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tythetoon: remake the replay, please. The engagedistance in your replay is correct but the joints' positions are different.

Original replay
POS 0; 1.00000000 1.15000004 2.59000009 1.00000000 1.19999999 2.14000005 1.00000000 1.19999999 1.89000005 1.00000000 1.25000000 1.69000000 1.00000000 1.30000001 1.48999995 0.75000000 1.19999999 2.09000009 0.44999999 1.19999999 2.23999995 0.05000000 1.19999999 2.23999995 1.25000000 1.19999999 2.09000009 1.54999995 1.19999999 2.23999995 1.95000005 1.19999999 2.23999995 -0.34999999 1.14999998 2.23999995 2.34999990 1.14999998 2.23999995 0.80000001 1.30000001 1.39000005 1.20000005 1.30000001 1.39000005 0.80000001 1.30000001 1.04000002 1.20000005 1.30000001 1.04000002 1.20000005 1.30000001 0.44000000 0.80000001 1.30000001 0.44000000 0.80000001 1.19999999 0.04000000 1.20000005 1.19999999 0.04000000
Your replay
POS 0; 1.00000000 1.65000004 2.59000014 1.00000000 1.69999999 2.14000010 1.00000000 1.69999999 1.89000010 1.00000000 1.75000000 1.69000005 1.00000000 1.80000001 1.49000000 0.75000000 1.69999999 2.09000014 0.44999999 1.69999999 2.24000000 0.05000000 1.69999999 2.24000000 1.25000000 1.69999999 2.09000014 1.54999995 1.69999999 2.24000000 1.95000005 1.69999999 2.24000000 -0.34999999 1.64999998 2.24000000 2.34999990 1.64999998 2.24000000 0.80000001 1.80000001 1.39000010 1.20000005 1.80000001 1.39000010 0.80000001 1.80000001 1.04000007 1.20000005 1.80000001 1.04000007 1.20000005 1.80000001 0.43999999 0.80000001 1.80000001 0.43999999 0.80000001 1.69999999 0.04000000 1.20000005 1.69999999 0.04000000