diff --git a/stretch_camera_testrig/config/testrig_marker_info.yaml b/stretch_camera_testrig/config/testrig_marker_info.yaml
index 19a4606..9dc9389 100644
--- a/stretch_camera_testrig/config/testrig_marker_info.yaml
+++ b/stretch_camera_testrig/config/testrig_marker_info.yaml
@@ -11,7 +11,7 @@ testrig_aruco_marker_info:
   - - 0.0
     - 0.0
     - -1.0
-    - 0.97551
+    - 0.97195
   - - 0.0
     - 0.0
     - 0.0
@@ -28,7 +28,7 @@ testrig_aruco_marker_info:
   - - 0.0
     - 0.0
     - -1.0
-    - 0.97551
+    - 0.97195
   - - 0.0
     - 0.0
     - 0.0
@@ -45,7 +45,7 @@ testrig_aruco_marker_info:
   - - 0.0
     - 0.0
     - -1.0
-    - 0.97551
+    - 0.97195
   - - 0.0
     - 0.0
     - 0.0
@@ -62,7 +62,7 @@ testrig_aruco_marker_info:
   - - 0.0
     - 0.0
     - -1.0
-    - 0.97551
+    - 0.97195
   - - 0.0
     - 0.0
     - 0.0
@@ -79,7 +79,7 @@ testrig_aruco_marker_info:
   - - 0.0
     - 0.0
     - -1.0
-    - 0.97551
+    - 0.97195
   - - 0.0
     - 0.0
     - 0.0
diff --git a/stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse_rough-checkpoint.ipynb b/stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse_rough-checkpoint.ipynb
new file mode 100644
index 0000000..c026090
--- /dev/null
+++ b/stretch_camera_testrig/data/.ipynb_checkpoints/Testrig_Data_Analyse_rough-checkpoint.ipynb
@@ -0,0 +1,296 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import yaml\n",
+    "import numpy as np\n",
+    "import pandas as pd\n",
+    "import math\n",
+    "import os"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "data_keys = ['base_left_marker_pose',\n",
+    "             'base_right_marker_pose',\n",
+    "             'wrist_inside_marker_pose',\n",
+    "             'wrist_top_marker_pose',\n",
+    "             'shoulder_marker_pose']\n",
+    "\n",
+    "def get_dict(filename):\n",
+    "    with open(filename,'r') as file:\n",
+    "        data = yaml.safe_load(file)\n",
+    "    return data\n",
+    "\n",
+    "def get_avg_pos_vals(data):\n",
+    "    avg_pose_sums = {}\n",
+    "    null_cnt = {}\n",
+    "    for key in data_keys:\n",
+    "        avg_pose_sums[key] = np.zeros(3)\n",
+    "        null_cnt[key] = 0\n",
+    "    for d in data:\n",
+    "        for key in data_keys:\n",
+    "            m = np.array(d['camera_measurements'][key])\n",
+    "            try:\n",
+    "                pose = m[:3,3]\n",
+    "                avg_pose_sums[key] = avg_pose_sums[key] + pose\n",
+    "            except:\n",
+    "                null_cnt[key] = null_cnt[key] + 1\n",
+    "    for key in data_keys:\n",
+    "        avg_pose_sums[key] = avg_pose_sums[key]/(len(data)-null_cnt[key])\n",
+    "    return avg_pose_sums\n",
+    "\n",
+    "def euclidean_error(r1, r2):\n",
+    "    p1 = r1[:3, 3]\n",
+    "    p2 = r2[:3, 3]\n",
+    "    dist1 = math.sqrt(math.pow(p1[0],2) + math.pow(p1[1],2) + math.pow(p1[2],2))\n",
+    "    dist2 = math.sqrt(math.pow(p2[0],2) + math.pow(p2[1],2) + math.pow(p2[2],2))\n",
+    "#     dist = np.linalg.norm(r1[:3, 3] - r2[:3, 3])\n",
+    "    return float(abs(dist1-dist2))"
+   ]
+  },
+  {
+   "attachments": {
+    "markers_board_1.JPG": {
+     "image/jpeg": 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"
+    }
+   },
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Verify detection Accuracy within the RGB pointcloud\n",
+    "<div>\n",
+    "<img src=\"attachment:markers_board_1.JPG\" width=\"400\"/>\n",
+    "</div>\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "filename = 'testrig_collected_data_202204271550.yaml'\n",
+    "data = get_dict(filename)\n",
+    "\n",
+    "avg_pose = get_avg_pos_vals(data)\n",
+    "base_left_pose = avg_pose['base_left_marker_pose']\n",
+    "base_right_pose = avg_pose['base_right_marker_pose']\n",
+    "print('Base Left Pose {}'.format(base_left_pose))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Rough Section"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "filename = 'testrig_collected_data_202204271550.yaml'"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "data = get_dict(filename)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 20,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'base_left_marker_pose': array([-1.43196661e-04, -4.21121894e-02,  9.68354062e-01]),\n",
+       " 'base_right_marker_pose': array([ 0.06762994, -0.04131773,  0.96891546]),\n",
+       " 'shoulder_marker_pose': array([ 0.07572834, -0.0970877 ,  0.97181254]),\n",
+       " 'wrist_inside_marker_pose': array([-0.01136269, -0.10065095,  0.9698919 ]),\n",
+       " 'wrist_top_marker_pose': array([ 0.03013201, -0.10051473,  0.96937489])}"
+      ]
+     },
+     "execution_count": 20,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "avg_pos = get_avg_pos_vals(data)\n",
+    "avg_pos"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 22,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "0.9683540617285465"
+      ]
+     },
+     "execution_count": 22,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "avg_pos[data_keys[0]][-1]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "['shoulder_marker_pose',\n",
+       " 'd435i_acceleration',\n",
+       " 'wrist_inside_marker_pose',\n",
+       " 'wrist_top_marker_pose',\n",
+       " 'base_right_marker_pose',\n",
+       " 'base_left_marker_pose']"
+      ]
+     },
+     "execution_count": 15,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "data[0]['camera_measurements'].keys()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "array([[ 9.99940188e-01, -9.88936036e-03,  4.67121467e-03,\n",
+       "        -1.38970088e-04],\n",
+       "       [-9.81017966e-03, -9.99812752e-01, -1.66799657e-02,\n",
+       "        -4.21399272e-02],\n",
+       "       [ 4.83529419e-03,  1.66331426e-02, -9.99849968e-01,\n",
+       "         9.68408291e-01],\n",
+       "       [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,\n",
+       "         1.00000000e+00]])"
+      ]
+     },
+     "execution_count": 16,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "m = np.array(data[0]['camera_measurements'][data_keys[0]])\n",
+    "m"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "nominal_poses = get_dict(os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig/config/testrig_marker_info.yaml'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "array([[ 1.     ,  0.     ,  0.     ,  0.009  ],\n",
+       "       [ 0.     , -1.     ,  0.     , -0.06418],\n",
+       "       [ 0.     ,  0.     , -1.     ,  0.97551],\n",
+       "       [ 0.     ,  0.     ,  0.     ,  1.     ]])"
+      ]
+     },
+     "execution_count": 18,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "mn = nominal_poses['testrig_aruco_marker_info'][data_keys[0]]\n",
+    "mn = np.array(mn)\n",
+    "mn"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 19,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "0.008335668334139679"
+      ]
+     },
+     "execution_count": 19,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "euclidean_error(m,mn)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 2",
+   "language": "python",
+   "name": "python2"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 2
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython2",
+   "version": "2.7.17"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb b/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb
index 9d6416a..ec67bd5 100644
--- a/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb
+++ b/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb
@@ -2,14 +2,15 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 30,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
     "import yaml\n",
     "import numpy as np\n",
     "import pandas as pd\n",
-    "import math"
+    "import math\n",
+    "import os"
    ]
   },
   {
@@ -17,15 +18,6 @@
    "execution_count": 13,
    "metadata": {},
    "outputs": [],
-   "source": [
-    "filename = 'testrig_collected_data_202204271357.yaml'"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 49,
-   "metadata": {},
-   "outputs": [],
    "source": [
     "data_keys = ['base_left_marker_pose',\n",
     "             'base_right_marker_pose',\n",
@@ -59,15 +51,124 @@
     "def euclidean_error(r1, r2):\n",
     "    p1 = r1[:3, 3]\n",
     "    p2 = r2[:3, 3]\n",
-    "    dist1 = math.sqrt(math.pow(p1[0],2) + math.pow(p1[1],2) + math.pow(p1[2],2))\n",
-    "    dist2 = math.sqrt(math.pow(p2[0],2) + math.pow(p2[1],2) + math.pow(p2[2],2))\n",
-    "#     dist = np.linalg.norm(r1[:3, 3] - r2[:3, 3])\n",
+    "    dist1 = np.linalg.norm(p1)\n",
+    "    dist2 = np.linalg.norm(p2)\n",
+    "    dist = dist1 - dist2\n",
     "    return float(abs(dist1-dist2))"
    ]
   },
+  {
+   "attachments": {
+    "markers_board_1.JPG": {
+     "image/jpeg": 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"
+    }
+   },
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Verify detection Accuracy within the RGB pointcloud\n",
+    "Nominal Distances between the markers on the board.\n",
+    "<div>\n",
+    "<img src=\"attachment:markers_board_1.JPG\" width=\"400\"/>\n",
+    "</div>\n"
+   ]
+  },
   {
    "cell_type": "code",
-   "execution_count": 50,
+   "execution_count": 21,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "filename_nominal_extrinsics_true = 'testrig_collected_data_202204281734.yaml' # Default\n",
+    "filename_nominal_extrinsics_false = 'testrig_collected_data_202204281730.yaml'\n",
+    "\n",
+    "data_nominal_extrinsics_true = get_dict(filename_nominal_extrinsics_true)\n",
+    "data_nominal_extrinsics_false = get_dict(filename_nominal_extrinsics_false)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Nominal Extrinsics True"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 22,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Base Left Pose : [-1.39723319e-04 -4.19150550e-02  9.68807569e-01]\n",
+      "Base Right Pose : [ 0.06792248 -0.04130689  0.97214412]\n",
+      "Distance = 0.0681466469495\n"
+     ]
+    }
+   ],
+   "source": [
+    "avg_pose = get_avg_pos_vals(data_nominal_extrinsics_true)\n",
+    "base_left_pose = avg_pose['base_left_marker_pose']\n",
+    "base_right_pose = avg_pose['base_right_marker_pose']\n",
+    "print('Base Left Pose : {}'.format(base_left_pose))\n",
+    "print('Base Right Pose : {}'.format(base_right_pose))\n",
+    "dist =  dist = np.linalg.norm(base_left_pose-base_right_pose)\n",
+    "print('Distance = {}'.format(dist))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Nominal Extrinsics False"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Base Left Pose : [-1.91969931e-04 -4.20552650e-02  9.69779563e-01]\n",
+      "Base Right Pose : [ 0.06784307 -0.04146666  0.9726079 ]\n",
+      "Distance = 0.0680963506354\n"
+     ]
+    }
+   ],
+   "source": [
+    "avg_pose = get_avg_pos_vals(data_nominal_extrinsics_false)\n",
+    "base_left_pose = avg_pose['base_left_marker_pose']\n",
+    "base_right_pose = avg_pose['base_right_marker_pose']\n",
+    "print('Base Left Pose : {}'.format(base_left_pose))\n",
+    "print('Base Right Pose : {}'.format(base_right_pose))\n",
+    "dist =  dist = np.linalg.norm(base_left_pose-base_right_pose)\n",
+    "print('Distance = {}'.format(dist))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Rough Section"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "filename = 'testrig_collected_data_202204271550.yaml'"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -76,31 +177,52 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 51,
+   "execution_count": 20,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'base_left_marker_pose': array([-1.43196661e-04, -4.21121894e-02,  9.68354062e-01]),\n",
+       " 'base_right_marker_pose': array([ 0.06762994, -0.04131773,  0.96891546]),\n",
+       " 'shoulder_marker_pose': array([ 0.07572834, -0.0970877 ,  0.97181254]),\n",
+       " 'wrist_inside_marker_pose': array([-0.01136269, -0.10065095,  0.9698919 ]),\n",
+       " 'wrist_top_marker_pose': array([ 0.03013201, -0.10051473,  0.96937489])}"
+      ]
+     },
+     "execution_count": 20,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "avg_pos = get_avg_pos_vals(data)\n",
+    "avg_pos"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 22,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "{'base_left_marker_pose': array([ 0.01560918, -0.03676896,  0.97180282]),\n",
-       " 'base_right_marker_pose': array([ 0.08429622, -0.03563762,  0.9740998 ]),\n",
-       " 'shoulder_marker_pose': array([ 0.09266814, -0.09151441,  0.97548074]),\n",
-       " 'wrist_inside_marker_pose': array([ 0.00508762, -0.09562531,  0.97365567]),\n",
-       " 'wrist_top_marker_pose': array([ 0.0466689 , -0.09545316,  0.97414828])}"
+       "0.9683540617285465"
       ]
      },
-     "execution_count": 51,
+     "execution_count": 22,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
-    "get_avg_pos_vals(data)"
+    "avg_pos[data_keys[0]][-1]"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 52,
+   "execution_count": 15,
    "metadata": {},
    "outputs": [
     {
@@ -114,7 +236,7 @@
        " 'base_left_marker_pose']"
       ]
      },
-     "execution_count": 52,
+     "execution_count": 15,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -125,19 +247,23 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 53,
+   "execution_count": 16,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "array([[ 0.99847575, -0.00292909, -0.05511444,  0.01565563],\n",
-       "       [-0.00900108, -0.99386336, -0.11024792, -0.03676937],\n",
-       "       [-0.05445329,  0.11057596, -0.99237483,  0.97191084],\n",
-       "       [ 0.        ,  0.        ,  0.        ,  1.        ]])"
+       "array([[ 9.99940188e-01, -9.88936036e-03,  4.67121467e-03,\n",
+       "        -1.38970088e-04],\n",
+       "       [-9.81017966e-03, -9.99812752e-01, -1.66799657e-02,\n",
+       "        -4.21399272e-02],\n",
+       "       [ 4.83529419e-03,  1.66331426e-02, -9.99849968e-01,\n",
+       "         9.68408291e-01],\n",
+       "       [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,\n",
+       "         1.00000000e+00]])"
       ]
      },
-     "execution_count": 53,
+     "execution_count": 16,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -149,16 +275,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 54,
+   "execution_count": 17,
    "metadata": {},
    "outputs": [],
    "source": [
-    "nominal_poses = get_dict('testrig_marker_info.yaml')"
+    "nominal_poses = get_dict(os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_camera_testrig/config/testrig_marker_info.yaml'))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 55,
+   "execution_count": 18,
    "metadata": {},
    "outputs": [
     {
@@ -170,7 +296,7 @@
        "       [ 0.     ,  0.     ,  0.     ,  1.     ]])"
       ]
      },
-     "execution_count": 55,
+     "execution_count": 18,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -183,16 +309,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 56,
+   "execution_count": 19,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "0.004928270424978343"
+       "0.008335668334139679"
       ]
      },
-     "execution_count": 56,
+     "execution_count": 19,
      "metadata": {},
      "output_type": "execute_result"
     }
diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281433.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281433.yaml
new file mode 100644
index 0000000..2e5aadd
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281433.yaml
@@ -0,0 +1,9600 @@
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.929715742017969
+      euclidean_error: -0.009807383209335496
+    base_right_marker_pose:
+      angle_rotation: 4.953970360673477
+      euclidean_error: -0.007841308893306143
+    shoulder_marker_pose:
+      angle_rotation: 8.376265639044728
+      euclidean_error: -0.003793483774048201
+    wrist_inside_marker_pose:
+      angle_rotation: 25.175843905283386
+      euclidean_error: -0.004236191169041281
+    wrist_top_marker_pose:
+      angle_rotation: 12.561767071243999
+      euclidean_error: -0.002678725734701848
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8034901855058596
+      euclidean_error: -0.009794399717655056
+    base_right_marker_pose:
+      angle_rotation: 2.3974332149893094
+      euclidean_error: -0.008479542238128412
+    shoulder_marker_pose:
+      angle_rotation: 11.154107433410164
+      euclidean_error: -0.0033137160854082026
+    wrist_inside_marker_pose:
+      angle_rotation: 25.136234409961634
+      euclidean_error: -0.004346624660851006
+    wrist_top_marker_pose:
+      angle_rotation: 12.329094697360341
+      euclidean_error: -0.00332358579017189
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4117663525287862
+      euclidean_error: -0.00961577803827085
+    base_right_marker_pose:
+      angle_rotation: 4.575304503847993
+      euclidean_error: -0.00789071263364649
+    shoulder_marker_pose:
+      angle_rotation: 11.488959795613273
+      euclidean_error: -0.0022577107997796553
+    wrist_inside_marker_pose:
+      angle_rotation: 26.396068505004475
+      euclidean_error: -0.004336455357105584
+    wrist_top_marker_pose:
+      angle_rotation: 16.909554435485024
+      euclidean_error: -0.0036492414655930894
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.04988679811799
+      euclidean_error: -0.009827063740636244
+    base_right_marker_pose:
+      angle_rotation: 3.488194701411097
+      euclidean_error: -0.008122533465836912
+    shoulder_marker_pose:
+      angle_rotation: 14.260706521661918
+      euclidean_error: -0.002536813008422012
+    wrist_inside_marker_pose:
+      angle_rotation: 27.619049824610684
+      euclidean_error: -0.004765022711427869
+    wrist_top_marker_pose:
+      angle_rotation: 15.03549981289308
+      euclidean_error: -0.003290118653628493
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7766907126391007
+      euclidean_error: -0.009838849114261916
+    base_right_marker_pose:
+      angle_rotation: 2.9014532904554384
+      euclidean_error: -0.008304350722849518
+    shoulder_marker_pose:
+      angle_rotation: 6.748667137464741
+      euclidean_error: -0.0031480208011660515
+    wrist_inside_marker_pose:
+      angle_rotation: 27.082449145309095
+      euclidean_error: -0.00498985532202989
+    wrist_top_marker_pose:
+      angle_rotation: 9.288345903133997
+      euclidean_error: -0.0039399940082149865
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.592077145616726
+      euclidean_error: -0.010044369032208955
+    base_right_marker_pose:
+      angle_rotation: 1.700308457034381
+      euclidean_error: -0.008496739219323812
+    shoulder_marker_pose:
+      angle_rotation: 12.518265155717557
+      euclidean_error: -0.0033969471447187205
+    wrist_inside_marker_pose:
+      angle_rotation: 26.608070807868057
+      euclidean_error: -0.005511695449269771
+    wrist_top_marker_pose:
+      angle_rotation: 16.751303499634886
+      euclidean_error: -0.003728089621701791
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5385390188280894
+      euclidean_error: -0.009747526977351484
+    base_right_marker_pose:
+      angle_rotation: 4.181001256849126
+      euclidean_error: -0.008085049242249398
+    shoulder_marker_pose:
+      angle_rotation: 8.887546097366105
+      euclidean_error: -0.004200890202503582
+    wrist_inside_marker_pose:
+      angle_rotation: 25.805355070540447
+      euclidean_error: -0.0050040430018563065
+    wrist_top_marker_pose:
+      angle_rotation: 15.496536649652118
+      euclidean_error: -0.003909731635522107
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7241334721259816
+      euclidean_error: -0.009834283658893272
+    base_right_marker_pose:
+      angle_rotation: 3.887893373310444
+      euclidean_error: -0.007869108206412956
+    shoulder_marker_pose:
+      angle_rotation: 7.894601656917819
+      euclidean_error: -0.0034110817322445808
+    wrist_inside_marker_pose:
+      angle_rotation: 25.85753841611629
+      euclidean_error: -0.005156362758559574
+    wrist_top_marker_pose:
+      angle_rotation: 12.740493389389679
+      euclidean_error: -0.0027526934266079994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7334226839843914
+      euclidean_error: -0.010115388916035362
+    base_right_marker_pose:
+      angle_rotation: 2.71976585447542
+      euclidean_error: -0.008640295632276085
+    shoulder_marker_pose:
+      angle_rotation: 13.83973020641566
+      euclidean_error: -0.0035189802153994254
+    wrist_inside_marker_pose:
+      angle_rotation: 29.508747501613247
+      euclidean_error: -0.004312942039786161
+    wrist_top_marker_pose:
+      angle_rotation: 17.186303048910204
+      euclidean_error: -0.003498975105421298
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.696475264531667
+      euclidean_error: -0.009739017629956881
+    base_right_marker_pose:
+      angle_rotation: 3.8985295390991848
+      euclidean_error: -0.008227083528499213
+    shoulder_marker_pose:
+      angle_rotation: 11.27576386934529
+      euclidean_error: -0.0024392249930156318
+    wrist_inside_marker_pose:
+      angle_rotation: 26.804234340640892
+      euclidean_error: -0.004494812137538662
+    wrist_top_marker_pose:
+      angle_rotation: 11.438054665343124
+      euclidean_error: -0.00335298693990127
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8601755329338587
+      euclidean_error: -0.00977735067511798
+    base_right_marker_pose:
+      angle_rotation: 3.9057641341066263
+      euclidean_error: -0.00822395753255245
+    shoulder_marker_pose:
+      angle_rotation: 12.779891014977126
+      euclidean_error: -0.002758208252610972
+    wrist_inside_marker_pose:
+      angle_rotation: 25.01298333148239
+      euclidean_error: -0.005649225873109565
+    wrist_top_marker_pose:
+      angle_rotation: 13.96533631262413
+      euclidean_error: -0.003656597171704745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6446350612792022
+      euclidean_error: -0.009561368281317817
+    base_right_marker_pose:
+      angle_rotation: 3.5881437920308255
+      euclidean_error: -0.008264801297615754
+    shoulder_marker_pose:
+      angle_rotation: 13.495623186179282
+      euclidean_error: -0.0040128061741345755
+    wrist_inside_marker_pose:
+      angle_rotation: 29.978557065042967
+      euclidean_error: -0.003660236975786102
+    wrist_top_marker_pose:
+      angle_rotation: 14.080760010544841
+      euclidean_error: -0.003283688674206142
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.462286038861671
+      euclidean_error: -0.009705054553295178
+    base_right_marker_pose:
+      angle_rotation: 4.6102997843217475
+      euclidean_error: -0.007867254622234587
+    shoulder_marker_pose:
+      angle_rotation: 10.832896723932999
+      euclidean_error: -0.0015676913818112315
+    wrist_inside_marker_pose:
+      angle_rotation: 25.374501187877172
+      euclidean_error: -0.004348770554598147
+    wrist_top_marker_pose:
+      angle_rotation: 11.990745317400972
+      euclidean_error: -0.002466743131115723
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.325826014561434
+      euclidean_error: -0.010130653687715374
+    base_right_marker_pose:
+      angle_rotation: 2.9965525508266517
+      euclidean_error: -0.008422279776590602
+    shoulder_marker_pose:
+      angle_rotation: 12.002477146157192
+      euclidean_error: -0.0025872294220110614
+    wrist_inside_marker_pose:
+      angle_rotation: 25.690426527420275
+      euclidean_error: -0.0032004185972299704
+    wrist_top_marker_pose:
+      angle_rotation: 12.260582109759435
+      euclidean_error: -0.0030980968213747406
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5940599445142905
+      euclidean_error: -0.010027464900005612
+    base_right_marker_pose:
+      angle_rotation: 3.763127740636142
+      euclidean_error: -0.008203048295503668
+    shoulder_marker_pose:
+      angle_rotation: 9.531194749384529
+      euclidean_error: -0.0023381323278709454
+    wrist_inside_marker_pose:
+      angle_rotation: 25.300690490083586
+      euclidean_error: -0.0050866465326641075
+    wrist_top_marker_pose:
+      angle_rotation: 18.46924604961834
+      euclidean_error: -0.003549142381539694
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.038949718527952
+      euclidean_error: -0.009623956252405086
+    base_right_marker_pose:
+      angle_rotation: 5.257685676100071
+      euclidean_error: -0.0074830640218525035
+    shoulder_marker_pose:
+      angle_rotation: 12.918885665077926
+      euclidean_error: -0.002247345440696824
+    wrist_inside_marker_pose:
+      angle_rotation: 27.352656822488274
+      euclidean_error: -0.0037121560960923228
+    wrist_top_marker_pose:
+      angle_rotation: 19.21223770142165
+      euclidean_error: -0.0020996823283991883
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.778074122188277
+      euclidean_error: -0.009989584406427165
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 11.920053802208564
+      euclidean_error: -0.0029132792510669914
+    wrist_inside_marker_pose:
+      angle_rotation: 27.46505091916481
+      euclidean_error: -0.0050090001940859
+    wrist_top_marker_pose:
+      angle_rotation: 13.074767114944153
+      euclidean_error: -0.003485945863931361
