514253359593,25.853276172859204,0.038679817339758955,0.8121253753173054,True,True
--0.14999999999999958,-0.4999999999999999,0.25,1.0,0.43620251899800366,0.2181012594990018,0.018617263376129026,0.6584798763879771,26.038978039627803,0.038403964951491294,0.8133086360337471,True,True
--0.14999999999999958,-0.4999999999999999,0.30000000000000004,1.0,0.4310378217420111,0.21551891087100558,0.01812479554872636,0.6410616260489421,25.875408450033536,0.03864673294731157,0.8110746180738264,True,True
--0.14999999999999958,-0.4999999999999999,0.35000000000000003,1.0,0.4360062657494355,0.21800313287471776,0.01627598542629616,0.5756704761099222,28.856729902415744,0.03465396125748935,0.8046330703116846,True,True
--0.14999999999999958,-0.4999999999999999,0.4,1.0,0.43785823723266937,0.21892911861633466,0.013533362892065092,0.47866579229398865,35.043996616837845,0.02853555805681859,0.7945059587583475,True,True
--0.14999999999999958,-0.4999999999999999,0.45,1.0,0.4259079040954727,0.21295395204773632,0.005844237983791066,0.20670670159197255,84.7299131437431,0.011802207464083992,0.7644416813151529,True,True
--0.14999999999999958,-0.4999999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.14999999999999958,-0.4999999999999999,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+-0.14999999999999958,-0.4999999999999999,0.0,0.15833333333333333,0.1850401631515888,0.0925200815757944,0.006389497322994383,0.29330311883259225,1761671.4324730125,0.016219536793617973,0.16028961521111323,False,True
+-0.14999999999999958,-0.4999999999999999,0.05,0.25,0.22941182194048823,0.11470591097024412,0.009315368159253608,0.4276121259727631,59860487.35502299,0.02157604835787755,0.24285999962711288,False,True
+-0.14999999999999958,-0.4999999999999999,0.1,0.2916666666666667,0.2942806467526022,0.1471403233763011,0.012564263659371444,0.5767492387650981,658300.4533809567,0.02731552625606461,0.29400120784404316,False,True
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+-0.14999999999999958,-0.4999999999999999,0.2,0.325,0.3541506330485902,0.1770753165242951,0.015390188089454427,0.7064703118056483,348647.0270858094,0.033976909886440344,0.33695978547406785,False,True
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@@ -4252,11 +4252,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -4266,390 +4266,390 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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--0.09999999999999953,0.550000000000001,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.09999999999999953,0.550000000000001,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.09999999999999953,0.550000000000001,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.09999999999999953,0.550000000000001,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.09999999999999953,0.550000000000001,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -4661,9 +4661,9 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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--0.09999999999999953,0.6000000000000011,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.09999999999999953,0.6000000000000011,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.09999999999999953,0.6000000000000011,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -4677,11 +4677,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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--0.04999999999999949,-0.6,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.6,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.04999999999999949,-0.6,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -4691,391 +4691,391 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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--0.04999999999999949,-0.5499999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.5499999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.5499999999999999,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.5499999999999999,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.5499999999999999,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.04999999999999949,-0.5499999999999999,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.04999999999999949,-0.5499999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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--0.04999999999999949,-0.4999999999999999,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.4999999999999999,0.05,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.4999999999999999,0.1,1.0,0.23509721142466222,0.1175486057123311,0.014455988401554246,0.5112984257356891,41.54925894679077,0.02406781817100852,0.7770463455331359,True,True
--0.04999999999999949,-0.4999999999999999,0.15000000000000002,1.0,0.31113601358570114,0.15556800679285057,0.018625337127357276,0.6587654394486352,31.779417359311573,0.03146690795471955,0.8001368360989055,True,True
--0.04999999999999949,-0.4999999999999999,0.2,1.0,0.3901715953638192,0.1950857976819096,0.02186844783043614,0.7734720475967508,25.3913581288862,0.039383478263420715,0.820302712122399,True,True
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--0.04999999999999949,-0.4999999999999999,0.30000000000000004,1.0,0.41619374335790127,0.20809687167895063,0.021206777397115937,0.7500692167757121,24.678182138386855,0.040521623286944135,0.8206784583420557,True,True
--0.04999999999999949,-0.4999999999999999,0.35000000000000003,1.0,0.42170301223827955,0.21085150611913975,0.019406065184190455,0.6863792570097761,26.599044335837455,0.03759533565894493,0.8145677604907,True,True
--0.04999999999999949,-0.4999999999999999,0.4,1.0,0.43470653890271926,0.21735326945135966,0.016020206672730474,0.5666237564805185,32.53234910109248,0.03073863485568488,0.8032068930238923,True,True