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.289042456131746
+      euclidean_error: -0.009811568154014405
+    base_right_marker_pose:
+      angle_rotation: 5.1878085186981675
+      euclidean_error: -0.007814659810766567
+    shoulder_marker_pose:
+      angle_rotation: 14.004967419622952
+      euclidean_error: -0.0024763749796656853
+    wrist_inside_marker_pose:
+      angle_rotation: 26.545949737210055
+      euclidean_error: -0.005431383540303036
+    wrist_top_marker_pose:
+      angle_rotation: 15.293682296711708
+      euclidean_error: -0.004385504840592858
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5716499035168674
+      euclidean_error: -0.009439014412753521
+    base_right_marker_pose:
+      angle_rotation: 2.6159837252609655
+      euclidean_error: -0.008468419397345772
+    shoulder_marker_pose:
+      angle_rotation: 8.358803156695755
+      euclidean_error: -0.004479626707330153
+    wrist_inside_marker_pose:
+      angle_rotation: 29.40599969173774
+      euclidean_error: -0.003851295740894267
+    wrist_top_marker_pose:
+      angle_rotation: 18.450488041993182
+      euclidean_error: -0.0036954254162437916
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.983233321324609
+      euclidean_error: -0.009962506975979557
+    base_right_marker_pose:
+      angle_rotation: 3.897882746775406
+      euclidean_error: -0.008141297011723392
+    shoulder_marker_pose:
+      angle_rotation: 10.706272544453604
+      euclidean_error: -0.003388589391652319
+    wrist_inside_marker_pose:
+      angle_rotation: 25.551509040050046
+      euclidean_error: -0.004558755662054437
+    wrist_top_marker_pose:
+      angle_rotation: 12.742692789149162
+      euclidean_error: -0.0051327812663831685
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4545876422454946
+      euclidean_error: -0.00981826944637143
+    base_right_marker_pose:
+      angle_rotation: 3.7241164335350425
+      euclidean_error: -0.008015286250326659
+    shoulder_marker_pose:
+      angle_rotation: 12.298424083952185
+      euclidean_error: -0.003058470226379062
+    wrist_inside_marker_pose:
+      angle_rotation: 29.098034610344357
+      euclidean_error: -0.0034885021902926194
+    wrist_top_marker_pose:
+      angle_rotation: 16.66788759922874
+      euclidean_error: -0.0031430375587665482
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.079171787777631
+      euclidean_error: -0.00976180434835805
+    base_right_marker_pose:
+      angle_rotation: 3.525824515972612
+      euclidean_error: -0.008355512796581754
+    shoulder_marker_pose:
+      angle_rotation: 8.933215319136526
+      euclidean_error: -0.002246155210473888
+    wrist_inside_marker_pose:
+      angle_rotation: 24.70161645414907
+      euclidean_error: -0.005363472649445478
+    wrist_top_marker_pose:
+      angle_rotation: 14.081290419970614
+      euclidean_error: -0.0029827507075799176
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.069492409011361
+      euclidean_error: -0.01011573977019109
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 14.569300688204141
+      euclidean_error: -0.0014618653153126715
+    wrist_inside_marker_pose:
+      angle_rotation: 27.597402502500294
+      euclidean_error: -0.0044997929767072176
+    wrist_top_marker_pose:
+      angle_rotation: 12.796787701056228
+      euclidean_error: -0.002473043786529572
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.068033447173726
+      euclidean_error: -0.00969281599728311
+    base_right_marker_pose:
+      angle_rotation: 2.9823174392950813
+      euclidean_error: -0.008231225185563407
+    shoulder_marker_pose:
+      angle_rotation: 6.41777792871858
+      euclidean_error: -0.0032850298258166877
+    wrist_inside_marker_pose:
+      angle_rotation: 26.761170521950106
+      euclidean_error: -0.004213009363570053
+    wrist_top_marker_pose:
+      angle_rotation: 16.290089810165565
+      euclidean_error: -0.0038892998473378793
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7476287562276145
+      euclidean_error: -0.009752878170132151
+    base_right_marker_pose:
+      angle_rotation: 4.671594787388186
+      euclidean_error: -0.007610690690530109
+    shoulder_marker_pose:
+      angle_rotation: 6.333377017748049
+      euclidean_error: -0.003131395250774105
+    wrist_inside_marker_pose:
+      angle_rotation: 27.947183010852374
+      euclidean_error: -0.004549988166583918
+    wrist_top_marker_pose:
+      angle_rotation: 15.274501265602781
+      euclidean_error: -0.002607896027073675
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3886001234139242
+      euclidean_error: -0.009736479913152296
+    base_right_marker_pose:
+      angle_rotation: 5.275678502105902
+      euclidean_error: -0.007465544499839494
+    shoulder_marker_pose:
+      angle_rotation: 14.867441348722288
+      euclidean_error: -0.0018448513680195955
+    wrist_inside_marker_pose:
+      angle_rotation: 27.911290031986077
+      euclidean_error: -0.004197352604868199
+    wrist_top_marker_pose:
+      angle_rotation: 16.065190714175245
+      euclidean_error: -0.002281152922739893
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6335515106434326
+      euclidean_error: -0.009916330389419081
+    base_right_marker_pose:
+      angle_rotation: 3.3993876787303234
+      euclidean_error: -0.008134128903065085
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 29.76113831572625
+      euclidean_error: -0.003544831476222532
+    wrist_top_marker_pose:
+      angle_rotation: 12.667410003962617
+      euclidean_error: -0.0027512001411074127
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.294322918367177
+      euclidean_error: -0.009698126803175167
+    base_right_marker_pose:
+      angle_rotation: 2.7888507446103286
+      euclidean_error: -0.008220064629110069
+    shoulder_marker_pose:
+      angle_rotation: 10.69369944306464
+      euclidean_error: -0.003161132979351944
+    wrist_inside_marker_pose:
+      angle_rotation: 26.89802550828851
+      euclidean_error: -0.004297589085070941
+    wrist_top_marker_pose:
+      angle_rotation: 19.315218014899152
+      euclidean_error: -0.00372087177199365
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2056175782589182
+      euclidean_error: -0.01009521695433524
+    base_right_marker_pose:
+      angle_rotation: 4.928783591219267
+      euclidean_error: -0.007882583937762089
+    shoulder_marker_pose:
+      angle_rotation: 10.182175228411937
+      euclidean_error: -0.0030709708247327328
+    wrist_inside_marker_pose:
+      angle_rotation: 25.841094574704815
+      euclidean_error: -0.005173885734821804
+    wrist_top_marker_pose:
+      angle_rotation: 14.646734600458885
+      euclidean_error: -0.003752245315800762
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.698013491284398
+      euclidean_error: -0.009700903560130869
+    base_right_marker_pose:
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+      euclidean_error: -0.008013672376410486
+    shoulder_marker_pose:
+      angle_rotation: 10.301602935821688
+      euclidean_error: -0.002889375274913508
+    wrist_inside_marker_pose:
+      angle_rotation: 28.823747839779944
+      euclidean_error: -0.004840048975766065
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6312659875215636
+      euclidean_error: -0.009622322180344978
+    base_right_marker_pose:
+      angle_rotation: 2.990066638726258
+      euclidean_error: -0.008255230340076247
+    shoulder_marker_pose:
+      angle_rotation: 10.779174836305444
+      euclidean_error: -0.0033556993034346005
+    wrist_inside_marker_pose:
+      angle_rotation: 24.966991138459417
+      euclidean_error: -0.005595706822200008
+    wrist_top_marker_pose:
+      angle_rotation: 18.831036060646884
+      euclidean_error: -0.0034634027980918747
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.455514035640697
+      euclidean_error: -0.009705974421338692
+    base_right_marker_pose:
+      angle_rotation: 4.82933166101735
+      euclidean_error: -0.007942980490962759
+    shoulder_marker_pose:
+      angle_rotation: 3.2347582835094
+      euclidean_error: -0.0035094535298342278
+    wrist_inside_marker_pose:
+      angle_rotation: 25.817640788400187
+      euclidean_error: -0.004083445089975046
+    wrist_top_marker_pose:
+      angle_rotation: 12.280124258016631
+      euclidean_error: -0.003996838101027356
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8356239132163754
+      euclidean_error: -0.009667358068413456
+    base_right_marker_pose:
+      angle_rotation: 3.693817720396798
+      euclidean_error: -0.008049714642258232
+    shoulder_marker_pose:
+      angle_rotation: 12.316661545114874
+      euclidean_error: -0.0037768701286541306
+    wrist_inside_marker_pose:
+      angle_rotation: 25.981035789818193
+      euclidean_error: -0.00396302960984618
+    wrist_top_marker_pose:
+      angle_rotation: 18.20849303617631
+      euclidean_error: -0.00342942636084953
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.761257226513409
+      euclidean_error: -0.00980925870648297
+    base_right_marker_pose:
+      angle_rotation: 3.6928563163039785
+      euclidean_error: -0.00814257949934205
+    shoulder_marker_pose:
+      angle_rotation: 7.025238288051279
+      euclidean_error: -0.0028962466513677843
+    wrist_inside_marker_pose:
+      angle_rotation: 26.230239806008804
+      euclidean_error: -0.004082735214539279
+    wrist_top_marker_pose:
+      angle_rotation: 13.686048462110374
+      euclidean_error: -0.0032869585980065397
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3063061356916448
+      euclidean_error: -0.009814031716905314
+    base_right_marker_pose:
+      angle_rotation: 3.6035493303266364
+      euclidean_error: -0.008290837293230546
+    shoulder_marker_pose:
+      angle_rotation: 5.9188374032262265
+      euclidean_error: -0.003616905101419987
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 17.377016788594577
+      euclidean_error: -0.002758256590958852
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.232629487633604
+      euclidean_error: -0.009961175649920606
+    base_right_marker_pose:
+      angle_rotation: 2.5901948403682464
+      euclidean_error: -0.00863824224261367
+    shoulder_marker_pose:
+      angle_rotation: 12.219924582693405
+      euclidean_error: -0.0013129387611409138
+    wrist_inside_marker_pose:
+      angle_rotation: 28.690199195738494
+      euclidean_error: -0.005141971391938505
+    wrist_top_marker_pose:
+      angle_rotation: 16.29874339111725
+      euclidean_error: -0.002422544067382626
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.875355656395825
+      euclidean_error: -0.00973549029201548
+    base_right_marker_pose:
+      angle_rotation: 3.0484228699728324
+      euclidean_error: -0.007905099027173401
+    shoulder_marker_pose:
+      angle_rotation: 11.523790863174995
+      euclidean_error: -0.002643910927030091
+    wrist_inside_marker_pose:
+      angle_rotation: 25.931515370858282
+      euclidean_error: -0.00449416729913954
+    wrist_top_marker_pose:
+      angle_rotation: 13.056671365894093
+      euclidean_error: -0.002593621900018217
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4761266453820308
+      euclidean_error: -0.010032653360973365
+    base_right_marker_pose:
+      angle_rotation: 4.249162615853961
+      euclidean_error: -0.007944524101295203
+    shoulder_marker_pose:
+      angle_rotation: 13.018264264512213
+      euclidean_error: -0.0016342909376987347
+    wrist_inside_marker_pose:
+      angle_rotation: 29.376848879686346
+      euclidean_error: -0.003190995321588619
+    wrist_top_marker_pose:
+      angle_rotation: 18.13036050527063
+      euclidean_error: -0.0023091469944868104
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4604305763770045
+      euclidean_error: -0.009725148331004574
+    base_right_marker_pose:
+      angle_rotation: 5.120743709773813
+      euclidean_error: -0.008048577941757618
+    shoulder_marker_pose:
+      angle_rotation: 15.144365943016224
+      euclidean_error: -0.0016920842227610144
+    wrist_inside_marker_pose:
+      angle_rotation: 30.689733198869263
+      euclidean_error: -0.003645701231395404
+    wrist_top_marker_pose:
+      angle_rotation: 15.728517614563955
+      euclidean_error: -0.0017003058886343458
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2076008478785596
+      euclidean_error: -0.009924691609735747
+    base_right_marker_pose:
+      angle_rotation: 4.220139879293905
+      euclidean_error: -0.007913071340734712
+    shoulder_marker_pose:
+      angle_rotation: 7.778956912344033
+      euclidean_error: -0.002102090265346135
+    wrist_inside_marker_pose:
+      angle_rotation: 25.04196769867796
+      euclidean_error: -0.0052459718651247655
+    wrist_top_marker_pose:
+      angle_rotation: 12.965195443560289
+      euclidean_error: -0.0033050714874302
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.631829277448634
+      euclidean_error: -0.00974969600870701
+    base_right_marker_pose:
+      angle_rotation: 4.346368025385337
+      euclidean_error: -0.00793384740195291
+    shoulder_marker_pose:
+      angle_rotation: 6.751808275525324
+      euclidean_error: -0.0024275825102293425
+    wrist_inside_marker_pose:
+      angle_rotation: 29.10979671836205
+      euclidean_error: -0.004749616936793322
+    wrist_top_marker_pose:
+      angle_rotation: 16.72941281053035
+      euclidean_error: -0.0020517955112701047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.383229004796386
+      euclidean_error: -0.009748506109930055
+    base_right_marker_pose:
+      angle_rotation: 3.1227104141687843
+      euclidean_error: -0.008151751524326789
+    shoulder_marker_pose:
+      angle_rotation: 14.283152212592695
+      euclidean_error: -0.001855934960102279
+    wrist_inside_marker_pose:
+      angle_rotation: 27.0911619109051
+      euclidean_error: -0.005537937155935535
+    wrist_top_marker_pose:
+      angle_rotation: 11.162402454673655
+      euclidean_error: -0.0026349361886705003
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8834085641215434
+      euclidean_error: -0.009529513763526176
+    base_right_marker_pose:
+      angle_rotation: 3.3710613461464773
+      euclidean_error: -0.007985934692977481
+    shoulder_marker_pose:
+      angle_rotation: 13.604028037692261
+      euclidean_error: -0.0021675783327859133
+    wrist_inside_marker_pose:
+      angle_rotation: 28.979706097437685
+      euclidean_error: -0.004072467419846348
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7765218026285194
+      euclidean_error: -0.00976778490728658
+    base_right_marker_pose:
+      angle_rotation: 3.7813075385929844
+      euclidean_error: -0.008072815758398133
+    shoulder_marker_pose:
+      angle_rotation: 9.408587284536562
+      euclidean_error: -0.003055629017790995
+    wrist_inside_marker_pose:
+      angle_rotation: 29.0332947484335
+      euclidean_error: -0.0031271554846569183
+    wrist_top_marker_pose:
+      angle_rotation: 18.627007741542293
+      euclidean_error: -0.0023042894223450627
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.80185839895247
+      euclidean_error: -0.009708384613777099
+    base_right_marker_pose:
+      angle_rotation: 3.20156914700997
+      euclidean_error: -0.007989671291572464
+    shoulder_marker_pose:
+      angle_rotation: 13.032437565047996
+      euclidean_error: -0.0026189745208142767
+    wrist_inside_marker_pose:
+      angle_rotation: 28.415844485186128
+      euclidean_error: -0.004839796184744283
+    wrist_top_marker_pose:
+      angle_rotation: 14.747473946868658
+      euclidean_error: -0.004170186758348016
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0324364729995126
+      euclidean_error: -0.009961028702156649
+    base_right_marker_pose:
+      angle_rotation: 3.893641965846181
+      euclidean_error: -0.007845859900134755
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.015337111233833
+      euclidean_error: -0.005559742000253998
+    wrist_top_marker_pose:
+      angle_rotation: 18.267761257839272
+      euclidean_error: -0.003166584952551177
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.582444296583279
+      euclidean_error: -0.009743277176532783
+    base_right_marker_pose:
+      angle_rotation: 3.4772628647288437
+      euclidean_error: -0.008262707801887426
+    shoulder_marker_pose:
+      angle_rotation: 10.451768695351877
+      euclidean_error: -0.004191496994984001
+    wrist_inside_marker_pose:
+      angle_rotation: 23.90260677428373
+      euclidean_error: -0.004952654415094071
+    wrist_top_marker_pose:
+      angle_rotation: 15.492976865539395
+      euclidean_error: -0.0032768216044550824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.306851756541673
+      euclidean_error: -0.009437079919864866
+    base_right_marker_pose:
+      angle_rotation: 2.9693515463087556
+      euclidean_error: -0.008210055093851754
+    shoulder_marker_pose:
+      angle_rotation: 14.151895069258691
+      euclidean_error: -0.0023105325915250274
+    wrist_inside_marker_pose:
+      angle_rotation: 23.781768675937464
+      euclidean_error: -0.005842853122472014
+    wrist_top_marker_pose:
+      angle_rotation: 12.966142218793774
+      euclidean_error: -0.003384965644325999
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.043615143550074
+      euclidean_error: -0.009604659075215571
+    base_right_marker_pose:
+      angle_rotation: 5.753136499735319
+      euclidean_error: -0.007616800182079664
+    shoulder_marker_pose:
+      angle_rotation: 5.448968244469325
+      euclidean_error: -0.0030482898833886773
+    wrist_inside_marker_pose:
+      angle_rotation: 23.152100517299814
+      euclidean_error: -0.004757079618307625
+    wrist_top_marker_pose:
+      angle_rotation: 9.419577555597876
+      euclidean_error: -0.0030706926167806126
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.463108523715169
+      euclidean_error: -0.00972120066448412
+    base_right_marker_pose:
+      angle_rotation: 3.934307035111319
+      euclidean_error: -0.00798225083740578
+    shoulder_marker_pose:
+      angle_rotation: 13.669301455506288
+      euclidean_error: -0.0028657365135293933
+    wrist_inside_marker_pose:
+      angle_rotation: 27.95493463716681
+      euclidean_error: -0.004857802905684161
+    wrist_top_marker_pose:
+      angle_rotation: 20.592546341814998
+      euclidean_error: -0.0026985497359427457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8944282530178502
+      euclidean_error: -0.009938016732302435
+    base_right_marker_pose:
+      angle_rotation: 3.966450664117837
+      euclidean_error: -0.00790420859997365
+    shoulder_marker_pose:
+      angle_rotation: 10.825352413475635
+      euclidean_error: -0.0027743529070194395
+    wrist_inside_marker_pose:
+      angle_rotation: 25.15761181981836
+      euclidean_error: -0.004470860342552063
+    wrist_top_marker_pose:
+      angle_rotation: 11.846764353489881
+      euclidean_error: -0.0032126513232469955
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7613648884424644
+      euclidean_error: -0.010076382665499595
+    base_right_marker_pose:
+      angle_rotation: 4.804744429632367
+      euclidean_error: -0.00768398330893616
+    shoulder_marker_pose:
+      angle_rotation: 12.302731211800953
+      euclidean_error: -0.002065977829874166
+    wrist_inside_marker_pose:
+      angle_rotation: 30.228472410025688
+      euclidean_error: -0.004411162595232998
+    wrist_top_marker_pose:
+      angle_rotation: 18.66377196945505
+      euclidean_error: -0.0013749536957567976
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7698291082728097
+      euclidean_error: -0.009605310065577966
+    base_right_marker_pose:
+      angle_rotation: 4.002545263087834
+      euclidean_error: -0.00784183815760553
+    shoulder_marker_pose:
+      angle_rotation: 8.546575733639243
+      euclidean_error: -0.002339072636275974
+    wrist_inside_marker_pose:
+      angle_rotation: 26.965079155885125
+      euclidean_error: -0.0035180418630744725
+    wrist_top_marker_pose:
+      angle_rotation: 13.297093553748423
+      euclidean_error: -0.0022792968548722703
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.167717970731981
+      euclidean_error: -0.009626839334713533
+    base_right_marker_pose:
+      angle_rotation: 3.6674979219064574
+      euclidean_error: -0.008042877635930812
+    shoulder_marker_pose:
+      angle_rotation: 11.872975687508415
+      euclidean_error: -0.0006508570558355631
+    wrist_inside_marker_pose:
+      angle_rotation: 28.600185458260857
+      euclidean_error: -0.0042883658035526295
+    wrist_top_marker_pose:
+      angle_rotation: 13.716240792583113
+      euclidean_error: -0.0016875900713240188
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5006480652046634
+      euclidean_error: -0.009693927381211664
+    base_right_marker_pose:
+      angle_rotation: 5.251678657766851
+      euclidean_error: -0.007780190975487877
+    shoulder_marker_pose:
+      angle_rotation: 13.440229452928488
+      euclidean_error: -0.0024503536299281814
+    wrist_inside_marker_pose:
+      angle_rotation: 29.727448166848013
+      euclidean_error: -0.0038039455506787556
+    wrist_top_marker_pose:
+      angle_rotation: 18.697936061204288
+      euclidean_error: -0.002450142770266339
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.977736741580795
+      euclidean_error: -0.00981819838268938
+    base_right_marker_pose:
+      angle_rotation: 3.608758063720242
+      euclidean_error: -0.007858683696993385
+    shoulder_marker_pose:
+      angle_rotation: 7.256393140122287
+      euclidean_error: -0.0027206987324513987
+    wrist_inside_marker_pose:
+      angle_rotation: 29.665896341389722
+      euclidean_error: -0.0034261786714705478
+    wrist_top_marker_pose:
+      angle_rotation: 11.106500754205912
+      euclidean_error: -0.0026759854043528764
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.719884174319467
+      euclidean_error: -0.0098457865940067
+    base_right_marker_pose:
+      angle_rotation: 2.6469094718972603
+      euclidean_error: -0.008504655832966335
+    shoulder_marker_pose:
+      angle_rotation: 12.267682598819455
+      euclidean_error: -0.0019627292604131874
+    wrist_inside_marker_pose:
+      angle_rotation: 26.073252051988636
+      euclidean_error: -0.0038064979739735882
+    wrist_top_marker_pose:
+      angle_rotation: 14.163493277356048
+      euclidean_error: -0.002207182324269863
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9857045393510324
+      euclidean_error: -0.009608016074629355
+    base_right_marker_pose:
+      angle_rotation: 3.6300837758225293
+      euclidean_error: -0.00807762088364905
+    shoulder_marker_pose:
+      angle_rotation: 11.187833196187585
+      euclidean_error: -0.002256210322831187
+    wrist_inside_marker_pose:
+      angle_rotation: 20.508523407871742
+      euclidean_error: -0.0040752361393296965
+    wrist_top_marker_pose:
+      angle_rotation: 11.455937961610697
+      euclidean_error: -0.0019297719609987496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.606083334807063
+      euclidean_error: -0.009716974112596422
+    base_right_marker_pose:
+      angle_rotation: 5.366463632225939
+      euclidean_error: -0.0075707949709258315
+    shoulder_marker_pose:
+      angle_rotation: 5.72287784079629
+      euclidean_error: -0.002492225576468665
+    wrist_inside_marker_pose:
+      angle_rotation: 27.691072420887068
+      euclidean_error: -0.004056617804437224
+    wrist_top_marker_pose:
+      angle_rotation: 21.70676886132174
+      euclidean_error: -0.004067460992424166
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4370361516855805
+      euclidean_error: -0.0095990789798851
+    base_right_marker_pose:
+      angle_rotation: 3.8121831593965307
+      euclidean_error: -0.008116844707348636
+    shoulder_marker_pose:
+      angle_rotation: 8.01449946423907
+      euclidean_error: -0.0022399039257349207
+    wrist_inside_marker_pose:
+      angle_rotation: 25.73072986879327
+      euclidean_error: -0.005471967201009731
+    wrist_top_marker_pose:
+      angle_rotation: 9.699855354086854
+      euclidean_error: -0.003702892347741682
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6085056039338768
+      euclidean_error: -0.009633627449083582
+    base_right_marker_pose:
+      angle_rotation: 4.269623178419938
+      euclidean_error: -0.007812971872896424
+    shoulder_marker_pose:
+      angle_rotation: 13.472482106960449
+      euclidean_error: -0.002187641903891091
+    wrist_inside_marker_pose:
+      angle_rotation: 27.008238407164917
+      euclidean_error: -0.004418303102496024
+    wrist_top_marker_pose:
+      angle_rotation: 17.32159780139766
+      euclidean_error: -0.0035287995736276168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6999166218108552
+      euclidean_error: -0.00960455870383381
+    base_right_marker_pose:
+      angle_rotation: 2.9025641210346635
+      euclidean_error: -0.008277861661351027
+    shoulder_marker_pose:
+      angle_rotation: 8.098672449806887
+      euclidean_error: -0.002852164962091175
+    wrist_inside_marker_pose:
+      angle_rotation: 26.598809414271205
+      euclidean_error: -0.004987981891373838
+    wrist_top_marker_pose:
+      angle_rotation: 11.249229429622131
+      euclidean_error: -0.003270081207311426
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6264255182246945
+      euclidean_error: -0.009656603851734835
+    base_right_marker_pose:
+      angle_rotation: 4.244734924351774
+      euclidean_error: -0.00805936000959806
+    shoulder_marker_pose:
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+      euclidean_error: -0.0027602875318037956
+    wrist_inside_marker_pose:
+      angle_rotation: 27.92947853194655
+      euclidean_error: -0.0043538470230045645
+    wrist_top_marker_pose:
+      angle_rotation: 11.319561599539115
+      euclidean_error: -0.0032614365402587886
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6006493238350883
+      euclidean_error: -0.009218179827827466
+    base_right_marker_pose:
+      angle_rotation: 4.236984645232622
+      euclidean_error: -0.007989825006218032
+    shoulder_marker_pose:
+      angle_rotation: 9.930088172422437
+      euclidean_error: -0.002942969029377407
+    wrist_inside_marker_pose:
+      angle_rotation: 28.466353293724193
+      euclidean_error: -0.004931718628389814
+    wrist_top_marker_pose:
+      angle_rotation: 13.193161846272508
+      euclidean_error: -0.0031536222338777176
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.133567081252505
+      euclidean_error: -0.009724407567388127
+    base_right_marker_pose:
+      angle_rotation: 4.1133822246640355
+      euclidean_error: -0.007808145423550794
+    shoulder_marker_pose:
+      angle_rotation: 11.804494245657922
+      euclidean_error: -0.0018597665099560068
+    wrist_inside_marker_pose:
+      angle_rotation: 27.42979796778102
+      euclidean_error: -0.004013388941926599
+    wrist_top_marker_pose:
+      angle_rotation: 19.70318457944878
+      euclidean_error: -0.0032679662353137795
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3116551422066003
+      euclidean_error: -0.009834419079085333
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.39495726037967
+      euclidean_error: -0.004923784970014555
+    wrist_top_marker_pose:
+      angle_rotation: 16.53413171656479
+      euclidean_error: -0.003627085756513604
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0472826572775724
+      euclidean_error: -0.009844320402400353
+    base_right_marker_pose:
+      angle_rotation: 4.6476103357037335
+      euclidean_error: -0.00791697037275274
+    shoulder_marker_pose:
+      angle_rotation: 11.29693390069041
+      euclidean_error: -0.0017770231988826213
+    wrist_inside_marker_pose:
+      angle_rotation: 27.353574659937056
+      euclidean_error: -0.0038508578854374864
+    wrist_top_marker_pose:
+      angle_rotation: 11.857220571452727
+      euclidean_error: -0.002517289947777779
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7403131651437396
+      euclidean_error: -0.009580964359925392
+    base_right_marker_pose:
+      angle_rotation: 3.300470179470673
+      euclidean_error: -0.008035299968221943
+    shoulder_marker_pose:
+      angle_rotation: 10.451667183083774
+      euclidean_error: -0.0019525365234517311
+    wrist_inside_marker_pose:
+      angle_rotation: 26.02388936064378
+      euclidean_error: -0.003948356708542766
+    wrist_top_marker_pose:
+      angle_rotation: 13.449665972081998
+      euclidean_error: -0.00091602017216319
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0528300837811266
+      euclidean_error: -0.009803396996519997
+    base_right_marker_pose:
+      angle_rotation: 3.7411924457355568
+      euclidean_error: -0.007996404888130249
+    shoulder_marker_pose:
+      angle_rotation: 8.6269369056088
+      euclidean_error: -0.0028534030554565604
+    wrist_inside_marker_pose:
+      angle_rotation: 26.476062352096434
+      euclidean_error: -0.003792986794119435
+    wrist_top_marker_pose:
+      angle_rotation: 13.395434601296444
+      euclidean_error: -0.0032503432016608436
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.661596811512257
+      euclidean_error: -0.009619537153519597
+    base_right_marker_pose:
+      angle_rotation: 4.45536949306253
+      euclidean_error: -0.008016276836806946
+    shoulder_marker_pose:
+      angle_rotation: 9.917070644604356
+      euclidean_error: -0.002681419833940213
+    wrist_inside_marker_pose:
+      angle_rotation: 25.132228138918624
+      euclidean_error: -0.004629213325167192
+    wrist_top_marker_pose:
+      angle_rotation: 11.125676784177026
+      euclidean_error: -0.0036815325342480776
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5826930999470632
+      euclidean_error: -0.010022893199184701
+    base_right_marker_pose:
+      angle_rotation: 3.7012842357400784
+      euclidean_error: -0.007738020856130956
+    shoulder_marker_pose:
+      angle_rotation: 7.022964905564173
+      euclidean_error: -0.0025719897810470016
+    wrist_inside_marker_pose:
+      angle_rotation: 22.667895274516674
+      euclidean_error: -0.003796839394649032
+    wrist_top_marker_pose:
+      angle_rotation: 12.955285786405309
+      euclidean_error: -0.0030128825642214974
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.870549627363325
+      euclidean_error: -0.009677452989411806
+    base_right_marker_pose:
+      angle_rotation: 5.238845622550717
+      euclidean_error: -0.00770071595752464
+    shoulder_marker_pose:
+      angle_rotation: 10.168529012300288
+      euclidean_error: -0.002482554808979076
+    wrist_inside_marker_pose:
+      angle_rotation: 27.378063488926234
+      euclidean_error: -0.00403958080114053
+    wrist_top_marker_pose:
+      angle_rotation: 12.856265634294624
+      euclidean_error: -0.003340053908739815
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.959501835803858
+      euclidean_error: -0.009470165249830353
+    base_right_marker_pose:
+      angle_rotation: 4.883743943995562
+      euclidean_error: -0.00807171031106868
+    shoulder_marker_pose:
+      angle_rotation: 13.383645651689415
+      euclidean_error: -0.003011407739125782
+    wrist_inside_marker_pose:
+      angle_rotation: 29.012970133101184
+      euclidean_error: -0.005199084328337156
+    wrist_top_marker_pose:
+      angle_rotation: 14.506635211308623
+      euclidean_error: -0.002712542412196095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8949412139084272
+      euclidean_error: -0.009581621319722178
+    base_right_marker_pose:
+      angle_rotation: 3.8106490838097358
+      euclidean_error: -0.007706437221901563
+    shoulder_marker_pose:
+      angle_rotation: 11.374898620974726
+      euclidean_error: -0.002346528439837292
+    wrist_inside_marker_pose:
+      angle_rotation: 25.932136082524618
+      euclidean_error: -0.0047558953412686344
+    wrist_top_marker_pose:
+      angle_rotation: 13.078885611257068
+      euclidean_error: -0.0038143062264199834
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1707100383735765
+      euclidean_error: -0.00966869545105542
+    base_right_marker_pose:
+      angle_rotation: 5.2294830344781404
+      euclidean_error: -0.0076736117988414065
+    shoulder_marker_pose:
+      angle_rotation: 7.5361632003318055
+      euclidean_error: -0.003729867029869327
+    wrist_inside_marker_pose:
+      angle_rotation: 25.421909060014947
+      euclidean_error: -0.005062886326031801
+    wrist_top_marker_pose:
+      angle_rotation: 15.166635673167505
+      euclidean_error: -0.005082644144144388
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4820907475388
+      euclidean_error: -0.00921252364241476
+    base_right_marker_pose:
+      angle_rotation: 3.0850549514666374
+      euclidean_error: -0.008510641421941911
+    shoulder_marker_pose:
+      angle_rotation: 14.900358979208834
+      euclidean_error: -0.0030759415604892926
+    wrist_inside_marker_pose:
+      angle_rotation: 26.178858650470662
+      euclidean_error: -0.00364756287211776
+    wrist_top_marker_pose:
+      angle_rotation: 9.210762132829913
+      euclidean_error: -0.004225045352867274
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3212740055246535
+      euclidean_error: -0.009357655233408813
+    base_right_marker_pose:
+      angle_rotation: 4.272419534715419
+      euclidean_error: -0.007895163106363623
+    shoulder_marker_pose:
+      angle_rotation: 11.50910422880674
+      euclidean_error: -0.002507633548782251
+    wrist_inside_marker_pose:
+      angle_rotation: 26.651173286392893
+      euclidean_error: -0.003356842525236381
+    wrist_top_marker_pose:
+      angle_rotation: 15.510023814538426
+      euclidean_error: -0.0021466473600021407
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1680951581254946
+      euclidean_error: -0.009325202842990321
+    base_right_marker_pose:
+      angle_rotation: 5.072538721433037
+      euclidean_error: -0.007894211006692187
+    shoulder_marker_pose:
+      angle_rotation: 13.106533623996105
+      euclidean_error: -0.003721266055216277
+    wrist_inside_marker_pose:
+      angle_rotation: 25.66209200431345
+      euclidean_error: -0.004657629916682615
+    wrist_top_marker_pose:
+      angle_rotation: 18.820495169243923
+      euclidean_error: -0.0027635987385931093
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.878096502304162
+      euclidean_error: -0.009431161644469
+    base_right_marker_pose:
+      angle_rotation: 4.2641097760237585
+      euclidean_error: -0.007693892863705254
+    shoulder_marker_pose:
+      angle_rotation: 5.322041374881215
+      euclidean_error: -0.003775254905425518
+    wrist_inside_marker_pose:
+      angle_rotation: 27.02540614296615
+      euclidean_error: -0.0033373150588205114
+    wrist_top_marker_pose:
+      angle_rotation: 11.349126457053217
+      euclidean_error: -0.0029666125117577824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.281138441718876
+      euclidean_error: -0.009719122369270083
+    base_right_marker_pose:
+      angle_rotation: 4.240617753918721
+      euclidean_error: -0.007901597556997708
+    shoulder_marker_pose:
+      angle_rotation: 14.088524578821621
+      euclidean_error: -0.002159944427119087
+    wrist_inside_marker_pose:
+      angle_rotation: 27.841263726883152
+      euclidean_error: -0.0038689226730038717
+    wrist_top_marker_pose:
+      angle_rotation: 17.333173974840427
+      euclidean_error: -0.0028752340304079027
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1456894997640035
+      euclidean_error: -0.010000820054702375
+    base_right_marker_pose:
+      angle_rotation: 3.4270318826184134
+      euclidean_error: -0.007830863539312394
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.52724194254372
+      euclidean_error: -0.004361051019201478
+    wrist_top_marker_pose:
+      angle_rotation: 12.004344738728673
+      euclidean_error: -0.003369953376542334
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6068340166913555
+      euclidean_error: -0.009666202059355977
+    base_right_marker_pose:
+      angle_rotation: 3.6473988010731357
+      euclidean_error: -0.007852576123576815
+    shoulder_marker_pose:
+      angle_rotation: 14.885074872797823
+      euclidean_error: -0.0017186181384548638
+    wrist_inside_marker_pose:
+      angle_rotation: 25.80689293972472
+      euclidean_error: -0.00418324631825584
+    wrist_top_marker_pose:
+      angle_rotation: 15.185871091762113
+      euclidean_error: -0.00199527770987451
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0970325969945596
+      euclidean_error: -0.009784764543990021
+    base_right_marker_pose:
+      angle_rotation: 4.33193341286974
+      euclidean_error: -0.007881249873837315
+    shoulder_marker_pose:
+      angle_rotation: 12.559390102448539
+      euclidean_error: -0.0027529715373987296
+    wrist_inside_marker_pose:
+      angle_rotation: 26.424086286683604
+      euclidean_error: -0.003671386510735841
+    wrist_top_marker_pose:
+      angle_rotation: 13.121077171626698
+      euclidean_error: -0.0033663962265176872
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6251587493887496
+      euclidean_error: -0.009647553665905084
+    base_right_marker_pose:
+      angle_rotation: 3.070727602195678
+      euclidean_error: -0.0081648310630702
+    shoulder_marker_pose:
+      angle_rotation: 8.305810957479592
+      euclidean_error: -0.0026253471560561126
+    wrist_inside_marker_pose:
+      angle_rotation: 27.47510077315256
+      euclidean_error: -0.0038592851139529483
+    wrist_top_marker_pose:
+      angle_rotation: 17.22512435066279
+      euclidean_error: -0.003970766484802435
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.051568310410222
+      euclidean_error: -0.009720794244334585
+    base_right_marker_pose:
+      angle_rotation: 2.968165876355077
+      euclidean_error: -0.007936724638240023
+    shoulder_marker_pose:
+      angle_rotation: 11.216131386841218
+      euclidean_error: -0.00140773795609217
+    wrist_inside_marker_pose:
+      angle_rotation: 30.213646819797166
+      euclidean_error: -0.004186788648356643
+    wrist_top_marker_pose:
+      angle_rotation: 19.448211463785253
+      euclidean_error: -0.0017190142459344582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0608661688275047
+      euclidean_error: -0.009643953654803195
+    base_right_marker_pose:
+      angle_rotation: 4.662560316643895
+      euclidean_error: -0.007031824815293852
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.249063310711254
+      euclidean_error: -0.004379938289082452
+    wrist_top_marker_pose:
+      angle_rotation: 12.524092850451169
+      euclidean_error: -0.0030259305044531004
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.081796462602189
+      euclidean_error: -0.009774269352768705
+    base_right_marker_pose:
+      angle_rotation: 5.927519860002763
+      euclidean_error: -0.007806520537514849
+    shoulder_marker_pose:
+      angle_rotation: 7.831942359179567
+      euclidean_error: -0.0023768776337723674
+    wrist_inside_marker_pose:
+      angle_rotation: 30.01893849298292
+      euclidean_error: -0.003920283887431819
+    wrist_top_marker_pose:
+      angle_rotation: 10.646307361765217
+      euclidean_error: -0.0019153347280113087
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2850364296071026
+      euclidean_error: -0.009629948489710771
+    base_right_marker_pose:
+      angle_rotation: 2.983285803805766
+      euclidean_error: -0.008372100473155508
+    shoulder_marker_pose:
+      angle_rotation: 11.467655348022989
+      euclidean_error: -0.002297304455506799
+    wrist_inside_marker_pose:
+      angle_rotation: 29.159720686436803
+      euclidean_error: -0.0034647790730677475
+    wrist_top_marker_pose:
+      angle_rotation: 17.75469717054798
+      euclidean_error: -0.0026215864593920335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.969762974411672
+      euclidean_error: -0.009482498878305545
+    base_right_marker_pose:
+      angle_rotation: 4.653243567796131
+      euclidean_error: -0.007661173231780616
+    shoulder_marker_pose:
+      angle_rotation: 7.805562586460818
+      euclidean_error: -0.0021371964417965517
+    wrist_inside_marker_pose:
+      angle_rotation: 26.344212136676983
+      euclidean_error: -0.004952144201696762
+    wrist_top_marker_pose:
+      angle_rotation: 13.89263491243895
+      euclidean_error: -0.002902078295143218
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1170265692595427
+      euclidean_error: -0.009585394657490975
+    base_right_marker_pose:
+      angle_rotation: 4.2003273676322905
+      euclidean_error: -0.00784451085290061
+    shoulder_marker_pose:
+      angle_rotation: 15.592429294295643
+      euclidean_error: -0.0024619147151062615
+    wrist_inside_marker_pose:
+      angle_rotation: 28.809597171207514
+      euclidean_error: -0.0032713809250604076
+    wrist_top_marker_pose:
+      angle_rotation: 18.967452550636192
+      euclidean_error: -0.0010955589153136547
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.557054815409458
+      euclidean_error: -0.009829341928307977
+    base_right_marker_pose:
+      angle_rotation: 4.743296549735988
+      euclidean_error: -0.00794106079470036
+    shoulder_marker_pose:
+      angle_rotation: 11.316131228058762
+      euclidean_error: -0.002732946550867421
+    wrist_inside_marker_pose:
+      angle_rotation: 30.50080317257102
+      euclidean_error: -0.0032988793803038208
+    wrist_top_marker_pose:
+      angle_rotation: 17.72450097533337
+      euclidean_error: -0.002253756532437534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.04976542279782
+      euclidean_error: -0.009836618037759481
+    base_right_marker_pose:
+      angle_rotation: 3.854549274208931
+      euclidean_error: -0.007760235817028116
+    shoulder_marker_pose:
+      angle_rotation: 15.080902647063896
+      euclidean_error: -0.001795573517133553
+    wrist_inside_marker_pose:
+      angle_rotation: 25.819884307118024
+      euclidean_error: -0.004315028949458122
+    wrist_top_marker_pose:
+      angle_rotation: 14.25516274480237
+      euclidean_error: -0.0017377657354736842
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.36694870689257
+      euclidean_error: -0.009633609385956698
+    base_right_marker_pose:
+      angle_rotation: 5.048162214222793
+      euclidean_error: -0.007729101235289582
+    shoulder_marker_pose:
+      angle_rotation: 17.65156369779965
+      euclidean_error: -0.0032949177538107444
+    wrist_inside_marker_pose:
+      angle_rotation: 27.216497488067194
+      euclidean_error: -0.003678469894384029
+    wrist_top_marker_pose:
+      angle_rotation: 16.90439648657165
+      euclidean_error: -0.0025895824940473933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0247524452840158
+      euclidean_error: -0.009789969001434917
+    base_right_marker_pose:
+      angle_rotation: 5.5420589378012926
+      euclidean_error: -0.007258249826058938
+    shoulder_marker_pose:
+      angle_rotation: 12.897690218421895
+      euclidean_error: -0.001772920040219672
+    wrist_inside_marker_pose:
+      angle_rotation: 29.205417394651707
+      euclidean_error: -0.0036374027912788875
+    wrist_top_marker_pose:
+      angle_rotation: 15.599411045083105
+      euclidean_error: -0.0027812603997802166
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.688780689382774
+      euclidean_error: -0.009368690565611182
+    base_right_marker_pose:
+      angle_rotation: 4.887837784474183
+      euclidean_error: -0.007738761945518036
+    shoulder_marker_pose:
+      angle_rotation: 9.734541497478855
+      euclidean_error: -0.0035586368769982
+    wrist_inside_marker_pose:
+      angle_rotation: 27.004333227857913
+      euclidean_error: -0.0040391654791516185
+    wrist_top_marker_pose:
+      angle_rotation: 16.92183278927854
+      euclidean_error: -0.0033515093658664785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.964835437909362
+      euclidean_error: -0.009783373301546328
+    base_right_marker_pose:
+      angle_rotation: 4.366876259557015
+      euclidean_error: -0.007966657551366052
+    shoulder_marker_pose:
+      angle_rotation: 12.898345499508912
+      euclidean_error: -0.001443761828090473
+    wrist_inside_marker_pose:
+      angle_rotation: 26.517791742312316
+      euclidean_error: -0.004664142795046788
+    wrist_top_marker_pose:
+      angle_rotation: 10.65932828225173
+      euclidean_error: -0.002138600892524156
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.86508088697425
+      euclidean_error: -0.009863141093003347
+    base_right_marker_pose:
+      angle_rotation: 2.5781755491065343
+      euclidean_error: -0.00828219216475834
+    shoulder_marker_pose:
+      angle_rotation: 13.478929651489116
+      euclidean_error: -0.0021205408798407044
+    wrist_inside_marker_pose:
+      angle_rotation: 30.668832843466753
+      euclidean_error: -0.002904283228036819
+    wrist_top_marker_pose:
+      angle_rotation: 15.825579568915725
+      euclidean_error: -0.0019430784009917268
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.474537316984437
+      euclidean_error: -0.009777172121675393
+    base_right_marker_pose:
+      angle_rotation: 3.5437908759715295
+      euclidean_error: -0.0075716621934509565
+    shoulder_marker_pose:
+      angle_rotation: 9.760088287478753
+      euclidean_error: -0.002650503119166814
+    wrist_inside_marker_pose:
+      angle_rotation: 24.86406338783542
+      euclidean_error: -0.004115378285621807
+    wrist_top_marker_pose:
+      angle_rotation: 14.413361940553012
+      euclidean_error: -0.0026546416817938567
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.305886193857027
+      euclidean_error: -0.009542406446424012
+    base_right_marker_pose:
+      angle_rotation: 3.0994181064206647
+      euclidean_error: -0.008067699362617198
+    shoulder_marker_pose:
+      angle_rotation: 7.837836313235935
+      euclidean_error: -0.0031667872794999274
+    wrist_inside_marker_pose:
+      angle_rotation: 25.097370845453522
+      euclidean_error: -0.005101865260444538
+    wrist_top_marker_pose:
+      angle_rotation: 6.235082576535344
+      euclidean_error: -0.0030641104899741256
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7230635548422333
+      euclidean_error: -0.009732960878146457
+    base_right_marker_pose:
+      angle_rotation: 4.315566662821417
+      euclidean_error: -0.007839480002459487
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.909893173957208
+      euclidean_error: -0.0049465168946516425
+    wrist_top_marker_pose:
+      angle_rotation: 17.55086888761612
+      euclidean_error: -0.003776170732732842
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9084696433020762
+      euclidean_error: -0.009788135600903192
+    base_right_marker_pose:
+      angle_rotation: 3.317509930318938
+      euclidean_error: -0.007995113168202117
+    shoulder_marker_pose:
+      angle_rotation: 9.714216173925731
+      euclidean_error: -0.0035558194710298974
+    wrist_inside_marker_pose:
+      angle_rotation: 26.317872442856647
+      euclidean_error: -0.0040473138436820655
+    wrist_top_marker_pose:
+      angle_rotation: 13.868579434792613
+      euclidean_error: -0.004189324541626127
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1410471570490675
+      euclidean_error: -0.009649470065715593
+    base_right_marker_pose:
+      angle_rotation: 3.0686228782630036
+      euclidean_error: -0.00823775349309519
+    shoulder_marker_pose:
+      angle_rotation: 6.631259413679462
+      euclidean_error: -0.0014948184690524169
+    wrist_inside_marker_pose:
+      angle_rotation: 28.663512738717074
+      euclidean_error: -0.0034841604350955846
+    wrist_top_marker_pose:
+      angle_rotation: 13.383846450794751
+      euclidean_error: -0.002401635816651315
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.752830662719171
+      euclidean_error: -0.009779971903688733
+    base_right_marker_pose:
+      angle_rotation: 3.258100045129279
+      euclidean_error: -0.007969038062135336
+    shoulder_marker_pose:
+      angle_rotation: 11.590481435200921
+      euclidean_error: -0.0018808818020517037
+    wrist_inside_marker_pose:
+      angle_rotation: 26.365644766052267
+      euclidean_error: -0.004176798161463768
+    wrist_top_marker_pose:
+      angle_rotation: 17.76385884835133
+      euclidean_error: -0.0028384875013316435
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.568834723042076
+      euclidean_error: -0.009951877278600585
+    base_right_marker_pose:
+      angle_rotation: 4.470981021188553
+      euclidean_error: -0.007924179918426422
+    shoulder_marker_pose:
+      angle_rotation: 9.776477821189562
+      euclidean_error: -0.002780395718655959
+    wrist_inside_marker_pose:
+      angle_rotation: 24.590540861448925
+      euclidean_error: -0.005540710308878372
+    wrist_top_marker_pose:
+      angle_rotation: 8.86966657310646
+      euclidean_error: -0.003345434824643112
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.568072752814685
+      euclidean_error: -0.009677333161233648
+    base_right_marker_pose:
+      angle_rotation: 4.5568323605906125
+      euclidean_error: -0.007633286265852024
+    shoulder_marker_pose:
+      angle_rotation: 10.353128475081856
+      euclidean_error: -0.0013368149730769163
+    wrist_inside_marker_pose:
+      angle_rotation: 27.487284521998276
+      euclidean_error: -0.004480245128432925
+    wrist_top_marker_pose:
+      angle_rotation: 16.22408598909707
+      euclidean_error: -0.003268309484882881
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.886733257907512
+      euclidean_error: -0.00975869092463788
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 14.23063729540788
+      euclidean_error: -0.0012237380179405122
+    wrist_inside_marker_pose:
+      angle_rotation: 25.688890153407005
+      euclidean_error: -0.004343794837027959
+    wrist_top_marker_pose:
+      angle_rotation: 15.000699970593349
+      euclidean_error: -0.001949906829054271
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1732045737267933
+      euclidean_error: -0.009719423397722582
+    base_right_marker_pose:
+      angle_rotation: 4.378525066965885
+      euclidean_error: -0.007746892704746822
+    shoulder_marker_pose:
+      angle_rotation: 9.984782890171822
+      euclidean_error: -0.0015291353256302598
+    wrist_inside_marker_pose:
+      angle_rotation: 27.152902246857845