--0.04999999999999949,-0.4999999999999999,0.45,1.0,0.43431623019455884,0.21715811509727942,0.008405996632918565,0.29731435345428653,65.52102619641454,0.015262276220009374,0.7746892859868855,True,True
--0.04999999999999949,-0.4999999999999999,0.5,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
--0.04999999999999949,-0.4999999999999999,0.55,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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@@ -5935,10 +5935,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -6360,9 +6360,9 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -6379,7 +6379,7 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -6392,15 +6392,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -6408,373 +6408,373 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -7244,11 +7244,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -7258,16 +7258,16 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -7275,339 +7275,339 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -7700,323 +7700,323 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -8024,14 +8024,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -8111,10 +8111,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -8126,15 +8126,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -8552,12 +8552,12 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -8567,16 +8567,16 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9010,15 +9010,15 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9266,12 +9266,12 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9438,8 +9438,8 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9452,14 +9452,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9656,14 +9656,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9675,10 +9675,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9896,11 +9896,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -9911,14 +9911,14 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10066,11 +10066,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10357,7 +10357,7 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10372,11 +10372,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10389,11 +10389,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10406,11 +10406,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10423,11 +10423,11 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
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@@ -10440,10 +10440,10 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 0.6000000000000011,0.10000000000000064,0.0,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
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+0.6000000000000011,0.10000000000000064,0.15000000000000002,0.016666666666666666,0.23250735094217,0.11625367547108503,2.077161893012484e-08,9.534992046217161e-07,17325938.183572963,5.906127142040612e-08,0.03491750301693127,False,True
+0.6000000000000011,0.10000000000000064,0.2,0.016666666666666666,0.29879080682879894,0.14939540341439944,0.0011284131288837357,0.051798611581253255,231.37643459110816,0.004378492611253854,0.04716345776879727,False,True
+0.6000000000000011,0.10000000000000064,0.25,0.016666666666666666,0.35561348020450817,0.1778067401022541,0.0012106507249666281,0.055573641477518,264.4266981304488,0.003809567810453821,0.05316633561591467,False,True
+0.6000000000000011,0.10000000000000064,0.30000000000000004,0.008333333333333333,0.36223342664085945,0.18111671332042972,2.0430477214903655e-08,9.378394548823763e-07,16667167.30218986,5.999819776625224e-08,0.042056775781184545,False,True
 0.6000000000000011,0.10000000000000064,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 0.6000000000000011,0.10000000000000064,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 0.6000000000000011,0.10000000000000064,0.45,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
@@ -10459,7 +10459,7 @@ x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulabili
 0.6000000000000011,0.1500000000000007,0.1,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 0.6000000000000011,0.1500000000000007,0.15000000000000002,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 0.6000000000000011,0.1500000000000007,0.2,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
-0.6000000000000011,0.1500000000000007,0.25,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
+0.6000000000000011,0.1500000000000007,0.25,0.008333333333333333,0.3151759136335136,0.1575879568167568,1.0863426630625344e-08,4.9867411329914e-07,33169783.777224656,3.0147920369822526e-08,0.037350977578888056,False,True
 0.6000000000000011,0.1500000000000007,0.30000000000000004,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 0.6000000000000011,0.1500000000000007,0.35000000000000003,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
 0.6000000000000011,0.1500000000000007,0.4,0.0,0.0,0.0,0.0,0.0,inf,0.0,0.0,False,False
diff --git a/kine_ctrl/workspace_comfortable/workspace_cal.py b/kine_ctrl/workspace_comfortable/workspace_cal.py
index b28879d..c425467 100644
--- a/kine_ctrl/workspace_comfortable/workspace_cal.py
+++ b/kine_ctrl/workspace_comfortable/workspace_cal.py
@@ -558,8 +558,7 @@ def evaluate_workspace():
         for rpy in orientations:
             attempted += 1
 
-            # print(f"\n - target point: {point}, target orientation: {rpy}")
-            rpy = [1.2022060487764064, -1.0097962261845583, -0.6518417572686532]
+
             ik_result = solve_ik_user(point, rpy)
 
             # print(f'\n point is {point}, rpy is {rpy}, and ik result q: {ik_result}')