+      euclidean_error: -0.0042351569830052505
+    wrist_top_marker_pose:
+      angle_rotation: 13.605883089507953
+      euclidean_error: -0.003412870884913488
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.072070274098809
+      euclidean_error: -0.00969172580991795
+    base_right_marker_pose:
+      angle_rotation: 4.162784497612991
+      euclidean_error: -0.00790171727381439
+    shoulder_marker_pose:
+      angle_rotation: 10.933945973248942
+      euclidean_error: -0.002888683870502784
+    wrist_inside_marker_pose:
+      angle_rotation: 27.58252185934365
+      euclidean_error: -0.0038588337933300743
+    wrist_top_marker_pose:
+      angle_rotation: 13.917903510382168
+      euclidean_error: -0.003117967365944607
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1276871119089233
+      euclidean_error: -0.01008344678286155
+    base_right_marker_pose:
+      angle_rotation: 4.383750393924714
+      euclidean_error: -0.00787889778529316
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.992996001579833
+      euclidean_error: -0.0035444741469512486
+    wrist_top_marker_pose:
+      angle_rotation: 16.416559574150565
+      euclidean_error: -0.001513975759417141
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.976784558278877
+      euclidean_error: -0.009937049619802685
+    base_right_marker_pose:
+      angle_rotation: 4.368121946210185
+      euclidean_error: -0.007830137044852581
+    shoulder_marker_pose:
+      angle_rotation: 9.74139294525143
+      euclidean_error: -0.002976415645989383
+    wrist_inside_marker_pose:
+      angle_rotation: 27.99376519270153
+      euclidean_error: -0.0048031013526314
+    wrist_top_marker_pose:
+      angle_rotation: 14.930553705783437
+      euclidean_error: -0.003754704632291994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.82995183123791
+      euclidean_error: -0.009764223936220007
+    base_right_marker_pose:
+      angle_rotation: 4.490356755710189
+      euclidean_error: -0.007703777287327518
+    shoulder_marker_pose:
+      angle_rotation: 9.755691141019788
+      euclidean_error: -0.0025007111050562303
+    wrist_inside_marker_pose:
+      angle_rotation: 28.715684137414392
+      euclidean_error: -0.002705700807869138
+    wrist_top_marker_pose:
+      angle_rotation: 16.713428648588515
+      euclidean_error: -0.0007901371197774898
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4135266674693834
+      euclidean_error: -0.00991392662028745
+    base_right_marker_pose:
+      angle_rotation: 3.5675980066262034
+      euclidean_error: -0.00809849453428424
+    shoulder_marker_pose:
+      angle_rotation: 9.604478883546578
+      euclidean_error: -0.002340634071277381
+    wrist_inside_marker_pose:
+      angle_rotation: 26.64211223309082
+      euclidean_error: -0.003979268416936743
+    wrist_top_marker_pose:
+      angle_rotation: 12.27223092546931
+      euclidean_error: -0.002127651975433298
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1072904420793868
+      euclidean_error: -0.00983873541889857
+    base_right_marker_pose:
+      angle_rotation: 4.4864915959488645
+      euclidean_error: -0.008044297413530632
+    shoulder_marker_pose:
+      angle_rotation: 7.419271375352872
+      euclidean_error: -0.002559376369921429
+    wrist_inside_marker_pose:
+      angle_rotation: 26.7416397125969
+      euclidean_error: -0.003940671805795937
+    wrist_top_marker_pose:
+      angle_rotation: 13.29542806335852
+      euclidean_error: -0.003284178768724666
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6621272725731977
+      euclidean_error: -0.009706127809189335
+    base_right_marker_pose:
+      angle_rotation: 5.388255044593305
+      euclidean_error: -0.007945882633354051
+    shoulder_marker_pose:
+      angle_rotation: 13.798139356984905
+      euclidean_error: -0.002036275760946449
+    wrist_inside_marker_pose:
+      angle_rotation: 28.510859808714866
+      euclidean_error: -0.004693526569919393
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7670426831010304
+      euclidean_error: -0.009689929486959348
+    base_right_marker_pose:
+      angle_rotation: 3.7436014220866602
+      euclidean_error: -0.008167933972271668
+    shoulder_marker_pose:
+      angle_rotation: 7.777198602775856
+      euclidean_error: -0.0032671320147553695
+    wrist_inside_marker_pose:
+      angle_rotation: 27.899349859344348
+      euclidean_error: -0.00480280238087516
+    wrist_top_marker_pose:
+      angle_rotation: 10.876702638841525
+      euclidean_error: -0.002274373239935623
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.150683208086637
+      euclidean_error: -0.009888205535022121
+    base_right_marker_pose:
+      angle_rotation: 3.992106270572074
+      euclidean_error: -0.007733333161666023
+    shoulder_marker_pose:
+      angle_rotation: 12.547736576068353
+      euclidean_error: -0.002606137298987621
+    wrist_inside_marker_pose:
+      angle_rotation: 24.010975112728506
+      euclidean_error: -0.004597817440726848
+    wrist_top_marker_pose:
+      angle_rotation: 7.748422195720205
+      euclidean_error: -0.0033288191070146578
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.099960341412328
+      euclidean_error: -0.009758453426062186
+    base_right_marker_pose:
+      angle_rotation: 6.048779338194785
+      euclidean_error: -0.007534658369734548
+    shoulder_marker_pose:
+      angle_rotation: 11.674743418602567
+      euclidean_error: -0.002491762906038031
+    wrist_inside_marker_pose:
+      angle_rotation: 26.40267436417883
+      euclidean_error: -0.005265768136243021
+    wrist_top_marker_pose:
+      angle_rotation: 12.864562637026813
+      euclidean_error: -0.00278228267671754
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1540272274728145
+      euclidean_error: -0.009693551977655646
+    base_right_marker_pose:
+      angle_rotation: 4.592361341221712
+      euclidean_error: -0.007447770848442392
+    shoulder_marker_pose:
+      angle_rotation: 16.016778763097097
+      euclidean_error: -0.001637705528239497
+    wrist_inside_marker_pose:
+      angle_rotation: 28.921942254646897
+      euclidean_error: -0.003578397163008229
+    wrist_top_marker_pose:
+      angle_rotation: 13.911555450509368
+      euclidean_error: -0.0023808973420522683
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.936267150654431
+      euclidean_error: -0.00990416736240507
+    base_right_marker_pose:
+      angle_rotation: 4.014104465073406
+      euclidean_error: -0.008005748840105076
+    shoulder_marker_pose:
+      angle_rotation: 8.017207551449774
+      euclidean_error: -0.0020913397324588967
+    wrist_inside_marker_pose:
+      angle_rotation: 25.297631131102044
+      euclidean_error: -0.004333046674223406
+    wrist_top_marker_pose:
+      angle_rotation: 17.313897056904157
+      euclidean_error: -0.0033486110604077357
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.268988874432709
+      euclidean_error: -0.00940437388990445
+    base_right_marker_pose:
+      angle_rotation: 4.033790882520988
+      euclidean_error: -0.008354402502317004
+    shoulder_marker_pose:
+      angle_rotation: 8.998377705997443
+      euclidean_error: -0.003742830866386604
+    wrist_inside_marker_pose:
+      angle_rotation: 26.444941788374802
+      euclidean_error: -0.004845642803184225
+    wrist_top_marker_pose:
+      angle_rotation: 14.21552062636509
+      euclidean_error: -0.003954116448802392
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0199499249057564
+      euclidean_error: -0.009809017363712536
+    base_right_marker_pose:
+      angle_rotation: 4.563450275300582
+      euclidean_error: -0.007911367479163212
+    shoulder_marker_pose:
+      angle_rotation: 7.6020371888990335
+      euclidean_error: -0.002634281968700969
+    wrist_inside_marker_pose:
+      angle_rotation: 25.071070250301382
+      euclidean_error: -0.005440514192892154
+    wrist_top_marker_pose:
+      angle_rotation: 13.006455789376027
+      euclidean_error: -0.0037177249473340224
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.071194771301311
+      euclidean_error: -0.009711536198545256
+    base_right_marker_pose:
+      angle_rotation: 2.944070994823163
+      euclidean_error: -0.008176845448588321
+    shoulder_marker_pose:
+      angle_rotation: 11.714024992070428
+      euclidean_error: -0.0020102884057189296
+    wrist_inside_marker_pose:
+      angle_rotation: 27.659429772014036
+      euclidean_error: -0.004194801468514586
+    wrist_top_marker_pose:
+      angle_rotation: 20.234425271140992
+      euclidean_error: -0.0029361137314452
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4969810119315703
+      euclidean_error: -0.009857355092789288
+    base_right_marker_pose:
+      angle_rotation: 2.759616642230069
+      euclidean_error: -0.00841258491392638
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.503046277161257
+      euclidean_error: -0.0048074416108373486
+    wrist_top_marker_pose:
+      angle_rotation: 9.196741047883233
+      euclidean_error: -0.0028066446747192497
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3188260601496573
+      euclidean_error: -0.009862352766536464
+    base_right_marker_pose:
+      angle_rotation: 3.852923548730194
+      euclidean_error: -0.007722040260497054
+    shoulder_marker_pose:
+      angle_rotation: 7.7712123775332795
+      euclidean_error: -0.0015991933591742447
+    wrist_inside_marker_pose:
+      angle_rotation: 25.618633869679723
+      euclidean_error: -0.003528596506435333
+    wrist_top_marker_pose:
+      angle_rotation: 9.431150332217232
+      euclidean_error: -0.0026513296043552126
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.164861786241724
+      euclidean_error: -0.009517759489869215
+    base_right_marker_pose:
+      angle_rotation: 4.82991534900474
+      euclidean_error: -0.007816361135449368
+    shoulder_marker_pose:
+      angle_rotation: 6.840159409040633
+      euclidean_error: -0.0019678502471046633
+    wrist_inside_marker_pose:
+      angle_rotation: 29.93381130568394
+      euclidean_error: -0.004715349170684724
+    wrist_top_marker_pose:
+      angle_rotation: 14.680295158964546
+      euclidean_error: -0.003366683434723128
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3952303385114564
+      euclidean_error: -0.00971173756505539
+    base_right_marker_pose:
+      angle_rotation: 6.139989244506581
+      euclidean_error: -0.007603431501453817
+    shoulder_marker_pose:
+      angle_rotation: 11.025490624042238
+      euclidean_error: -0.002181163163809341
+    wrist_inside_marker_pose:
+      angle_rotation: 27.968953580437475
+      euclidean_error: -0.0034099020760464116
+    wrist_top_marker_pose:
+      angle_rotation: 10.85781307919052
+      euclidean_error: -0.002416935559110489
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5614280177110285
+      euclidean_error: -0.009563760550565625
+    base_right_marker_pose:
+      angle_rotation: 5.321618440964449
+      euclidean_error: -0.007614439056904843
+    shoulder_marker_pose:
+      angle_rotation: 10.61678923958288
+      euclidean_error: -0.0023723587841636418
+    wrist_inside_marker_pose:
+      angle_rotation: 26.43636863584424
+      euclidean_error: -0.005521328193670794
+    wrist_top_marker_pose:
+      angle_rotation: 9.678135496137058
+      euclidean_error: -0.003693032267879759
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9141148350883066
+      euclidean_error: -0.009836253352010438
+    base_right_marker_pose:
+      angle_rotation: 2.6233743571326484
+      euclidean_error: -0.008437371165371355
+    shoulder_marker_pose:
+      angle_rotation: 10.782822505776315
+      euclidean_error: -0.0023353879913705633
+    wrist_inside_marker_pose:
+      angle_rotation: 27.385611276553476
+      euclidean_error: -0.003775205297744555
+    wrist_top_marker_pose:
+      angle_rotation: 14.71434951822257
+      euclidean_error: -0.0033305173903477314
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.193427513615597
+      euclidean_error: -0.009649111994595172
+    base_right_marker_pose:
+      angle_rotation: 5.042081056691362
+      euclidean_error: -0.007693331284371108
+    shoulder_marker_pose:
+      angle_rotation: 9.495188833437803
+      euclidean_error: -0.0022981457832155217
+    wrist_inside_marker_pose:
+      angle_rotation: 30.204510161883128
+      euclidean_error: -0.0033491536763826657
+    wrist_top_marker_pose:
+      angle_rotation: 17.312787029606962
+      euclidean_error: -0.003047996527457242
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5746447708976135
+      euclidean_error: -0.00950338534588624
+    base_right_marker_pose:
+      angle_rotation: 4.693480479984102
+      euclidean_error: -0.007799191285133511
+    shoulder_marker_pose:
+      angle_rotation: 11.541080375011427
+      euclidean_error: -0.0008296640003231381
+    wrist_inside_marker_pose:
+      angle_rotation: 29.17368190054165
+      euclidean_error: -0.0036776352857923467
+    wrist_top_marker_pose:
+      angle_rotation: 18.571320263626212
+      euclidean_error: -0.0013871583116340513
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.053691992837434
+      euclidean_error: -0.009571090197394994
+    base_right_marker_pose:
+      angle_rotation: 4.818038913233676
+      euclidean_error: -0.007625146890859247
+    shoulder_marker_pose:
+      angle_rotation: 17.795703244486393
+      euclidean_error: -0.0009647418220727344
+    wrist_inside_marker_pose:
+      angle_rotation: 24.86609110547005
+      euclidean_error: -0.003455370553299031
+    wrist_top_marker_pose:
+      angle_rotation: 11.974600999569839
+      euclidean_error: -0.0008815997599020964
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5819808552644874
+      euclidean_error: -0.009497410466016487
+    base_right_marker_pose:
+      angle_rotation: 4.379360011650338
+      euclidean_error: -0.007101080058491638
+    shoulder_marker_pose:
+      angle_rotation: 9.305422755188433
+      euclidean_error: -0.0021695003163756388
+    wrist_inside_marker_pose:
+      angle_rotation: 25.28430345838964
+      euclidean_error: -0.00450703377825834
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.5908357201434935
+      euclidean_error: -0.009363589496878655
+    base_right_marker_pose:
+      angle_rotation: 3.9529775670481784
+      euclidean_error: -0.007836649384075023
+    shoulder_marker_pose:
+      angle_rotation: 10.182966478557143
+      euclidean_error: -0.001357127783519041
+    wrist_inside_marker_pose:
+      angle_rotation: 28.11266747645689
+      euclidean_error: -0.0031871382926463854
+    wrist_top_marker_pose:
+      angle_rotation: 16.22615885395848
+      euclidean_error: -0.0013973441657736396
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3638530244311045
+      euclidean_error: -0.009575433625150787
+    base_right_marker_pose:
+      angle_rotation: 3.760829699646779
+      euclidean_error: -0.007667906018334003
+    shoulder_marker_pose:
+      angle_rotation: 14.302860131969295
+      euclidean_error: -0.0003870269418055905
+    wrist_inside_marker_pose:
+      angle_rotation: 26.266833858702153
+      euclidean_error: -0.0028565669320225195
+    wrist_top_marker_pose:
+      angle_rotation: 18.910076109724375
+      euclidean_error: -0.002067239669171883
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8840841458678765
+      euclidean_error: -0.009551814077700116
+    base_right_marker_pose:
+      angle_rotation: 5.873755973649701
+      euclidean_error: -0.007461426213625111
+    shoulder_marker_pose:
+      angle_rotation: 6.536070106998325
+      euclidean_error: -0.0013894841018141646
+    wrist_inside_marker_pose:
+      angle_rotation: 29.35255637518699
+      euclidean_error: -0.0035259524411387355
+    wrist_top_marker_pose:
+      angle_rotation: 14.359149947146603
+      euclidean_error: -0.0012782345228365966
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8289498020866493
+      euclidean_error: -0.009482471700270612
+    base_right_marker_pose:
+      angle_rotation: 4.585289761092873
+      euclidean_error: -0.00750541436635388
+    shoulder_marker_pose:
+      angle_rotation: 13.217991086541106
+      euclidean_error: -0.0010428562431412658
+    wrist_inside_marker_pose:
+      angle_rotation: 27.076451067865772
+      euclidean_error: -0.0042718802837218295
+    wrist_top_marker_pose:
+      angle_rotation: 14.069990697282874
+      euclidean_error: -0.0026029607678296207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.064846359343194
+      euclidean_error: -0.009442348773445852
+    base_right_marker_pose:
+      angle_rotation: 3.3461148327669883
+      euclidean_error: -0.007872930235922615
+    shoulder_marker_pose:
+      angle_rotation: 10.439346509315998
+      euclidean_error: -0.0012928512215553134
+    wrist_inside_marker_pose:
+      angle_rotation: 23.88296848671966
+      euclidean_error: -0.0034003053086627544
+    wrist_top_marker_pose:
+      angle_rotation: 14.718382259044626
+      euclidean_error: -0.0008552832891480788
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0254673242370504
+      euclidean_error: -0.009669767277785346
+    base_right_marker_pose:
+      angle_rotation: 4.35127472421652
+      euclidean_error: -0.007889560010918562
+    shoulder_marker_pose:
+      angle_rotation: 12.39520126534605
+      euclidean_error: -0.0020450120915529446
+    wrist_inside_marker_pose:
+      angle_rotation: 30.632041618554485
+      euclidean_error: -0.0023664053432255194
+    wrist_top_marker_pose:
+      angle_rotation: 19.142763191536996
+      euclidean_error: -0.0030846980125336376
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.744002043270725
+      euclidean_error: -0.009780812172019315
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 10.79635134194479
+      euclidean_error: -0.001443264350133533
+    wrist_inside_marker_pose:
+      angle_rotation: 27.371977242107175
+      euclidean_error: -0.003864241395170831
+    wrist_top_marker_pose:
+      angle_rotation: 13.69433976398183
+      euclidean_error: -0.002609783113274866
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6395332689630644
+      euclidean_error: -0.009555028336717841
+    base_right_marker_pose:
+      angle_rotation: 4.5926337132164194
+      euclidean_error: -0.007636946750893658
+    shoulder_marker_pose:
+      angle_rotation: 9.456622468211334
+      euclidean_error: -0.003117156669947052
+    wrist_inside_marker_pose:
+      angle_rotation: 28.718751700785823
+      euclidean_error: -0.005008434333242495
+    wrist_top_marker_pose:
+      angle_rotation: 11.044391547890626
+      euclidean_error: -0.003133385705346492
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7492445405035104
+      euclidean_error: -0.009530898501565965
+    base_right_marker_pose:
+      angle_rotation: 3.27083964788953
+      euclidean_error: -0.008051664027368677
+    shoulder_marker_pose:
+      angle_rotation: 10.562041896414588
+      euclidean_error: -0.0018887388171017205
+    wrist_inside_marker_pose:
+      angle_rotation: 27.438340962152182
+      euclidean_error: -0.0033010510407002203
+    wrist_top_marker_pose:
+      angle_rotation: 15.707176790809669
+      euclidean_error: -0.0025339062215125052
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.335672468257931
+      euclidean_error: -0.009421701764236845
+    base_right_marker_pose:
+      angle_rotation: 3.688345780382688
+      euclidean_error: -0.00807745146468497
+    shoulder_marker_pose:
+      angle_rotation: 11.646506543415319
+      euclidean_error: -0.002196543203822676
+    wrist_inside_marker_pose:
+      angle_rotation: 25.266555662752904
+      euclidean_error: -0.004078141998065332
+    wrist_top_marker_pose:
+      angle_rotation: 16.83045755880753
+      euclidean_error: -0.0027912022188146812
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5423064557582453
+      euclidean_error: -0.009687288800960148
+    base_right_marker_pose:
+      angle_rotation: 4.78310399312452
+      euclidean_error: -0.007881753023582183
+    shoulder_marker_pose:
+      angle_rotation: 9.621702392612763
+      euclidean_error: -0.002178083983457535
+    wrist_inside_marker_pose:
+      angle_rotation: 28.52408376340346
+      euclidean_error: -0.0030677555070339757
+    wrist_top_marker_pose:
+      angle_rotation: 15.902099126389873
+      euclidean_error: -0.0018224070112973223
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.825074609168569
+      euclidean_error: -0.009526282482595905
+    base_right_marker_pose:
+      angle_rotation: 3.929742536805576
+      euclidean_error: -0.007984984197661138
+    shoulder_marker_pose:
+      angle_rotation: 10.637746294618426
+      euclidean_error: -0.0013493756621493214
+    wrist_inside_marker_pose:
+      angle_rotation: 29.299785669342114
+      euclidean_error: -0.004558868178213382
+    wrist_top_marker_pose:
+      angle_rotation: 19.31509984878533
+      euclidean_error: -0.002224707415732108
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0403831744641483
+      euclidean_error: -0.009775570153881752
+    base_right_marker_pose:
+      angle_rotation: 3.5551440450946292
+      euclidean_error: -0.007678313971929418
+    shoulder_marker_pose:
+      angle_rotation: 11.059233327304677
+      euclidean_error: -0.0020953793695089873
+    wrist_inside_marker_pose:
+      angle_rotation: 25.123812622763253
+      euclidean_error: -0.004501634350082329
+    wrist_top_marker_pose:
+      angle_rotation: 18.935378348036352
+      euclidean_error: -0.003266049031850904
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.972529143183306
+      euclidean_error: -0.009783469290070346
+    base_right_marker_pose:
+      angle_rotation: 2.666874370559395
+      euclidean_error: -0.008194436142045403
+    shoulder_marker_pose:
+      angle_rotation: 10.13231609725478
+      euclidean_error: -0.0027594795618733903
+    wrist_inside_marker_pose:
+      angle_rotation: 27.853726882845283
+      euclidean_error: -0.003506822521921693
+    wrist_top_marker_pose:
+      angle_rotation: 17.577188667042403
+      euclidean_error: -0.0028049149300426457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.742699634075291
+      euclidean_error: -0.00986421049694719
+    base_right_marker_pose:
+      angle_rotation: 3.9531360666568216
+      euclidean_error: -0.008036139320759417
+    shoulder_marker_pose:
+      angle_rotation: 11.874966050275734
+      euclidean_error: -0.00164875546177079
+    wrist_inside_marker_pose:
+      angle_rotation: 29.4637016007222
+      euclidean_error: -0.0033002016100347475
+    wrist_top_marker_pose:
+      angle_rotation: 12.976341458351792
+      euclidean_error: -0.0021225007649957606
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.462241769206969
+      euclidean_error: -0.009497530957323752
+    base_right_marker_pose:
+      angle_rotation: 4.894004277158008
+      euclidean_error: -0.007572981554573643
+    shoulder_marker_pose:
+      angle_rotation: 11.829331330279624
+      euclidean_error: -0.0015230796285223835
+    wrist_inside_marker_pose:
+      angle_rotation: 28.83438382968906
+      euclidean_error: -0.0029926361623721087
+    wrist_top_marker_pose:
+      angle_rotation: 12.481797837218394
+      euclidean_error: -0.0014285313428730184
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8542806681726085
+      euclidean_error: -0.009582941245770193
+    base_right_marker_pose:
+      angle_rotation: 2.919165508257084
+      euclidean_error: -0.007987757893794134
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.398459424071834
+      euclidean_error: -0.003992221987674127
+    wrist_top_marker_pose:
+      angle_rotation: 10.197438859165137
+      euclidean_error: -0.00305097551155209
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5463596466380367
+      euclidean_error: -0.009802934096076577
+    base_right_marker_pose:
+      angle_rotation: 5.414749619012449
+      euclidean_error: -0.007616548725153938
+    shoulder_marker_pose:
+      angle_rotation: 9.304567123981393
+      euclidean_error: -0.0023750084311651154
+    wrist_inside_marker_pose:
+      angle_rotation: 24.252539235365095
+      euclidean_error: -0.0037142802785455897
+    wrist_top_marker_pose:
+      angle_rotation: 12.751457016641154
+      euclidean_error: -0.002223849569709224
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9874453643325407
+      euclidean_error: -0.009650692010769402
+    base_right_marker_pose:
+      angle_rotation: 3.9320378313449806
+      euclidean_error: -0.007841886988671054
+    shoulder_marker_pose:
+      angle_rotation: 8.760241677650036
+      euclidean_error: -0.0018395586744071046
+    wrist_inside_marker_pose:
+      angle_rotation: 26.80127841426195
+      euclidean_error: -0.004497324066070729
+    wrist_top_marker_pose:
+      angle_rotation: 14.547913139773769
+      euclidean_error: -0.002709840101127625
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.249330311146631
+      euclidean_error: -0.009534432261659176
+    base_right_marker_pose:
+      angle_rotation: 3.9648966554017977
+      euclidean_error: -0.0074800738091364005
+    shoulder_marker_pose:
+      angle_rotation: 8.808360689937475
+      euclidean_error: -0.0032871260914539846
+    wrist_inside_marker_pose:
+      angle_rotation: 29.419083429923592
+      euclidean_error: -0.004468798902338755
+    wrist_top_marker_pose:
+      angle_rotation: 12.741086717787256
+      euclidean_error: -0.0018079070185396118
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1374653171795366
+      euclidean_error: -0.009639432753600352
+    base_right_marker_pose:
+      angle_rotation: 2.9255389234416707
+      euclidean_error: -0.00821494326817196
+    shoulder_marker_pose:
+      angle_rotation: 11.507043518538252
+      euclidean_error: -0.001645769763226279
+    wrist_inside_marker_pose:
+      angle_rotation: 28.81081157009517
+      euclidean_error: -0.003965052826721216
+    wrist_top_marker_pose:
+      angle_rotation: 12.639054293498539
+      euclidean_error: -0.0020118202200335444
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.901480700983878
+      euclidean_error: -0.0093137146782446
+    base_right_marker_pose:
+      angle_rotation: 3.776943412831201
+      euclidean_error: -0.007973480699853819
+    shoulder_marker_pose:
+      angle_rotation: 11.991794411081349
+      euclidean_error: -0.0020118181364700005
+    wrist_inside_marker_pose:
+      angle_rotation: 27.59937045698552
+      euclidean_error: -0.0031621306747545708
+    wrist_top_marker_pose:
+      angle_rotation: 15.461092333900035
+      euclidean_error: -0.0023907190827594516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.559895259645855
+      euclidean_error: -0.009781492599798436
+    base_right_marker_pose:
+      angle_rotation: 3.674842370847661
+      euclidean_error: -0.007853106554358336
+    shoulder_marker_pose:
+      angle_rotation: 13.8233468673404
+      euclidean_error: -0.0015891584465201891
+    wrist_inside_marker_pose:
+      angle_rotation: 25.974010005430177
+      euclidean_error: -0.004157441165786979
+    wrist_top_marker_pose:
+      angle_rotation: 18.730997066475652
+      euclidean_error: -0.003000246044450483
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.932100204148966
+      euclidean_error: -0.009952581737112998
+    base_right_marker_pose:
+      angle_rotation: 4.215694752904117
+      euclidean_error: -0.00773022918219024
+    shoulder_marker_pose:
+      angle_rotation: 8.613833102057226
+      euclidean_error: -0.002075667643198331
+    wrist_inside_marker_pose:
+      angle_rotation: 26.033013439904515
+      euclidean_error: -0.0036609931755072767
+    wrist_top_marker_pose:
+      angle_rotation: 11.396153534283613
+      euclidean_error: -0.003109647512439695
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2355982412399533
+      euclidean_error: -0.009550961535468305
+    base_right_marker_pose:
+      angle_rotation: 3.7690549386255845
+      euclidean_error: -0.007785570819820897
+    shoulder_marker_pose:
+      angle_rotation: 6.426247085599144
+      euclidean_error: -0.002936182268383214
+    wrist_inside_marker_pose:
+      angle_rotation: 20.936731919642003
+      euclidean_error: -0.005356802916912651
+    wrist_top_marker_pose:
+      angle_rotation: 6.569464734218955
+      euclidean_error: -0.0039691311349012715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7996301007489715
+      euclidean_error: -0.009300270865761573
+    base_right_marker_pose:
+      angle_rotation: 4.982410043886555
+      euclidean_error: -0.007579544563104168
+    shoulder_marker_pose:
+      angle_rotation: 12.064316421861644
+      euclidean_error: -0.0028149607349997607
+    wrist_inside_marker_pose:
+      angle_rotation: 24.529616692341143
+      euclidean_error: -0.003633875684510568
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.811553793214944
+      euclidean_error: -0.009842554817490634
+    base_right_marker_pose:
+      angle_rotation: 6.170589212491597
+      euclidean_error: -0.0072952925259724966
+    shoulder_marker_pose:
+      angle_rotation: 15.626324933606776
+      euclidean_error: -0.0015887325824851528
+    wrist_inside_marker_pose:
+      angle_rotation: 31.69353100957595
+      euclidean_error: -0.0033185265092919858
+    wrist_top_marker_pose:
+      angle_rotation: 16.36219240822746
+      euclidean_error: -0.002543288562673496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.711608506803669
+      euclidean_error: -0.009728281517406123
+    base_right_marker_pose:
+      angle_rotation: 4.126806382975246
+      euclidean_error: -0.007773083731174579
+    shoulder_marker_pose:
+      angle_rotation: 15.414693303805473
+      euclidean_error: -0.0018832732604407987
+    wrist_inside_marker_pose:
+      angle_rotation: 29.850700856468393
+      euclidean_error: -0.003126452503019128
+    wrist_top_marker_pose:
+      angle_rotation: 19.89201627799746
+      euclidean_error: -0.0017932217790570526
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.612568156198655
+      euclidean_error: -0.009606820455806298
+    base_right_marker_pose:
+      angle_rotation: 4.120983852178763
+      euclidean_error: -0.007509643047877379
+    shoulder_marker_pose:
+      angle_rotation: 6.2560484219101085
+      euclidean_error: -0.001776622146951401
+    wrist_inside_marker_pose:
+      angle_rotation: 22.235789864269876
+      euclidean_error: -0.00574332049695514
+    wrist_top_marker_pose:
+      angle_rotation: 9.290737175811808
+      euclidean_error: -0.003918832930536298
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.45265345957278
+      euclidean_error: -0.009610334252127317
+    base_right_marker_pose:
+      angle_rotation: 4.076732599613364
+      euclidean_error: -0.0075840695252187285
+    shoulder_marker_pose:
+      angle_rotation: 11.500224238565922
+      euclidean_error: -0.0020487218751372716
+    wrist_inside_marker_pose:
+      angle_rotation: 28.040999276259317
+      euclidean_error: -0.0046861405157444525
+    wrist_top_marker_pose:
+      angle_rotation: 10.579717813219158
+      euclidean_error: -0.0015281170121252963
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.807420257539091
+      euclidean_error: -0.009492607574194567
+    base_right_marker_pose:
+      angle_rotation: 4.282393730400521
+      euclidean_error: -0.007873985222747293
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.67731914296254
+      euclidean_error: -0.003633536548596439
+    wrist_top_marker_pose:
+      angle_rotation: 19.407482201342706
+      euclidean_error: -0.0028301949837418183
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4234923750193347
+      euclidean_error: -0.009873105609677246
+    base_right_marker_pose:
+      angle_rotation: 4.03553486824028
+      euclidean_error: -0.006985195499076835
+    shoulder_marker_pose:
+      angle_rotation: 8.399240390152004
+      euclidean_error: -0.0021358071948671675
+    wrist_inside_marker_pose:
+      angle_rotation: 29.37893000074889
+      euclidean_error: -0.0031426884137613076
+    wrist_top_marker_pose:
+      angle_rotation: 17.838892354647747
+      euclidean_error: -0.0017680431107925942
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.234462122234734
+      euclidean_error: -0.009448654676460055
+    base_right_marker_pose:
+      angle_rotation: 3.604542934677607
+      euclidean_error: -0.008087248100264066
+    shoulder_marker_pose:
+      angle_rotation: 8.177846905431041
+      euclidean_error: -0.0032096708961003584
+    wrist_inside_marker_pose:
+      angle_rotation: 25.32276571089018
+      euclidean_error: -0.003968169563121515
+    wrist_top_marker_pose:
+      angle_rotation: 15.857740038334772
+      euclidean_error: -0.003019299936912745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7005805100376654
+      euclidean_error: -0.009616698801610424
+    base_right_marker_pose:
+      angle_rotation: 3.369015842723564
+      euclidean_error: -0.008124112983723286
+    shoulder_marker_pose:
+      angle_rotation: 11.20163700810906
+      euclidean_error: -0.0025431838566493115
+    wrist_inside_marker_pose:
+      angle_rotation: 27.571344983118777
+      euclidean_error: -0.003798660927777142
+    wrist_top_marker_pose:
+      angle_rotation: 15.484924260916815
+      euclidean_error: -0.0017414150375503201
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.542499936050076
+      euclidean_error: -0.009612139715968304
+    base_right_marker_pose:
+      angle_rotation: 3.766397728045548
+      euclidean_error: -0.007724702033275577
+    shoulder_marker_pose:
+      angle_rotation: 11.818380011911026
+      euclidean_error: -0.0022803828642207202
+    wrist_inside_marker_pose:
+      angle_rotation: 29.737667845429193
+      euclidean_error: -0.0039939469130678695
+    wrist_top_marker_pose:
+      angle_rotation: 17.369964160541812
+      euclidean_error: -0.002648691417374227
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.061842246294232
+      euclidean_error: -0.009303478691628064
+    base_right_marker_pose:
+      angle_rotation: 4.47636636302092
+      euclidean_error: -0.007894351012112222
+    shoulder_marker_pose:
+      angle_rotation: 13.848500344565638
+      euclidean_error: -0.002525229704007148
+    wrist_inside_marker_pose:
+      angle_rotation: 26.22171121317438
+      euclidean_error: -0.0041551050710899595
+    wrist_top_marker_pose:
+      angle_rotation: 16.919499787823437
+      euclidean_error: -0.0030069595726152087
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8480909684003843
+      euclidean_error: -0.009469304030038095
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 6.247792836999728
+      euclidean_error: -0.00310104553343149
+    wrist_inside_marker_pose:
+      angle_rotation: 26.27075279249337
+      euclidean_error: -0.0038369082174393165
+    wrist_top_marker_pose:
+      angle_rotation: 12.765763254423666
+      euclidean_error: -0.0028668891799150664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.4229912474448865
+      euclidean_error: -0.009518865760120176
+    base_right_marker_pose:
+      angle_rotation: 4.373404554120539
+      euclidean_error: -0.008042467718566648
+    shoulder_marker_pose:
+      angle_rotation: 12.731425705016607
+      euclidean_error: -0.00135761218174546
+    wrist_inside_marker_pose:
+      angle_rotation: 28.5187768121604
+      euclidean_error: -0.0039924478615444015
+    wrist_top_marker_pose:
+      angle_rotation: 15.035801150834192
+      euclidean_error: -0.0024057811795621387
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.138973637684606
+      euclidean_error: -0.009513179798980587
+    base_right_marker_pose:
+      angle_rotation: 6.1071127985694655
+      euclidean_error: -0.007288358970171438
+    shoulder_marker_pose:
+      angle_rotation: 10.334850036958498
+      euclidean_error: -0.0006825061818036549
+    wrist_inside_marker_pose:
+      angle_rotation: 22.837785979746478
+      euclidean_error: -0.004443406009337014
+    wrist_top_marker_pose:
+      angle_rotation: 12.471517765646286
+      euclidean_error: -0.002228650033824664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.707188672709007
+      euclidean_error: -0.009474101128040147
+    base_right_marker_pose:
+      angle_rotation: 4.34113918248692
+      euclidean_error: -0.007887995010020354
+    shoulder_marker_pose:
+      angle_rotation: 9.33606805123974
+      euclidean_error: -0.0019550720002601274
+    wrist_inside_marker_pose:
+      angle_rotation: 23.611965799997634
+      euclidean_error: -0.003979109511923817
+    wrist_top_marker_pose:
+      angle_rotation: 13.456352622276073
+      euclidean_error: -0.001443992868725541
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.36370482189998
+      euclidean_error: -0.00941738473502085
+    base_right_marker_pose:
+      angle_rotation: 3.961896548337251
+      euclidean_error: -0.0075982473463315214
+    shoulder_marker_pose:
+      angle_rotation: 11.934572260066725
+      euclidean_error: -0.0015766992748361686
+    wrist_inside_marker_pose:
+      angle_rotation: 25.97186897088025
+      euclidean_error: -0.003060910940845374
+    wrist_top_marker_pose:
+      angle_rotation: 17.095516730288704
+      euclidean_error: -0.0023904533312298915
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.125394481584672
+      euclidean_error: -0.009607513587335026
+    base_right_marker_pose:
+      angle_rotation: 2.4874101270743774
+      euclidean_error: -0.008279948128667947
+    shoulder_marker_pose:
+      angle_rotation: 13.15612743891267
+      euclidean_error: -0.0023262841186306726
+    wrist_inside_marker_pose:
+      angle_rotation: 28.41030578520952
+      euclidean_error: -0.0029362664856970033
+    wrist_top_marker_pose:
+      angle_rotation: 14.405069659041413
+      euclidean_error: -0.0032568170945299624
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7392064406093508
+      euclidean_error: -0.00980128229367383
+    base_right_marker_pose:
+      angle_rotation: 3.4682288008525606
+      euclidean_error: -0.00811934558413574
+    shoulder_marker_pose:
+      angle_rotation: 10.588751898274987
+      euclidean_error: -0.00258985379856036
+    wrist_inside_marker_pose:
+      angle_rotation: 25.073183145863915
+      euclidean_error: -0.0044231578024021
+    wrist_top_marker_pose:
+      angle_rotation: 18.435684498974357
+      euclidean_error: -0.004088023012917108
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8569193096025
+      euclidean_error: -0.009764113829707766
+    base_right_marker_pose:
+      angle_rotation: 5.536511655079122
+      euclidean_error: -0.007603895325378529
+    shoulder_marker_pose:
+      angle_rotation: 14.045512390945566
+      euclidean_error: -0.0010408295835186987
+    wrist_inside_marker_pose:
+      angle_rotation: 26.095616778642693
+      euclidean_error: -0.002962085412456461
+    wrist_top_marker_pose:
+      angle_rotation: 10.512825354444614
+      euclidean_error: -0.0016117389592574805
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2125021179644455
+      euclidean_error: -0.009245324117751363
+    base_right_marker_pose:
+      angle_rotation: 4.207516590823908
+      euclidean_error: -0.007632886303468367
+    shoulder_marker_pose:
+      angle_rotation: 12.965709962032951
+      euclidean_error: -0.0016518702505378124
+    wrist_inside_marker_pose:
+      angle_rotation: 25.943106823502184
+      euclidean_error: -0.0053564878514702485
+    wrist_top_marker_pose:
+      angle_rotation: 17.340777414432928
+      euclidean_error: -0.002919147741490491
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.983319427628957
+      euclidean_error: -0.00942692440980597
+    base_right_marker_pose:
+      angle_rotation: 4.96396546177013
+      euclidean_error: -0.007475423886194821
+    shoulder_marker_pose:
+      angle_rotation: 12.228167653489479
+      euclidean_error: -0.0019507356178760649
+    wrist_inside_marker_pose:
+      angle_rotation: 28.236637424788015
+      euclidean_error: -0.0038871752681154392
+    wrist_top_marker_pose:
+      angle_rotation: 16.528173532273865
+      euclidean_error: -0.0032502338327544678
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.30670200637887
+      euclidean_error: -0.009053672052443562
+    base_right_marker_pose:
+      angle_rotation: 4.290549243229709
+      euclidean_error: -0.0075771327947180556
+    shoulder_marker_pose:
+      angle_rotation: 8.278330981186336
+      euclidean_error: -0.001872563963197349
+    wrist_inside_marker_pose:
+      angle_rotation: 24.492542128878245
+      euclidean_error: -0.0017848569388676516
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.035540407869735
+      euclidean_error: -0.00945050813347359
+    base_right_marker_pose:
+      angle_rotation: 6.171357701668432
+      euclidean_error: -0.007670064424561529
+    shoulder_marker_pose:
+      angle_rotation: 12.437299248173389
+      euclidean_error: -0.0013750101989212782
+    wrist_inside_marker_pose:
+      angle_rotation: 26.550679455193137
+      euclidean_error: -0.0028496138781174407
+    wrist_top_marker_pose:
+      angle_rotation: 15.700270546415368
+      euclidean_error: -0.0025808965164867415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.737066885968823
+      euclidean_error: -0.009674382509550217
+    base_right_marker_pose:
+      angle_rotation: 5.150757881421949
+      euclidean_error: -0.007523463742559855
+    shoulder_marker_pose:
+      angle_rotation: 7.161498045474258
+      euclidean_error: -0.00315738733014459
+    wrist_inside_marker_pose:
+      angle_rotation: 28.89983789390121
+      euclidean_error: -0.004592953187874227
+    wrist_top_marker_pose:
+      angle_rotation: 12.033445482511505
+      euclidean_error: -0.0033322069573374913
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9394290015710476
+      euclidean_error: -0.00982435421500294
+    base_right_marker_pose:
+      angle_rotation: 3.910737033090642
+      euclidean_error: -0.0075889997190971
+    shoulder_marker_pose:
+      angle_rotation: 12.61460531738023
+      euclidean_error: -0.0016884593901520528
+    wrist_inside_marker_pose:
+      angle_rotation: 26.65561912875784
+      euclidean_error: -0.002443726410959024
+    wrist_top_marker_pose:
+      angle_rotation: 17.715385795011326
+      euclidean_error: -0.00105969343639567
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.890721682769211
+      euclidean_error: -0.009442657996147408
+    base_right_marker_pose:
+      angle_rotation: 5.4590164043426865
+      euclidean_error: -0.007698773043553819
+    shoulder_marker_pose:
+      angle_rotation: 11.847489446901424
+      euclidean_error: -0.0016399761664770418
+    wrist_inside_marker_pose:
+      angle_rotation: 27.015756214132004
+      euclidean_error: -0.0035521989463463965
+    wrist_top_marker_pose:
+      angle_rotation: 14.847568899458489
+      euclidean_error: -0.0030001424243909502
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.347005622666193
+      euclidean_error: -0.009464094863700478
+    base_right_marker_pose:
+      angle_rotation: 3.936394583663607
+      euclidean_error: -0.007923162468320921
+    shoulder_marker_pose:
+      angle_rotation: 15.284529845151384
+      euclidean_error: -0.0015340831072819805
+    wrist_inside_marker_pose:
+      angle_rotation: 28.632534637182395
+      euclidean_error: -0.003674946425932024
+    wrist_top_marker_pose:
+      angle_rotation: 17.97871422159377
+      euclidean_error: -0.002076444562272073
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.06134566877221
+      euclidean_error: -0.00962912764176771
+    base_right_marker_pose:
+      angle_rotation: 3.7678714038405956
+      euclidean_error: -0.007917195760677731
+    shoulder_marker_pose:
+      angle_rotation: 7.43603047942614
+      euclidean_error: -0.00270400683274441
+    wrist_inside_marker_pose:
+      angle_rotation: 22.535824208006833
+      euclidean_error: -0.004288808382616249
+    wrist_top_marker_pose:
+      angle_rotation: 10.682052665269888
+      euclidean_error: -0.0021172975360638224
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.680970639006958
+      euclidean_error: -0.009534157569839552
+    base_right_marker_pose:
+      angle_rotation: 4.1429564802897305
+      euclidean_error: -0.007202528938035746
+    shoulder_marker_pose:
+      angle_rotation: 8.393740579505568
+      euclidean_error: -0.0023924007551221482
+    wrist_inside_marker_pose:
+      angle_rotation: 29.785488503675783
+      euclidean_error: -0.0038093509304534257
+    wrist_top_marker_pose:
+      angle_rotation: 13.313027155096206
+      euclidean_error: -0.0020538204383038217
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.938026254534074
+      euclidean_error: -0.009558456613744215
+    base_right_marker_pose:
+      angle_rotation: 2.0500866284263504
+      euclidean_error: -0.007740057004339551
+    shoulder_marker_pose:
+      angle_rotation: 12.556386212762236
+      euclidean_error: -0.0013896928773835526
+    wrist_inside_marker_pose:
+      angle_rotation: 27.88909647750276
+      euclidean_error: -0.002504867886664708
+    wrist_top_marker_pose:
+      angle_rotation: 16.233001948743926
+      euclidean_error: -0.0009053014211555244
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1285888285610874
+      euclidean_error: -0.009730182307510882
+    base_right_marker_pose:
+      angle_rotation: 4.107863162889681
+      euclidean_error: -0.008003619388815442
+    shoulder_marker_pose:
+      angle_rotation: 11.838688859407336
+      euclidean_error: -0.0028040800063903193
+    wrist_inside_marker_pose:
+      angle_rotation: 28.74188161100844
+      euclidean_error: -0.0034463756330495032
+    wrist_top_marker_pose:
+      angle_rotation: 22.324392504976935
+      euclidean_error: -0.0031138881352311687
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5431676228197193
+      euclidean_error: -0.009592529136334904
+    base_right_marker_pose:
+      angle_rotation: 4.5404500422678415
+      euclidean_error: -0.00744930189919224
+    shoulder_marker_pose:
+      angle_rotation: 9.435892296764706
+      euclidean_error: -0.00224196187521708
+    wrist_inside_marker_pose:
+      angle_rotation: 25.401796628664684
+      euclidean_error: -0.005010462734151622
+    wrist_top_marker_pose:
+      angle_rotation: 11.631880816629176
+      euclidean_error: -0.003068381247495755
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.605618431959346
+      euclidean_error: -0.00966758794279221
+    base_right_marker_pose:
+      angle_rotation: 3.3226912628540366
+      euclidean_error: -0.008045326445106915
+    shoulder_marker_pose:
+      angle_rotation: 13.721788785621406
+      euclidean_error: -0.0014908373429446398
+    wrist_inside_marker_pose:
+      angle_rotation: 25.369580699160913
+      euclidean_error: -0.005037292524394887
+    wrist_top_marker_pose:
+      angle_rotation: 14.00096653469687
+      euclidean_error: -0.00290884766709254
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1115120661299636
+      euclidean_error: -0.009519241813718216
+    base_right_marker_pose:
+      angle_rotation: 5.84933383906184
+      euclidean_error: -0.007489353518495334
+    shoulder_marker_pose:
+      angle_rotation: 6.101833998955993
+      euclidean_error: -0.0026279089279127588
+    wrist_inside_marker_pose:
+      angle_rotation: 26.224336115166356
+      euclidean_error: -0.004543559040490086
+    wrist_top_marker_pose:
+      angle_rotation: 15.409165361489462
+      euclidean_error: -0.003053157528984052
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8257248504246273
+      euclidean_error: -0.009733100549791374
+    base_right_marker_pose:
+      angle_rotation: 3.935025847480511
+      euclidean_error: -0.007850912016992395
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.247659673928496
+      euclidean_error: -0.003940367682968127
+    wrist_top_marker_pose:
+      angle_rotation: 11.339945763423561
+      euclidean_error: -0.002939562961074116
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.166777397481317
+      euclidean_error: -0.009613570786502268
+    base_right_marker_pose:
+      angle_rotation: 2.603309171217835
+      euclidean_error: -0.007938328209354806
+    shoulder_marker_pose:
+      angle_rotation: 12.688879284531852
+      euclidean_error: -0.0016308191969813812
+    wrist_inside_marker_pose:
+      angle_rotation: 26.24189997689357
+      euclidean_error: -0.0034109594453509695
+    wrist_top_marker_pose:
+      angle_rotation: 12.086716846436536
+      euclidean_error: -0.0014381123645508254
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.012306901725832
+      euclidean_error: -0.009753393035049074
+    base_right_marker_pose:
+      angle_rotation: 4.628058594720906
+      euclidean_error: -0.007699738493532227
+    shoulder_marker_pose:
+      angle_rotation: 11.271922969779325
+      euclidean_error: -0.0020449175436519917
+    wrist_inside_marker_pose:
+      angle_rotation: 28.27904250576987
+      euclidean_error: -0.0033293400965694886
+    wrist_top_marker_pose:
+      angle_rotation: 16.99822786879715
+      euclidean_error: -0.0022974942718624325
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.351576157526635
+      euclidean_error: -0.009674740005413462
+    base_right_marker_pose:
+      angle_rotation: 3.823350996172852
+      euclidean_error: -0.007648442961660229
+    shoulder_marker_pose:
+      angle_rotation: 9.772135097785252
+      euclidean_error: -0.0015390736010963968
+    wrist_inside_marker_pose:
+      angle_rotation: 26.179584808430995
+      euclidean_error: -0.0034425932475973253
+    wrist_top_marker_pose:
+      angle_rotation: 10.807869135198125
+      euclidean_error: -0.0014862132352871926
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4999703668172
+      euclidean_error: -0.009602926529685862
+    base_right_marker_pose:
+      angle_rotation: 5.162728785033961
+      euclidean_error: -0.007689017847104851
+    shoulder_marker_pose:
+      angle_rotation: 12.664856506582874
+      euclidean_error: -0.0014367417371615732
+    wrist_inside_marker_pose:
+      angle_rotation: 24.762627749784247
+      euclidean_error: -0.0036943590756889355
+    wrist_top_marker_pose:
+      angle_rotation: 15.033141943560867
+      euclidean_error: -0.0017936121415452755
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.688306473965803
+      euclidean_error: -0.009572143319336313
+    base_right_marker_pose:
+      angle_rotation: 4.608548470674278
+      euclidean_error: -0.007958597128463363
+    shoulder_marker_pose:
+      angle_rotation: 12.354203793336891
+      euclidean_error: -0.0022712260031299003
+    wrist_inside_marker_pose:
+      angle_rotation: 24.868340819638142
+      euclidean_error: -0.00346645779770427
+    wrist_top_marker_pose:
+      angle_rotation: 13.255065246072043
+      euclidean_error: -0.003165143290758232
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9877903938300348
+      euclidean_error: -0.009529353578348498
+    base_right_marker_pose:
+      angle_rotation: 4.4319568279290085
+      euclidean_error: -0.007822132038613372
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.566424381839052
+      euclidean_error: -0.00527491144456782
+    wrist_top_marker_pose:
+      angle_rotation: 20.354835944521252
+      euclidean_error: -0.0030509097977564625
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.559442056306748
+      euclidean_error: -0.009593132178207786
+    base_right_marker_pose:
+      angle_rotation: 2.888694502554549
+      euclidean_error: -0.00815160709522067
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.898804326416453
+      euclidean_error: -0.002059339238590807
+    wrist_top_marker_pose:
+      angle_rotation: 13.133178747944887
+      euclidean_error: -0.001819419097303876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.478114600440736
+      euclidean_error: -0.009510974447728748
+    base_right_marker_pose:
+      angle_rotation: 3.2530711647825887
+      euclidean_error: -0.008142797783017852
+    shoulder_marker_pose:
+      angle_rotation: 5.813640194858158
+      euclidean_error: -0.002939532592167393
+    wrist_inside_marker_pose:
+      angle_rotation: 26.81818784721539
+      euclidean_error: -0.005394003878092857
+    wrist_top_marker_pose:
+      angle_rotation: 14.73415641520327
+      euclidean_error: -0.004806632981373404
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7240355614757363
+      euclidean_error: -0.00948560812822763
+    base_right_marker_pose:
+      angle_rotation: 4.395876359531509
+      euclidean_error: -0.00784087605085304
+    shoulder_marker_pose:
+      angle_rotation: 8.796317468844597
+      euclidean_error: -0.001564823797273407
+    wrist_inside_marker_pose:
+      angle_rotation: 27.72714586748712
+      euclidean_error: -0.002860464616809333
+    wrist_top_marker_pose:
+      angle_rotation: 8.861389654893713
+      euclidean_error: -0.0013975948405716698
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7262844500584937
+      euclidean_error: -0.009614002853302273
+    base_right_marker_pose:
+      angle_rotation: 3.739680795453881
+      euclidean_error: -0.00786210870571391
+    shoulder_marker_pose:
+      angle_rotation: 12.228265859660556
+      euclidean_error: -0.0024517245526490816
+    wrist_inside_marker_pose:
+      angle_rotation: 25.342901148617024
+      euclidean_error: -0.003168993263908182
+    wrist_top_marker_pose:
+      angle_rotation: 14.840628508079321
+      euclidean_error: -0.0018267506603130146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6770639513392886
+      euclidean_error: -0.009729290232767362
+    base_right_marker_pose:
+      angle_rotation: 3.6406917426344396
+      euclidean_error: -0.007928065819885366
+    shoulder_marker_pose:
+      angle_rotation: 13.510830509399717
+      euclidean_error: -0.0009312222191346642
+    wrist_inside_marker_pose:
+      angle_rotation: 25.72811336233399
+      euclidean_error: -0.004140972662375564
+    wrist_top_marker_pose:
+      angle_rotation: 15.273925626859354
+      euclidean_error: -0.0012771568280253165
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4387179376559693
+      euclidean_error: -0.0096269882446961
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 10.151587100518537
+      euclidean_error: -0.0020452586331018985
+    wrist_inside_marker_pose:
+      angle_rotation: 26.89149295718553
+      euclidean_error: -0.004614696649397176
+    wrist_top_marker_pose:
+      angle_rotation: 14.199976040099566
+      euclidean_error: -0.002966020891605914
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.539965443995547
+      euclidean_error: -0.00969053794657726
+    base_right_marker_pose:
+      angle_rotation: 4.225655432129505
+      euclidean_error: -0.007808993925760399
+    shoulder_marker_pose:
+      angle_rotation: 6.656952221742486
+      euclidean_error: -0.0017112750194616666
+    wrist_inside_marker_pose:
+      angle_rotation: 22.61529615998001
+      euclidean_error: -0.00463188236192702
+    wrist_top_marker_pose:
+      angle_rotation: 15.308284600862194
+      euclidean_error: -0.002940053508609375
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3800263519666163
+      euclidean_error: -0.009714454613099832
+    base_right_marker_pose:
+      angle_rotation: 5.155952418298201
+      euclidean_error: -0.007595410369946265
+    shoulder_marker_pose:
+      angle_rotation: 11.699241582317882
+      euclidean_error: -0.0010199248780576875
+    wrist_inside_marker_pose:
+      angle_rotation: 27.337368347846088
+      euclidean_error: -0.003967996677793129
+    wrist_top_marker_pose:
+      angle_rotation: 15.231668058049431
+      euclidean_error: -0.0027939926911346724
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4605514859905915
+      euclidean_error: -0.009534069518430721
+    base_right_marker_pose:
+      angle_rotation: 3.726109232984724
+      euclidean_error: -0.007649662255541201
+    shoulder_marker_pose:
+      angle_rotation: 8.942489306761004
+      euclidean_error: -0.00214570926738189
+    wrist_inside_marker_pose:
+      angle_rotation: 27.3376738792216
+      euclidean_error: -0.0028262469352574593
+    wrist_top_marker_pose:
+      angle_rotation: 13.257450221885753
+      euclidean_error: -0.0020885681698127323
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8741669262485354
+      euclidean_error: -0.00957336765919825
+    base_right_marker_pose:
+      angle_rotation: 3.3613463324406054
+      euclidean_error: -0.008185026661172379
+    shoulder_marker_pose:
+      angle_rotation: 9.165822523375455
+      euclidean_error: -0.0009957037582026818
+    wrist_inside_marker_pose:
+      angle_rotation: 25.72161706989002
+      euclidean_error: -0.0030484334631127874
+    wrist_top_marker_pose:
+      angle_rotation: 13.33118275016705
+      euclidean_error: -0.0027119284893249995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.247911834942136
+      euclidean_error: -0.009699223696701509
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 11.395252635890909
+      euclidean_error: -0.0026606384609116907
+    wrist_inside_marker_pose:
+      angle_rotation: 26.320873696497827
+      euclidean_error: -0.0041800304347376915
+    wrist_top_marker_pose:
+      angle_rotation: 14.239750745166862
+      euclidean_error: -0.0018531797865997124
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5255572824999317
+      euclidean_error: -0.00947039324392307
+    base_right_marker_pose:
+      angle_rotation: 6.2950388251624485
+      euclidean_error: -0.00723436529999455
+    shoulder_marker_pose:
+      angle_rotation: 8.811642013996181
+      euclidean_error: -0.0006157930419429247
+    wrist_inside_marker_pose:
+      angle_rotation: 28.613723532675458
+      euclidean_error: -0.002806368118603242
+    wrist_top_marker_pose:
+      angle_rotation: 15.731563690768118
+      euclidean_error: -0.0013275243088571864
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5824771357304654
+      euclidean_error: -0.009690399775234448
+    base_right_marker_pose:
+      angle_rotation: 3.1198362193274267
+      euclidean_error: -0.008137928008638107
+    shoulder_marker_pose:
+      angle_rotation: 14.855888546306653
+      euclidean_error: -0.00210430311352805
+    wrist_inside_marker_pose:
+      angle_rotation: 26.904382181722184
+      euclidean_error: -0.0034169055221897615
+    wrist_top_marker_pose:
+      angle_rotation: 17.210080806972883
+      euclidean_error: -0.003677259811878719
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.774084069740408
+      euclidean_error: -0.009643839706921287
+    base_right_marker_pose:
+      angle_rotation: 4.862162902240809
+      euclidean_error: -0.007795123456793451
+    shoulder_marker_pose:
+      angle_rotation: 12.823605374323188
+      euclidean_error: -0.0025166986660820623
+    wrist_inside_marker_pose:
+      angle_rotation: 27.406032067750683
+      euclidean_error: -0.003343037109034497
+    wrist_top_marker_pose:
+      angle_rotation: 11.809387970947718
+      euclidean_error: -0.0018982347251794707
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.938850725442204
+      euclidean_error: -0.009719040585555505
+    base_right_marker_pose:
+      angle_rotation: 2.8644447146367464
+      euclidean_error: -0.007831316770160246
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.672117421797473
+      euclidean_error: -0.003207270371857751
+    wrist_top_marker_pose:
+      angle_rotation: 16.01064704420577
+      euclidean_error: -0.0029818622986974574
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.135615852153452
+      euclidean_error: -0.009555194155997038
+    base_right_marker_pose:
+      angle_rotation: 4.282281101172256
+      euclidean_error: -0.007936318239898488
+    shoulder_marker_pose:
+      angle_rotation: 9.595336288917508
+      euclidean_error: -0.0027318545233218083
+    wrist_inside_marker_pose:
+      angle_rotation: 22.94519527280424
+      euclidean_error: -0.0028869680798818687
+    wrist_top_marker_pose:
+      angle_rotation: 10.747622347786168
+      euclidean_error: -0.0024780624028101217
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0075169179412873
+      euclidean_error: -0.009464355587997075
+    base_right_marker_pose:
+      angle_rotation: 4.246292317547399
+      euclidean_error: -0.007550681109524615
+    shoulder_marker_pose:
+      angle_rotation: 14.482696100362217
+      euclidean_error: -0.0013308871379610343
+    wrist_inside_marker_pose:
+      angle_rotation: 25.032186036028275
+      euclidean_error: -0.004250119453457768
+    wrist_top_marker_pose:
+      angle_rotation: 20.993165168036654
+      euclidean_error: -0.0023122833586174396
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.153246023937817
+      euclidean_error: -0.009507011925630637
+    base_right_marker_pose:
+      angle_rotation: 5.016165523717434
+      euclidean_error: -0.007733360055411254
+    shoulder_marker_pose:
+      angle_rotation: 8.387136650221237
+      euclidean_error: -0.003106646512230138
+    wrist_inside_marker_pose:
+      angle_rotation: 25.804249437338903
+      euclidean_error: -0.005224712339814697
+    wrist_top_marker_pose:
+      angle_rotation: 11.392820617798735
+      euclidean_error: -0.0033282224926127757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.570222176549366
+      euclidean_error: -0.009753694555115433
+    base_right_marker_pose:
+      angle_rotation: 6.765639745208806
+      euclidean_error: -0.00754068854331047
+    shoulder_marker_pose:
+      angle_rotation: 11.980382944578803
+      euclidean_error: -0.0022153213468559807
+    wrist_inside_marker_pose:
+      angle_rotation: 28.400583633332694
+      euclidean_error: -0.002667814011155567
+    wrist_top_marker_pose:
+      angle_rotation: 22.287884441248476
+      euclidean_error: -0.0027929024853265982
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.549099404131843
+      euclidean_error: -0.009505441997536446
+    base_right_marker_pose:
+      angle_rotation: 3.818836159088072
+      euclidean_error: -0.007931858388734558
+    shoulder_marker_pose:
+      angle_rotation: 13.184070662924078
+      euclidean_error: -0.001901313931100046
+    wrist_inside_marker_pose:
+      angle_rotation: 29.344541317087135
+      euclidean_error: -0.0030089977541390978
+    wrist_top_marker_pose:
+      angle_rotation: 21.57153302380564
+      euclidean_error: -0.0022817618907755577
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8426563887950373
+      euclidean_error: -0.00945241449806955
+    base_right_marker_pose:
+      angle_rotation: 4.136323673737355
+      euclidean_error: -0.00758447069410495
+    shoulder_marker_pose:
+      angle_rotation: 10.46549756247544
+      euclidean_error: -0.0009731087855122666
+    wrist_inside_marker_pose:
+      angle_rotation: 27.778641970370945
+      euclidean_error: -0.003602615809292109
+    wrist_top_marker_pose:
+      angle_rotation: 11.673292356322694
+      euclidean_error: -0.002686856386540537
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8444614276166234
+      euclidean_error: -0.00956807962157169
+    base_right_marker_pose:
+      angle_rotation: 2.3112573269868553
+      euclidean_error: -0.007945368350768867
+    shoulder_marker_pose:
+      angle_rotation: 13.977260289966807
+      euclidean_error: -0.001310161860602177
+    wrist_inside_marker_pose:
+      angle_rotation: 24.460523398624893
+      euclidean_error: -0.004055752503985155
+    wrist_top_marker_pose:
+      angle_rotation: 15.460720854378815
+      euclidean_error: -0.0016689409509588193
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.684674139446765
+      euclidean_error: -0.009291615412883036
+    base_right_marker_pose:
+      angle_rotation: 4.456433782703157
+      euclidean_error: -0.007634468004631745
+    shoulder_marker_pose:
+      angle_rotation: 6.259382230722776
+      euclidean_error: -0.002148186675766439
+    wrist_inside_marker_pose:
+      angle_rotation: 29.54388617756485
+      euclidean_error: -0.0034992771965969283
+    wrist_top_marker_pose:
+      angle_rotation: 12.923115164416542
+      euclidean_error: -0.0036431829650895864
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4877032163846606
+      euclidean_error: -0.009670980736327106
+    base_right_marker_pose:
+      angle_rotation: 4.1657888349106225
+      euclidean_error: -0.007949461186878226
+    shoulder_marker_pose:
+      angle_rotation: 7.092709318469692
+      euclidean_error: -0.001888585032834622
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 16.19773038987916
+      euclidean_error: -0.0022067423127067887
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3192479509285087
+      euclidean_error: -0.009587300817336053
+    base_right_marker_pose:
+      angle_rotation: 4.917834527981206
+      euclidean_error: -0.007760579021716341
+    shoulder_marker_pose:
+      angle_rotation: 11.701568591392629
+      euclidean_error: -0.0009186142176422774
+    wrist_inside_marker_pose:
+      angle_rotation: 27.089153085888505
+      euclidean_error: -0.004617335393932387
+    wrist_top_marker_pose:
+      angle_rotation: 19.69845822975186
+      euclidean_error: -0.0017761013791203206
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0046274559940924
+      euclidean_error: -0.009629503840869247
+    base_right_marker_pose:
+      angle_rotation: 4.082454973534158
+      euclidean_error: -0.00790669742918082
+    shoulder_marker_pose:
+      angle_rotation: 12.28430584795693
+      euclidean_error: -0.002001253339847242
+    wrist_inside_marker_pose:
+      angle_rotation: 27.519679641748596
+      euclidean_error: -0.0037259239724380944
+    wrist_top_marker_pose:
+      angle_rotation: 15.858966830001284
+      euclidean_error: -0.0029421744089160873
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1819396723150337
+      euclidean_error: -0.009643727935018553
+    base_right_marker_pose:
+      angle_rotation: 4.821620819590144
+      euclidean_error: -0.007451148402305652
+    shoulder_marker_pose:
+      angle_rotation: 12.852937604416118
+      euclidean_error: -0.0022963354776788236
+    wrist_inside_marker_pose:
+      angle_rotation: 21.79832012382885
+      euclidean_error: -0.003976561848650806
+    wrist_top_marker_pose:
+      angle_rotation: 12.795021668110167
+      euclidean_error: -0.0019414841687104278
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3589001454068543
+      euclidean_error: -0.00936081379790521
+    base_right_marker_pose:
+      angle_rotation: 7.073956002495337
+      euclidean_error: -0.007230030502560547
+    shoulder_marker_pose:
+      angle_rotation: 7.434941590664242
+      euclidean_error: -0.0006012375901488509
+    wrist_inside_marker_pose:
+      angle_rotation: 26.295527290265024
+      euclidean_error: -0.002905111438604724
+    wrist_top_marker_pose:
+      angle_rotation: 12.159232194298225
+      euclidean_error: -0.000882775029438343
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.791539505701467
+      euclidean_error: -0.009688962551006153
+    base_right_marker_pose:
+      angle_rotation: 4.22920408420124
+      euclidean_error: -0.007641235189696838
+    shoulder_marker_pose:
+      angle_rotation: 7.782164576194893
+      euclidean_error: -0.0022789405264772578
+    wrist_inside_marker_pose:
+      angle_rotation: 26.762628855290544
+      euclidean_error: -0.003829634039424268
+    wrist_top_marker_pose:
+      angle_rotation: 12.468045210550537
+      euclidean_error: -0.0014452436590867146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.719178595503439
+      euclidean_error: -0.009478591263225478
+    base_right_marker_pose:
+      angle_rotation: 5.271452010593211
+      euclidean_error: -0.007686913242819227
+    shoulder_marker_pose:
+      angle_rotation: 12.59905339557644
+      euclidean_error: -0.001079300193271182
+    wrist_inside_marker_pose:
+      angle_rotation: 30.67593054851748
+      euclidean_error: -0.0029800973468416814
+    wrist_top_marker_pose:
+      angle_rotation: 17.20466025348434
+      euclidean_error: -0.0015515431676714764
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.3279395073716114
+      euclidean_error: -0.009916418649411507
+    base_right_marker_pose:
+      angle_rotation: 4.51426405578797
+      euclidean_error: -0.00776011117816211
+    shoulder_marker_pose:
+      angle_rotation: 12.692446904067797
+      euclidean_error: -0.002562415145913377
+    wrist_inside_marker_pose:
+      angle_rotation: 27.9653241036998
+      euclidean_error: -0.002857840139900425
+    wrist_top_marker_pose:
+      angle_rotation: 14.23866655074279
+      euclidean_error: -0.0024122327365383445
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.713975289052463
+      euclidean_error: -0.009589411750731247
+    base_right_marker_pose:
+      angle_rotation: 2.231796391863284
+      euclidean_error: -0.00809350608286974
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.45813616378456
+      euclidean_error: -0.004690080008859732
+    wrist_top_marker_pose:
+      angle_rotation: 14.681273980622509
+      euclidean_error: -0.0024331107443664735
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6680829685172873
+      euclidean_error: -0.009609134286885923
+    base_right_marker_pose:
+      angle_rotation: 4.389478368374038
+      euclidean_error: -0.007920507729279658
+    shoulder_marker_pose:
+      angle_rotation: 10.381524111811864
+      euclidean_error: -0.0018982949977635055
+    wrist_inside_marker_pose:
+      angle_rotation: 23.32797825644926
+      euclidean_error: -0.0032003994565351634
+    wrist_top_marker_pose:
+      angle_rotation: 5.231360491056056
+      euclidean_error: -0.00231490356758568
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.658888401639151
+      euclidean_error: -0.009786466081774026
+    base_right_marker_pose:
+      angle_rotation: 4.470717871548415
+      euclidean_error: -0.007718843213614379
+    shoulder_marker_pose:
+      angle_rotation: 11.185713359876102
+      euclidean_error: -0.0006706014130818394
+    wrist_inside_marker_pose:
+      angle_rotation: 28.95817222698969
+      euclidean_error: -0.0035761772498077438
+    wrist_top_marker_pose:
+      angle_rotation: 14.448470359203284
+      euclidean_error: -0.002003409072266704
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.924174057569236
+      euclidean_error: -0.009301112337938955
+    base_right_marker_pose:
+      angle_rotation: 4.433895054989001
+      euclidean_error: -0.007737117379969738
+    shoulder_marker_pose:
+      angle_rotation: 11.221745196081502
+      euclidean_error: -0.002042902658776824
+    wrist_inside_marker_pose:
+      angle_rotation: 23.90539797990416
+      euclidean_error: -0.003966407372144598
+    wrist_top_marker_pose:
+      angle_rotation: 16.819456687418693
+      euclidean_error: -0.0025893252575671655
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.633080880775154
+      euclidean_error: -0.009659550770677594
+    base_right_marker_pose:
+      angle_rotation: 3.0203640298062093
+      euclidean_error: -0.008263985300663856
+    shoulder_marker_pose:
+      angle_rotation: 8.551151363071943
+      euclidean_error: -0.002227167103179384
+    wrist_inside_marker_pose:
+      angle_rotation: 26.342465165923834
+      euclidean_error: -0.0034814055724632365
+    wrist_top_marker_pose:
+      angle_rotation: 10.712763200892045
+      euclidean_error: -0.0023534482132587797
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.321370374155164
+      euclidean_error: -0.009579630570419995
+    base_right_marker_pose:
+      angle_rotation: 3.062923555299073
+      euclidean_error: -0.007990768351829214
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.534303154384922
+      euclidean_error: -0.003429002996611863
+    wrist_top_marker_pose:
+      angle_rotation: 17.397285400263982
+      euclidean_error: -0.0008948556271891617
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7090691928550643
+      euclidean_error: -0.009478737237770263
+    base_right_marker_pose:
+      angle_rotation: 4.224375544886601
+      euclidean_error: -0.007593441437205861
+    shoulder_marker_pose:
+      angle_rotation: 10.137727416065768
+      euclidean_error: -0.001802774765100268
+    wrist_inside_marker_pose:
+      angle_rotation: 26.352832262688796
+      euclidean_error: -0.00380351633519882
+    wrist_top_marker_pose:
+      angle_rotation: 14.860548578199573
+      euclidean_error: -0.0021752656724112196
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.816526654851949
+      euclidean_error: -0.009341374004198544
+    base_right_marker_pose:
+      angle_rotation: 3.4049844851101208
+      euclidean_error: -0.007878239497131956
+    shoulder_marker_pose:
+      angle_rotation: 11.295719483607419
+      euclidean_error: -0.00152638292413243
+    wrist_inside_marker_pose:
+      angle_rotation: 28.46660338972623
+      euclidean_error: -0.00351217667569681
+    wrist_top_marker_pose:
+      angle_rotation: 12.340791031674248
+      euclidean_error: -0.0010341419440603739
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.420866786968906
+      euclidean_error: -0.00963035523097544
+    base_right_marker_pose:
+      angle_rotation: 5.131770694034104
+      euclidean_error: -0.007547437850135563
+    shoulder_marker_pose:
+      angle_rotation: 7.598271544013451
+      euclidean_error: -0.0017275985045501763
+    wrist_inside_marker_pose:
+      angle_rotation: 25.8409945027713
+      euclidean_error: -0.004307733154084947
+    wrist_top_marker_pose:
+      angle_rotation: 8.273723920251031
+      euclidean_error: -0.0032556815481735724
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2081413202493736
+      euclidean_error: -0.009739612907615935
+    base_right_marker_pose:
+      angle_rotation: 5.633795112103325
+      euclidean_error: -0.007220802016236538
+    shoulder_marker_pose:
+      angle_rotation: 12.187051295556246
+      euclidean_error: -0.0017597807050142578
+    wrist_inside_marker_pose:
+      angle_rotation: 25.310123436268096
+      euclidean_error: -0.0031426077525585905
+    wrist_top_marker_pose:
+      angle_rotation: 17.596242939595
+      euclidean_error: -0.0015521455911580162
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7350870621427816
+      euclidean_error: -0.009730707771449576
+    base_right_marker_pose:
+      angle_rotation: 4.619107133004212
+      euclidean_error: -0.007320052236936325
+    shoulder_marker_pose:
+      angle_rotation: 9.262190531587025
+      euclidean_error: -0.001247460253883781
+    wrist_inside_marker_pose:
+      angle_rotation: 22.77260265067382
+      euclidean_error: -0.0037743620334054206
+    wrist_top_marker_pose:
+      angle_rotation: 16.574046023960268
+      euclidean_error: -0.0028565476352708785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.076772351504334
+      euclidean_error: -0.009571881686919803
+    base_right_marker_pose:
+      angle_rotation: 4.414925926592751
+      euclidean_error: -0.007790066203093193
+    shoulder_marker_pose:
+      angle_rotation: 8.565111103406522
+      euclidean_error: -0.001692292560534936
+    wrist_inside_marker_pose:
+      angle_rotation: 31.983934642146934
+      euclidean_error: -0.0031335830592981173
+    wrist_top_marker_pose:
+      angle_rotation: 14.21065445269568
+      euclidean_error: -0.0021611694451671992
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6622975013076204
+      euclidean_error: -0.009381963482171352
+    base_right_marker_pose:
+      angle_rotation: 4.177085304174996
+      euclidean_error: -0.007714044687690325
+    shoulder_marker_pose:
+      angle_rotation: 9.516459606427139
+      euclidean_error: -0.0017578499238413148
+    wrist_inside_marker_pose:
+      angle_rotation: 26.27868973897384
+      euclidean_error: -0.00438518043263858
+    wrist_top_marker_pose:
+      angle_rotation: 14.819101714553629
+      euclidean_error: -0.0018411953754084998
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5420536193273855
+      euclidean_error: -0.009588336326296631
+    base_right_marker_pose:
+      angle_rotation: 5.598302178280824
+      euclidean_error: -0.007662682718789782
+    shoulder_marker_pose:
+      angle_rotation: 8.783706155875894
+      euclidean_error: -0.0026627027610621745
+    wrist_inside_marker_pose:
+      angle_rotation: 27.661718004158196
+      euclidean_error: -0.003244534156658596
+    wrist_top_marker_pose:
+      angle_rotation: 15.223324738607412
+      euclidean_error: -0.002472245933236028
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.412382603592373
+      euclidean_error: -0.009671168237074701
+    base_right_marker_pose:
+      angle_rotation: 4.598367362878175
+      euclidean_error: -0.007891871944346818
+    shoulder_marker_pose:
+      angle_rotation: 7.365458015827002
+      euclidean_error: -0.0012920679206662733
+    wrist_inside_marker_pose:
+      angle_rotation: 30.325032237662032
+      euclidean_error: -0.0036882732165445242
+    wrist_top_marker_pose:
+      angle_rotation: 16.054583546501128
+      euclidean_error: -0.0018563096288245484
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.917013096932964
+      euclidean_error: -0.009550616064100792
+    base_right_marker_pose:
+      angle_rotation: 4.85831277853802
+      euclidean_error: -0.007797535297841995
+    shoulder_marker_pose:
+      angle_rotation: 15.795796995605485
+      euclidean_error: -0.002132227554099919
+    wrist_inside_marker_pose:
+      angle_rotation: 26.12393914836115
+      euclidean_error: -0.003797177252743089
+    wrist_top_marker_pose:
+      angle_rotation: 19.76618925673328
+      euclidean_error: -0.0023127263745045257
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.613362085478631
+      euclidean_error: -0.009654530866765487
+    base_right_marker_pose:
+      angle_rotation: 4.742774876877011
+      euclidean_error: -0.007840720279938762
+    shoulder_marker_pose:
+      angle_rotation: 10.34381712935629
+      euclidean_error: -0.0023401659115626083
+    wrist_inside_marker_pose:
+      angle_rotation: 26.381419520495143
+      euclidean_error: -0.0036422014475935294
+    wrist_top_marker_pose:
+      angle_rotation: 19.732988089425977
+      euclidean_error: -0.0027252328878258902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4489801884722016
+      euclidean_error: -0.009718469063779489
+    base_right_marker_pose:
+      angle_rotation: 4.858143485108145
+      euclidean_error: -0.008012167044797125
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.759890355496417
+      euclidean_error: -0.0037848160116614737
+    wrist_top_marker_pose:
+      angle_rotation: 14.200376224908936
+      euclidean_error: -0.0030299278341334723
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4785837214387407
+      euclidean_error: -0.009554430350537269
+    base_right_marker_pose:
+      angle_rotation: 6.375292432740318
+      euclidean_error: -0.00678061291040255
+    shoulder_marker_pose:
+      angle_rotation: 7.771056760072361
+      euclidean_error: -0.001955636926488369
+    wrist_inside_marker_pose:
+      angle_rotation: 24.22979697649798
+      euclidean_error: -0.003579999745708884
+    wrist_top_marker_pose:
+      angle_rotation: 10.434097977969563
+      euclidean_error: -0.001927450261338226
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2663080017888735
+      euclidean_error: -0.009421147909111083
+    base_right_marker_pose:
+      angle_rotation: 5.218598519268846
+      euclidean_error: -0.007624893304352565
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.87993112340182
+      euclidean_error: -0.0038313113046732905
+    wrist_top_marker_pose:
+      angle_rotation: 13.917405851912822
+      euclidean_error: -0.002327142293924944
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0393613716258887
+      euclidean_error: -0.009702896311187925
+    base_right_marker_pose:
+      angle_rotation: 3.16806956144077
+      euclidean_error: -0.007924549738483444
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.73291126875953
+      euclidean_error: -0.00458218708776903
+    wrist_top_marker_pose:
+      angle_rotation: 11.609304418111568
+      euclidean_error: -0.002517045162128806
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3844898057567003
+      euclidean_error: -0.009593153013004563
+    base_right_marker_pose:
+      angle_rotation: 4.565216813702756
+      euclidean_error: -0.007831006786476191
+    shoulder_marker_pose:
+      angle_rotation: 15.198916684442564
+      euclidean_error: -0.0020112907881537634
+    wrist_inside_marker_pose:
+      angle_rotation: 25.02108622962537
+      euclidean_error: -0.003938298601179002
+    wrist_top_marker_pose:
+      angle_rotation: 11.429774332827089
+      euclidean_error: -0.00198720956140519
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1439884808474616
+      euclidean_error: -0.009597807479197806
+    base_right_marker_pose:
+      angle_rotation: 4.999113136172859
+      euclidean_error: -0.007351463292530225
+    shoulder_marker_pose:
+      angle_rotation: 12.941065256443796
+      euclidean_error: -0.0014299707357258162
+    wrist_inside_marker_pose:
+      angle_rotation: 25.897173062453405
+      euclidean_error: -0.005081026892670648
+    wrist_top_marker_pose:
+      angle_rotation: 16.283421144557177
+      euclidean_error: -0.0032185624259529755
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.278518808718244
+      euclidean_error: -0.009608916853596883
+    base_right_marker_pose:
+      angle_rotation: 3.89199726260966
+      euclidean_error: -0.007990252332408243
+    shoulder_marker_pose:
+      angle_rotation: 13.24341786743559
+      euclidean_error: -0.0020288455157502217
+    wrist_inside_marker_pose:
+      angle_rotation: 25.947812497536127
+      euclidean_error: -0.004358960689084368
+    wrist_top_marker_pose:
+      angle_rotation: 12.139075650840388
+      euclidean_error: -0.0034926845358345115
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4427804954734578
+      euclidean_error: -0.009919665685728107
+    base_right_marker_pose:
+      angle_rotation: 4.367813796945596
+      euclidean_error: -0.008089915954701765
+    shoulder_marker_pose:
+      angle_rotation: 15.699546759086166
+      euclidean_error: -0.001289672039809342
+    wrist_inside_marker_pose:
+      angle_rotation: 27.40146344330403
+      euclidean_error: -0.004495287802693038
+    wrist_top_marker_pose:
+      angle_rotation: 17.859780815289007
+      euclidean_error: -0.003105029407161619
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.202315806435366
+      euclidean_error: -0.009493949008726132
+    base_right_marker_pose:
+      angle_rotation: 5.423903625622776
+      euclidean_error: -0.007713156191917703
+    shoulder_marker_pose:
+      angle_rotation: 17.51938262175626
+      euclidean_error: -0.00017118036401619907
+    wrist_inside_marker_pose:
+      angle_rotation: 29.343194211449415
+      euclidean_error: -0.003614449702125655
+    wrist_top_marker_pose:
+      angle_rotation: 16.486187970184073
+      euclidean_error: -0.002144407782827984
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1631316638171088
+      euclidean_error: -0.009826802900089526
+    base_right_marker_pose:
+      angle_rotation: 6.142831923624078
+      euclidean_error: -0.00674334587856551
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.785884155174628
+      euclidean_error: -0.00440957789717189
+    wrist_top_marker_pose:
+      angle_rotation: 19.434218318003694
+      euclidean_error: -0.0018809284258854975
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0173787514042627
+      euclidean_error: -0.009375509828888573
+    base_right_marker_pose:
+      angle_rotation: 3.664387182979939
+      euclidean_error: -0.00788982208876865
+    shoulder_marker_pose:
+      angle_rotation: 7.504556450626737
+      euclidean_error: -0.002247907627413004
+    wrist_inside_marker_pose:
+      angle_rotation: 23.364806051043562
+      euclidean_error: -0.0049388157797369825
+    wrist_top_marker_pose:
+      angle_rotation: 13.799721588829486
+      euclidean_error: -0.002328761751988262
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.505729277405194
+      euclidean_error: -0.009337876725718175
+    base_right_marker_pose:
+      angle_rotation: 5.381837055091643
+      euclidean_error: -0.007404304574144316
+    shoulder_marker_pose:
+      angle_rotation: 5.152875471108232
+      euclidean_error: -0.0026017193716868503
+    wrist_inside_marker_pose:
+      angle_rotation: 24.538633361542768
+      euclidean_error: -0.0046039635065332485
+    wrist_top_marker_pose:
+      angle_rotation: 10.33351577004872
+      euclidean_error: -0.0034886797828679317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.057426679470946
+      euclidean_error: -0.009465795846013036
+    base_right_marker_pose:
+      angle_rotation: 4.662413553428738
+      euclidean_error: -0.007799859034553491
+    shoulder_marker_pose:
+      angle_rotation: 9.278936272911942
+      euclidean_error: -0.0014094382488821777
+    wrist_inside_marker_pose:
+      angle_rotation: 23.46919120240776
+      euclidean_error: -0.0028978432809994015
+    wrist_top_marker_pose:
+      angle_rotation: 13.970741781925945
+      euclidean_error: -0.0008553295005737649
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8373356170605355
+      euclidean_error: -0.009704471986964336
+    base_right_marker_pose:
+      angle_rotation: 5.81716414911212
+      euclidean_error: -0.007485328976831629
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.858007627663362
+      euclidean_error: -0.004249128528283297
+    wrist_top_marker_pose:
+      angle_rotation: 11.888139357059027
+      euclidean_error: -0.0033685384564972054
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.347777115362372
+      euclidean_error: -0.009691605781426804
+    base_right_marker_pose:
+      angle_rotation: 4.241210494746611
+      euclidean_error: -0.007666593166371971
+    shoulder_marker_pose:
+      angle_rotation: 11.075129959974282
+      euclidean_error: -0.002468635550552878
+    wrist_inside_marker_pose:
+      angle_rotation: 26.935647559632447
+      euclidean_error: -0.0042163621661462924
+    wrist_top_marker_pose:
+      angle_rotation: 14.298667599035156
+      euclidean_error: -0.0025748175667432704
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.268857835589443
+      euclidean_error: -0.009874468399414416
+    base_right_marker_pose:
+      angle_rotation: 3.723737459833304
+      euclidean_error: -0.007983013139933215
+    shoulder_marker_pose:
+      angle_rotation: 15.735563226001979
+      euclidean_error: -0.0013277367573775178
+    wrist_inside_marker_pose:
+      angle_rotation: 26.74755256615678
+      euclidean_error: -0.003154517087413433
+    wrist_top_marker_pose:
+      angle_rotation: 19.520531409476536
+      euclidean_error: -0.0019357378435286288
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5932514394249353
+      euclidean_error: -0.00965167189037397
+    base_right_marker_pose:
+      angle_rotation: 4.051858835885978
+      euclidean_error: -0.0076644643522031375
+    shoulder_marker_pose:
+      angle_rotation: 9.405391022066182
+      euclidean_error: -0.0019767721488532786
+    wrist_inside_marker_pose:
+      angle_rotation: 23.689277202228652
+      euclidean_error: -0.0036385998360330962
+    wrist_top_marker_pose:
+      angle_rotation: 11.921398503477622
+      euclidean_error: -0.0022921631985877156
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.927418151567873
+      euclidean_error: -0.009467879907268495
+    base_right_marker_pose:
+      angle_rotation: 2.726079963073531
+      euclidean_error: -0.008041674930511555
+    shoulder_marker_pose:
+      angle_rotation: 8.459066288754993
+      euclidean_error: -0.002044170087804442
+    wrist_inside_marker_pose:
+      angle_rotation: 24.80541311982424
+      euclidean_error: -0.004348746438493589
+    wrist_top_marker_pose:
+      angle_rotation: 11.299247370173235
+      euclidean_error: -0.002681735614222136
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.644683393680853
+      euclidean_error: -0.009694132581873682
+    base_right_marker_pose:
+      angle_rotation: 6.389954834014764
+      euclidean_error: -0.007354519892274536
+    shoulder_marker_pose:
+      angle_rotation: 6.897334974719818
+      euclidean_error: -0.002068476493385263
+    wrist_inside_marker_pose:
+      angle_rotation: 29.182702859521633
+      euclidean_error: -0.003566235209076174
+    wrist_top_marker_pose:
+      angle_rotation: 20.265314700127785
+      euclidean_error: -0.0022500100536930745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9579536939369864
+      euclidean_error: -0.009566817441000297
+    base_right_marker_pose:
+      angle_rotation: 5.511661556073582
+      euclidean_error: -0.007620135667953165
+    shoulder_marker_pose:
+      angle_rotation: 12.201279985430816
+      euclidean_error: -0.0025753596529318745
+    wrist_inside_marker_pose:
+      angle_rotation: 25.290294995820332
+      euclidean_error: -0.004878592419589212
+    wrist_top_marker_pose:
+      angle_rotation: 11.971225311521202
+      euclidean_error: -0.0022412922964897275
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0201485054373522
+      euclidean_error: -0.009924566518253242
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 10.142127529524265
+      euclidean_error: -0.003573855788246094
+    wrist_inside_marker_pose:
+      angle_rotation: 24.521059943416773
+      euclidean_error: -0.004331988152299626
+    wrist_top_marker_pose:
+      angle_rotation: 17.66487003668181
+      euclidean_error: -0.002780048379730893
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.489953086758812
+      euclidean_error: -0.00952289034509135
+    base_right_marker_pose:
+      angle_rotation: 4.524075758442563
+      euclidean_error: -0.007458830217014545
+    shoulder_marker_pose:
+      angle_rotation: 9.07424638077577
+      euclidean_error: -0.001885477363899546
+    wrist_inside_marker_pose:
+      angle_rotation: 27.365681542982838
+      euclidean_error: -0.0037677558893149943
+    wrist_top_marker_pose:
+      angle_rotation: 13.769423842344805
+      euclidean_error: -0.001981379957834095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9071596516814329
+      euclidean_error: -0.009743049455468222
+    base_right_marker_pose:
+      angle_rotation: 4.217948119892755
+      euclidean_error: -0.007439044833850494
+    shoulder_marker_pose:
+      angle_rotation: 9.250115096100147
+      euclidean_error: -0.0019223860882898736
+    wrist_inside_marker_pose:
+      angle_rotation: 26.14214281163199
+      euclidean_error: -0.004708001792502525
+    wrist_top_marker_pose:
+      angle_rotation: 15.384875290109747
+      euclidean_error: -0.002003716829364177
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.589175720864278
+      euclidean_error: -0.009350582186290923
+    base_right_marker_pose:
+      angle_rotation: 4.612325718284305
+      euclidean_error: -0.007410069721889956
+    shoulder_marker_pose:
+      angle_rotation: 12.601864901460155
+      euclidean_error: -0.0007979429943051342
+    wrist_inside_marker_pose:
+      angle_rotation: 27.13340237407664
+      euclidean_error: -0.003155661377577945
+    wrist_top_marker_pose:
+      angle_rotation: 13.437059293792597
+      euclidean_error: -0.001151946888027
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0312308051242978
+      euclidean_error: -0.009871059548446914
+    base_right_marker_pose:
+      angle_rotation: 4.876538373753919
+      euclidean_error: -0.007474235493044601
+    shoulder_marker_pose:
+      angle_rotation: 10.069304463271516
+      euclidean_error: -0.0023584665789592174
+    wrist_inside_marker_pose:
+      angle_rotation: 25.767264608925725
+      euclidean_error: -0.0033579775213385954
+    wrist_top_marker_pose:
+      angle_rotation: 17.85759350206039
+      euclidean_error: -0.00206170447601961
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7859349341107364
+      euclidean_error: -0.009331205784731345
+    base_right_marker_pose:
+      angle_rotation: 4.530862944436103
+      euclidean_error: -0.007711673047070322
+    shoulder_marker_pose:
+      angle_rotation: 7.736791237453637
+      euclidean_error: -0.002263711438960425
+    wrist_inside_marker_pose:
+      angle_rotation: 27.02653000934577
+      euclidean_error: -0.002910409540667458
+    wrist_top_marker_pose:
+      angle_rotation: 15.219161562956984
+      euclidean_error: -0.0028481011703820336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.56055434713427
+      euclidean_error: -0.009301978663552424
+    base_right_marker_pose:
+      angle_rotation: 4.532639581324661
+      euclidean_error: -0.007726588852201455
+    shoulder_marker_pose:
+      angle_rotation: 9.33969557239583
+      euclidean_error: -0.0020036855190938008
+    wrist_inside_marker_pose:
+      angle_rotation: 25.834690107599098
+      euclidean_error: -0.0030633842535535694
+    wrist_top_marker_pose:
+      angle_rotation: 9.283585965362406
+      euclidean_error: -0.0009706731544587566
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7290110307713444
+      euclidean_error: -0.00958677910398087
+    base_right_marker_pose:
+      angle_rotation: 4.297724423532663
+      euclidean_error: -0.007541693308758424
+    shoulder_marker_pose:
+      angle_rotation: 12.655406145794466
+      euclidean_error: -0.0010777640508158326
+    wrist_inside_marker_pose:
+      angle_rotation: 22.87360701796468
+      euclidean_error: -0.0035554934817131345
+    wrist_top_marker_pose:
+      angle_rotation: 18.543432302340353
+      euclidean_error: -0.0019112762646290582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5408878840055396
+      euclidean_error: -0.009501368996129633
+    base_right_marker_pose:
+      angle_rotation: 4.1475696522001195
+      euclidean_error: -0.0077674011430083345
+    shoulder_marker_pose:
+      angle_rotation: 13.110502617768763
+      euclidean_error: -0.0015471876085655367
+    wrist_inside_marker_pose:
+      angle_rotation: 24.651293524621373
+      euclidean_error: -0.0033436315909005643
+    wrist_top_marker_pose:
+      angle_rotation: 15.413287302567293
+      euclidean_error: -0.0014864875975642011
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.830437463075663
+      euclidean_error: -0.00949454288058027
+    base_right_marker_pose:
+      angle_rotation: 3.0706189277661555
+      euclidean_error: -0.00796210818625609
+    shoulder_marker_pose:
+      angle_rotation: 7.495107744649309
+      euclidean_error: -0.002717756218079903
+    wrist_inside_marker_pose:
+      angle_rotation: 25.48588126735951
+      euclidean_error: -0.003914151674865085
+    wrist_top_marker_pose:
+      angle_rotation: 15.140121460650589
+      euclidean_error: -0.002665677745413819
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5933498347951383
+      euclidean_error: -0.009665649927510511
+    base_right_marker_pose:
+      angle_rotation: 2.130718940638864
+      euclidean_error: -0.007920142857870016
+    shoulder_marker_pose:
+      angle_rotation: 11.348708059053736
+      euclidean_error: -0.0019731608174180515
+    wrist_inside_marker_pose:
+      angle_rotation: 25.529086404735256
+      euclidean_error: -0.005019996586663078
+    wrist_top_marker_pose:
+      angle_rotation: 16.605651985837397
+      euclidean_error: -0.002929827835298493
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1535285802045423
+      euclidean_error: -0.009588419376504898
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 12.799527101232208
+      euclidean_error: -0.001349920471377608
+    wrist_inside_marker_pose:
+      angle_rotation: 26.902445481711602
+      euclidean_error: -0.002899373495049762
+    wrist_top_marker_pose:
+      angle_rotation: 14.446517192119607
+      euclidean_error: -0.0018175050796093162
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.745322705401972
+      euclidean_error: -0.009289890354546637
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 10.18867682659802
+      euclidean_error: -0.0010350904251215098
+    wrist_inside_marker_pose:
+      angle_rotation: 26.116827054949432
+      euclidean_error: -0.0032816429889317433
+    wrist_top_marker_pose:
+      angle_rotation: 7.5194013743879395
+      euclidean_error: -0.0019140719341563806
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.372400128822404
+      euclidean_error: -0.00939398213495568
+    base_right_marker_pose:
+      angle_rotation: 5.787741414174272
+      euclidean_error: -0.007545569112541339
+    shoulder_marker_pose:
+      angle_rotation: 13.817112905409376
+      euclidean_error: -0.0016141489786849483
+    wrist_inside_marker_pose:
+      angle_rotation: 28.87593613003236
+      euclidean_error: -0.00310261827758318
+    wrist_top_marker_pose:
+      angle_rotation: 13.123582834867333
+      euclidean_error: -0.0019631350791650126
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.936750825329306
+      euclidean_error: -0.009404770090733705
+    base_right_marker_pose:
+      angle_rotation: 4.129881520574904
+      euclidean_error: -0.007464607323193984
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.20985687647987
+      euclidean_error: -0.003815192183795335
+    wrist_top_marker_pose:
+      angle_rotation: 15.340087989109692
+      euclidean_error: -0.0019112808226369182
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4650809950092687
+      euclidean_error: -0.009369618253172063
+    base_right_marker_pose:
+      angle_rotation: 4.112607214751801
+      euclidean_error: -0.007422913652856189
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.339800713059375
+      euclidean_error: -0.004087261622719329
+    wrist_top_marker_pose:
+      angle_rotation: 19.814143262760815
+      euclidean_error: -0.002699952574847786
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7180530417597661
+      euclidean_error: -0.009649683207235138
+    base_right_marker_pose:
+      angle_rotation: 4.838420518112991
+      euclidean_error: -0.007587130111441187
+    shoulder_marker_pose:
+      angle_rotation: 11.42672968367803
+      euclidean_error: -0.0014853062321613653
+    wrist_inside_marker_pose:
+      angle_rotation: 27.761566874283996
+      euclidean_error: -0.003095992492248345
+    wrist_top_marker_pose:
+      angle_rotation: 13.329812782530313
+      euclidean_error: -0.0021364197248471273
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1632542372219374
+      euclidean_error: -0.00955167462271811
+    base_right_marker_pose:
+      angle_rotation: 5.73912899505856
+      euclidean_error: -0.007636432415857541
+    shoulder_marker_pose:
+      angle_rotation: 10.710117823063369
+      euclidean_error: -0.0019448056612861864
+    wrist_inside_marker_pose:
+      angle_rotation: 24.156552130596268
+      euclidean_error: -0.004293315897715533
+    wrist_top_marker_pose:
+      angle_rotation: 15.858719464117723
+      euclidean_error: -0.00225628379084597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5026079557913596
+      euclidean_error: -0.009545100751920832
+    base_right_marker_pose:
+      angle_rotation: 4.562742286145894
+      euclidean_error: -0.007218680210965056
+    shoulder_marker_pose:
+      angle_rotation: 8.195421792688261
+      euclidean_error: -0.002036467302252487
+    wrist_inside_marker_pose:
+      angle_rotation: 26.306307525324783
+      euclidean_error: -0.003825811056389461
+    wrist_top_marker_pose:
+      angle_rotation: 8.136944841451996
+      euclidean_error: -0.0020223921511963727
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.968400876923316
+      euclidean_error: -0.009439960810163628
+    base_right_marker_pose:
+      angle_rotation: 3.9283651831487014
+      euclidean_error: -0.007888044974100894
+    shoulder_marker_pose:
+      angle_rotation: 13.578856497982757
+      euclidean_error: -0.0018615422958314642
+    wrist_inside_marker_pose:
+      angle_rotation: 25.749300507823392
+      euclidean_error: -0.0038824731937108226
+    wrist_top_marker_pose:
+      angle_rotation: 14.735949096514325
+      euclidean_error: -0.0022476551202103012
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5484975210012735
+      euclidean_error: -0.009455114255265906
+    base_right_marker_pose:
+      angle_rotation: 3.8573169326137386
+      euclidean_error: -0.007580185798698347
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.234602225230535
+      euclidean_error: -0.003996132768093741
+    wrist_top_marker_pose:
+      angle_rotation: 16.531268316027216
+      euclidean_error: -0.0018956413619792833
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1677308047031856
+      euclidean_error: -0.009761035479650126
+    base_right_marker_pose:
+      angle_rotation: 3.0538946740656914
+      euclidean_error: -0.008029392501116672
+    shoulder_marker_pose:
+      angle_rotation: 4.561151103112658
+      euclidean_error: -0.001828216590104792
+    wrist_inside_marker_pose:
+      angle_rotation: 19.419134370424096
+      euclidean_error: -0.0039749434295042185
+    wrist_top_marker_pose:
+      angle_rotation: 17.04894455907839
+      euclidean_error: -0.0031277281578014904
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.020902224032693
+      euclidean_error: -0.009646217012940106
+    base_right_marker_pose:
+      angle_rotation: 4.633916821681778
+      euclidean_error: -0.007642184803282381
+    shoulder_marker_pose:
+      angle_rotation: 15.733879481379985
+      euclidean_error: -0.0015747519612697713
+    wrist_inside_marker_pose:
+      angle_rotation: 23.482423554895984
+      euclidean_error: -0.0037892365901627256
+    wrist_top_marker_pose:
+      angle_rotation: 15.169081358791258
+      euclidean_error: -0.0015839298451854056
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8111585971242605
+      euclidean_error: -0.009653150242011077
+    base_right_marker_pose:
+      angle_rotation: 5.230242421574292
+      euclidean_error: -0.007557715334853943
+    shoulder_marker_pose:
+      angle_rotation: 11.19134899250104
+      euclidean_error: -0.0015266209834535749
+    wrist_inside_marker_pose:
+      angle_rotation: 29.08017983164658
+      euclidean_error: -0.003196347238997199
+    wrist_top_marker_pose:
+      angle_rotation: 16.086978430127157
+      euclidean_error: -0.0016869285309479842
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.59750851539026
+      euclidean_error: -0.009406483641373975
+    base_right_marker_pose:
+      angle_rotation: 3.972349293243686
+      euclidean_error: -0.007704201595821414
+    shoulder_marker_pose:
+      angle_rotation: 14.313703670015038
+      euclidean_error: -0.0016224298210382182
+    wrist_inside_marker_pose:
+      angle_rotation: 24.642860405752163
+      euclidean_error: -0.0036832806701680987
+    wrist_top_marker_pose:
+      angle_rotation: 16.124919495154085
+      euclidean_error: -0.0025886140399854485
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.445782945176886
+      euclidean_error: -0.009700802661543162
+    base_right_marker_pose:
+      angle_rotation: 3.939628565048459
+      euclidean_error: -0.007860449353970012
+    shoulder_marker_pose:
+      angle_rotation: 13.512173763346206
+      euclidean_error: -0.0016688195245657678
+    wrist_inside_marker_pose:
+      angle_rotation: 27.10381379175204
+      euclidean_error: -0.004414959683084252
+    wrist_top_marker_pose:
+      angle_rotation: 16.375599971801524
+      euclidean_error: -0.002337285161198799
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1255051338487325
+      euclidean_error: -0.009607714370519993
+    base_right_marker_pose:
+      angle_rotation: 5.261000957455935
+      euclidean_error: -0.007349458344041548
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.2350567210747
+      euclidean_error: -0.004071343111508918
+    wrist_top_marker_pose:
+      angle_rotation: 20.55350489385202
+      euclidean_error: -0.002544606471750477
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6849705159763317
+      euclidean_error: -0.009487009642679012
+    base_right_marker_pose:
+      angle_rotation: 3.4542374188849565
+      euclidean_error: -0.00791083907417034
+    shoulder_marker_pose:
+      angle_rotation: 10.091294476813992
+      euclidean_error: -0.0012590832815456698
+    wrist_inside_marker_pose:
+      angle_rotation: 23.161685824835708
+      euclidean_error: -0.003777602953421777
+    wrist_top_marker_pose:
+      angle_rotation: 12.394191797357847
+      euclidean_error: -0.00168072796077412
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.587026424788221
+      euclidean_error: -0.009638094402405484
+    base_right_marker_pose:
+      angle_rotation: 5.308540811582609
+      euclidean_error: -0.00760850857226647
+    shoulder_marker_pose:
+      angle_rotation: 11.81476081305446
+      euclidean_error: -0.0019458913494383445
+    wrist_inside_marker_pose:
+      angle_rotation: 27.126203892634912
+      euclidean_error: -0.0037479664670750923
+    wrist_top_marker_pose:
+      angle_rotation: 15.468209115054435
+      euclidean_error: -0.0020157194205484563
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5939599361467445
+      euclidean_error: -0.009542720933308657
+    base_right_marker_pose:
+      angle_rotation: 3.1615823766195827
+      euclidean_error: -0.00794340228801338
+    shoulder_marker_pose:
+      angle_rotation: 10.508606600537066
+      euclidean_error: -0.0022092452855982936
+    wrist_inside_marker_pose:
+      angle_rotation: 27.682427415458374
+      euclidean_error: -0.004140206616113251
+    wrist_top_marker_pose:
+      angle_rotation: 17.1799692199483
+      euclidean_error: -0.0027006346080796773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.037815848600888
+      euclidean_error: -0.009688634439533828
+    base_right_marker_pose:
+      angle_rotation: 4.683889088806819
+      euclidean_error: -0.007429157720160062
+    shoulder_marker_pose:
+      angle_rotation: 8.666433482248975
+      euclidean_error: -0.0018863354054161618
+    wrist_inside_marker_pose:
+      angle_rotation: 26.763288764284024
+      euclidean_error: -0.0037333808018702452
+    wrist_top_marker_pose:
+      angle_rotation: 16.32625305083583
+      euclidean_error: -0.0027697044340272425
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0957925306159786
+      euclidean_error: -0.009659466774153413
+    base_right_marker_pose:
+      angle_rotation: 3.7958930859211013
+      euclidean_error: -0.007744867329272154
+    shoulder_marker_pose:
+      angle_rotation: 13.854819284330231
+      euclidean_error: -0.002088499684489875
+    wrist_inside_marker_pose:
+      angle_rotation: 26.80205536161364
+      euclidean_error: -0.0037261104137126244
+    wrist_top_marker_pose:
+      angle_rotation: 21.994395192235356
+      euclidean_error: -0.002914727734839473
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9810606353876516
+      euclidean_error: -0.00964748402895721
+    base_right_marker_pose:
+      angle_rotation: 3.1408629277201436
+      euclidean_error: -0.007568828351537826
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.979207570924917
+      euclidean_error: -0.004054223990243799
+    wrist_top_marker_pose:
+      angle_rotation: 13.378735139855571
+      euclidean_error: -0.0016331968056164659
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5720691066350339
+      euclidean_error: -0.009670694142152159
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 6.591217099535255
+      euclidean_error: -0.0025865706161053437
+    wrist_inside_marker_pose:
+      angle_rotation: 27.563665713141333
+      euclidean_error: -0.0038550471003799824
+    wrist_top_marker_pose:
+      angle_rotation: 14.67695249920077
+      euclidean_error: -0.0028846767438953647
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8234669606073974
+      euclidean_error: -0.009563310951415493
+    base_right_marker_pose:
+      angle_rotation: 5.106868017920223
+      euclidean_error: -0.007426415424010235
+    shoulder_marker_pose:
+      angle_rotation: 10.609545271517609
+      euclidean_error: -0.0028342067174401686
+    wrist_inside_marker_pose:
+      angle_rotation: 26.504375724774125
+      euclidean_error: -0.003043659041099933
+    wrist_top_marker_pose:
+      angle_rotation: 17.7662284695247
+      euclidean_error: -0.001928902012864775
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4422359149648796
+      euclidean_error: -0.00958688083920356
+    base_right_marker_pose:
+      angle_rotation: 6.153978844389123
+      euclidean_error: -0.007375208409691858
+    shoulder_marker_pose:
+      angle_rotation: 9.11841356874834
+      euclidean_error: -0.0021761873106953544
+    wrist_inside_marker_pose:
+      angle_rotation: 24.757469254345427
+      euclidean_error: -0.004589855236745155
+    wrist_top_marker_pose:
+      angle_rotation: 13.744022097040043
+      euclidean_error: -0.003533682030405272
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2882676200750574
+      euclidean_error: -0.009565552267615574
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 6.839684762413042
+      euclidean_error: -0.001693066470282445
+    wrist_inside_marker_pose:
+      angle_rotation: 24.088440720818436
+      euclidean_error: -0.00366003779241042
+    wrist_top_marker_pose:
+      angle_rotation: 12.111121781750048
+      euclidean_error: -0.0018789849749819565
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8288888068792652
+      euclidean_error: -0.009574197848135513
+    base_right_marker_pose:
+      angle_rotation: 4.08846548998388
+      euclidean_error: -0.007701476461394519
+    shoulder_marker_pose:
+      angle_rotation: 8.908613477531674
+      euclidean_error: -0.002614238907621469
+    wrist_inside_marker_pose:
+      angle_rotation: 26.75420540403514
+      euclidean_error: -0.004190929596158521
+    wrist_top_marker_pose:
+      angle_rotation: 9.83102913140131
+      euclidean_error: -0.0017747871166475804
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.471711133999443
+      euclidean_error: -0.009353226991191343
+    base_right_marker_pose:
+      angle_rotation: 5.011290114336305
+      euclidean_error: -0.0076393505395147
+    shoulder_marker_pose:
+      angle_rotation: 11.512095205136404
+      euclidean_error: -0.0006972411355569141
+    wrist_inside_marker_pose:
+      angle_rotation: 26.62074078676526
+      euclidean_error: -0.0030474287923234478
+    wrist_top_marker_pose:
+      angle_rotation: 16.59477096646815
+      euclidean_error: -0.0024264004727119204
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7876382955641104
+      euclidean_error: -0.00951964068018818
+    base_right_marker_pose:
+      angle_rotation: 4.32548686119757
+      euclidean_error: -0.007686166029654884
+    shoulder_marker_pose:
+      angle_rotation: 11.90800056661953
+      euclidean_error: -0.0010877257639912985
+    wrist_inside_marker_pose:
+      angle_rotation: 28.261995141099113
+      euclidean_error: -0.0034876338184290923
+    wrist_top_marker_pose:
+      angle_rotation: 16.551501610433192
+      euclidean_error: -0.0018493418225995484
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.761820730936009
+      euclidean_error: -0.009726450424112132
+    base_right_marker_pose:
+      angle_rotation: 4.1553973325620115
+      euclidean_error: -0.007884379644341966
+    shoulder_marker_pose:
+      angle_rotation: 11.928661681380788
+      euclidean_error: -0.0005894716712282477
+    wrist_inside_marker_pose:
+      angle_rotation: 25.734017275932157
+      euclidean_error: -0.00352624267608459
+    wrist_top_marker_pose:
+      angle_rotation: 14.979280751232496
+      euclidean_error: -0.0014504669451845809
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0604075842531007
+      euclidean_error: -0.009820347560005827
+    base_right_marker_pose:
+      angle_rotation: 4.386674134402655
+      euclidean_error: -0.007397624498989619
+    shoulder_marker_pose:
+      angle_rotation: 6.367656716767923
+      euclidean_error: -0.001731621972205999
+    wrist_inside_marker_pose:
+      angle_rotation: 29.872160870939027
+      euclidean_error: -0.004098283828935512
+    wrist_top_marker_pose:
+      angle_rotation: 15.123378485339744
+      euclidean_error: -0.0031561638376660373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6433868686796265
+      euclidean_error: -0.009554477698537678
+    base_right_marker_pose:
+      angle_rotation: 6.289739900182288
+      euclidean_error: -0.007204125659973859
+    shoulder_marker_pose:
+      angle_rotation: 3.952723445203638
+      euclidean_error: -0.0024418723675962983
+    wrist_inside_marker_pose:
+      angle_rotation: 24.168516778064543
+      euclidean_error: -0.004145693539433393
+    wrist_top_marker_pose:
+      angle_rotation: 4.2588200185853236
+      euclidean_error: -0.002046310045814237
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3468160858509837
+      euclidean_error: -0.009486200496857444
+    base_right_marker_pose:
+      angle_rotation: 5.301570655977021
+      euclidean_error: -0.007689053987052885
+    shoulder_marker_pose:
+      angle_rotation: 13.92821273438031
+      euclidean_error: -0.0013464874308909414
+    wrist_inside_marker_pose:
+      angle_rotation: 27.360964073484425
+      euclidean_error: -0.004672779193063303
+    wrist_top_marker_pose:
+      angle_rotation: 15.328648216034697
+      euclidean_error: -0.0025018287581564103
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1213858255667475
+      euclidean_error: -0.00943245658031544
+    base_right_marker_pose:
+      angle_rotation: 4.208154293150819
+      euclidean_error: -0.007667285049089867
+    shoulder_marker_pose:
+      angle_rotation: 11.109697570738087
+      euclidean_error: -0.002458923425023296
+    wrist_inside_marker_pose:
+      angle_rotation: 26.76489702795214
+      euclidean_error: -0.0029966121892187614
+    wrist_top_marker_pose:
+      angle_rotation: 18.853381846238737
+      euclidean_error: -0.002046290261694228
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4640614808062735
+      euclidean_error: -0.009612015204961577
+    base_right_marker_pose:
+      angle_rotation: 5.088020243260271
+      euclidean_error: -0.007403861893025221
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.13667573689361
+      euclidean_error: -0.004308484152795278
+    wrist_top_marker_pose:
+      angle_rotation: 18.07021413653991
+      euclidean_error: -0.0022723827419223186
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7845779384287317
+      euclidean_error: -0.009397033404314747
+    base_right_marker_pose:
+      angle_rotation: 3.919450637968034
+      euclidean_error: -0.007814632899356022
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.044510333915543
+      euclidean_error: -0.003562074765613654
+    wrist_top_marker_pose:
+      angle_rotation: 13.546521650267056
+      euclidean_error: -0.0014770416723753899
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.313323065324616
+      euclidean_error: -0.009171650781312102
+    base_right_marker_pose:
+      angle_rotation: 3.609293311634093
+      euclidean_error: -0.007885321355996067
+    shoulder_marker_pose:
+      angle_rotation: 7.9805887805983176
+      euclidean_error: -0.0032530270998569755
+    wrist_inside_marker_pose:
+      angle_rotation: 26.630771957689685
+      euclidean_error: -0.0032383540487352924
+    wrist_top_marker_pose:
+      angle_rotation: 15.301425579855662
+      euclidean_error: -0.0026280042332640363
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1927238775989504
+      euclidean_error: -0.009680852010405583
+    base_right_marker_pose:
+      angle_rotation: 6.043722564283593
+      euclidean_error: -0.007201541335226214
+    shoulder_marker_pose:
+      angle_rotation: 10.705079244933424
+      euclidean_error: -0.0016181689581185044
+    wrist_inside_marker_pose:
+      angle_rotation: 27.95060134347584
+      euclidean_error: -0.0035987391387506396
+    wrist_top_marker_pose:
+      angle_rotation: 12.690504625533887
+      euclidean_error: -0.002421156667530955
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7785104577578152
+      euclidean_error: -0.009455685184467266
+    base_right_marker_pose:
+      angle_rotation: 4.860498643666065
+      euclidean_error: -0.00732692439686633
+    shoulder_marker_pose:
+      angle_rotation: 10.955959369457945
+      euclidean_error: -0.002746868539635905
+    wrist_inside_marker_pose:
+      angle_rotation: 20.704444826622304
+      euclidean_error: -0.0037610304025108565
+    wrist_top_marker_pose:
+      angle_rotation: 16.964198294952535
+      euclidean_error: -0.0033376840980463562
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.001720572146255
+      euclidean_error: -0.009330395551971238
+    base_right_marker_pose:
+      angle_rotation: 4.628483226681275
+      euclidean_error: -0.007503152361840626
+    shoulder_marker_pose:
+      angle_rotation: 13.873704212993538
+      euclidean_error: -0.0023053725755098897
+    wrist_inside_marker_pose:
+      angle_rotation: 28.259846530768908
+      euclidean_error: -0.0028874305691497515
+    wrist_top_marker_pose:
+      angle_rotation: 18.068141116301526
+      euclidean_error: -0.0017915492211756368
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8736528832392083
+      euclidean_error: -0.009545297272485653
+    base_right_marker_pose:
+      angle_rotation: 4.125864637089279
+      euclidean_error: -0.0078030855133074395
+    shoulder_marker_pose:
+      angle_rotation: 9.247118424442553
+      euclidean_error: -0.0023084955990995137
+    wrist_inside_marker_pose:
+      angle_rotation: 25.315498396619542
+      euclidean_error: -0.004418252599508787
+    wrist_top_marker_pose:
+      angle_rotation: 14.579347508344894
+      euclidean_error: -0.0033240677107462258
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.303468878710431
+      euclidean_error: -0.00967127528433298
+    base_right_marker_pose:
+      angle_rotation: 4.546966016565721
+      euclidean_error: -0.007642337545780475
+    shoulder_marker_pose:
+      angle_rotation: 7.01486747892627
+      euclidean_error: -0.002146141340177543
+    wrist_inside_marker_pose:
+      angle_rotation: 22.941476783104108
+      euclidean_error: -0.0037116506602220545
+    wrist_top_marker_pose:
+      angle_rotation: 13.613291598861025
+      euclidean_error: -0.0024123853176040155
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4292935299225435
+      euclidean_error: -0.009647517902829694
+    base_right_marker_pose:
+      angle_rotation: 4.857233303458047
+      euclidean_error: -0.007499509815961702
+    shoulder_marker_pose:
+      angle_rotation: 10.558017623577392
+      euclidean_error: -0.0010756073658771959
+    wrist_inside_marker_pose:
+      angle_rotation: 27.83743998959552
+      euclidean_error: -0.003457066278753751
+    wrist_top_marker_pose:
+      angle_rotation: 15.742791730009086
+      euclidean_error: -0.0017973077745544463
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6417899057768137
+      euclidean_error: -0.009727815823585728
+    base_right_marker_pose:
+      angle_rotation: 3.5104055594916317
+      euclidean_error: -0.007831093286541413
+    shoulder_marker_pose:
+      angle_rotation: 12.477726069652258
+      euclidean_error: -0.0011670596465860328
+    wrist_inside_marker_pose:
+      angle_rotation: 28.164069817808024
+      euclidean_error: -0.0032535892950324996
+    wrist_top_marker_pose:
+      angle_rotation: 15.203395550547572
+      euclidean_error: -0.001994212743868684
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7422111067515345
+      euclidean_error: -0.009396098050650559
+    base_right_marker_pose:
+      angle_rotation: 3.9940523243866966
+      euclidean_error: -0.007938023654645687
+    shoulder_marker_pose:
+      angle_rotation: 14.813591080191253
+      euclidean_error: -0.000490983695879077
+    wrist_inside_marker_pose:
+      angle_rotation: 27.12122638178786
+      euclidean_error: -0.002771704010933851
+    wrist_top_marker_pose:
+      angle_rotation: 17.5238092202008
+      euclidean_error: -0.00104963920960921
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.247070352763915
+      euclidean_error: -0.009500255236963073
+    base_right_marker_pose:
+      angle_rotation: 3.982158071118863
+      euclidean_error: -0.007981255451124603
+    shoulder_marker_pose:
+      angle_rotation: 10.616204143748996
+      euclidean_error: -0.0007467257608091415
+    wrist_inside_marker_pose:
+      angle_rotation: 28.22856597081126
+      euclidean_error: -0.0034919793706390534
+    wrist_top_marker_pose:
+      angle_rotation: 15.33885450167048
+      euclidean_error: -0.0027901474342831856
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.078840630180665
+      euclidean_error: -0.009494888298895665
+    base_right_marker_pose:
+      angle_rotation: 4.519486319077489
+      euclidean_error: -0.007631274578721148
+    shoulder_marker_pose:
+      angle_rotation: 11.105946750564048
+      euclidean_error: -0.0013072480707783107
+    wrist_inside_marker_pose:
+      angle_rotation: 28.588697564165276
+      euclidean_error: -0.0028967934468618894
+    wrist_top_marker_pose:
+      angle_rotation: 15.343938622574456
+      euclidean_error: -0.0020267698895062303
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4954673088958876
+      euclidean_error: -0.009516505506586226
+    base_right_marker_pose:
+      angle_rotation: 6.7388401926385875
+      euclidean_error: -0.0069958764005026985
+    shoulder_marker_pose:
+      angle_rotation: 12.898428230588216
+      euclidean_error: -0.0016250244624632648
+    wrist_inside_marker_pose:
+      angle_rotation: 26.256419537822893
+      euclidean_error: -0.0027254054889872537
+    wrist_top_marker_pose:
+      angle_rotation: 16.63463188487731
+      euclidean_error: -0.0011794787594211487
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7959634150050388
+      euclidean_error: -0.009498375452850927
+    base_right_marker_pose:
+      angle_rotation: 5.5835513813991655
+      euclidean_error: -0.007549633331642047
+    shoulder_marker_pose:
+      angle_rotation: 10.158769398698189
+      euclidean_error: -0.0007596990738633069
+    wrist_inside_marker_pose:
+      angle_rotation: 23.592810994888005
+      euclidean_error: -0.004567253952545314
+    wrist_top_marker_pose:
+      angle_rotation: 12.954840830624825
+      euclidean_error: -0.0024452268895904794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5618250169469894
+      euclidean_error: -0.009644928789956597
+    base_right_marker_pose:
+      angle_rotation: 5.0912593472290855
+      euclidean_error: -0.007419284487083511
+    shoulder_marker_pose:
+      angle_rotation: 11.654500883700479
+      euclidean_error: -0.0015208208972207204
+    wrist_inside_marker_pose:
+      angle_rotation: 25.13409936511608
+      euclidean_error: -0.002892508550995654
+    wrist_top_marker_pose:
+      angle_rotation: 21.654321666507443
+      euclidean_error: -0.0020936320365267935
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.615534397106988
+      euclidean_error: -0.009783599972318369
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 8.945234506143615
+      euclidean_error: -0.0027605465968234544
+    wrist_inside_marker_pose:
+      angle_rotation: 25.676917701285074
+      euclidean_error: -0.0028101671942509787
+    wrist_top_marker_pose:
+      angle_rotation: 10.629222526868224
+      euclidean_error: -0.0033665812930946393
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8548632662839832
+      euclidean_error: -0.009425730692096734
+    base_right_marker_pose:
+      angle_rotation: 5.529778846997114
+      euclidean_error: -0.007430339484617132
+    shoulder_marker_pose:
+      angle_rotation: 9.610058074157381
+      euclidean_error: -0.0021868275019878425
+    wrist_inside_marker_pose:
+      angle_rotation: 24.231821290437306
+      euclidean_error: -0.004001468978028555
+    wrist_top_marker_pose:
+      angle_rotation: 12.57691513216458
+      euclidean_error: -0.003291577446671523
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.543853431429146
+      euclidean_error: -0.009574995690005195
+    base_right_marker_pose:
+      angle_rotation: 4.356225319719621
+      euclidean_error: -0.007626644775180935
+    shoulder_marker_pose:
+      angle_rotation: 11.21943613939207
+      euclidean_error: -0.0022288106247844164
+    wrist_inside_marker_pose:
+      angle_rotation: 27.012126281152383
+      euclidean_error: -0.0028031025446557667
+    wrist_top_marker_pose:
+      angle_rotation: 21.747139106947998
+      euclidean_error: -0.0022544005316262883
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1099915551911232
+      euclidean_error: -0.00968740313328098
+    base_right_marker_pose:
+      angle_rotation: 5.122509922715931
+      euclidean_error: -0.007342676976909934
+    shoulder_marker_pose:
+      angle_rotation: 0.22506914495277386
+      euclidean_error: -0.001629252283946836
+    wrist_inside_marker_pose:
+      angle_rotation: 24.966554586595116
+      euclidean_error: -0.004113735573978428
+    wrist_top_marker_pose:
+      angle_rotation: 12.333516351393014
+      euclidean_error: -0.002801692105094178
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0098073979455857
+      euclidean_error: -0.009636479184618296
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 13.018729417993697
+      euclidean_error: -0.0012520736479652017
+    wrist_inside_marker_pose:
+      angle_rotation: 26.221476856482898
+      euclidean_error: -0.004422928749929778
+    wrist_top_marker_pose:
+      angle_rotation: 14.542132573840007
+      euclidean_error: -0.0020653690076651854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4060418093325318
+      euclidean_error: -0.00958267274030511
+    base_right_marker_pose:
+      angle_rotation: 4.061303878284664
+      euclidean_error: -0.007382559122594445
+    shoulder_marker_pose:
+      angle_rotation: 8.086617295306594
+      euclidean_error: -0.0022994743244200144
+    wrist_inside_marker_pose:
+      angle_rotation: 24.307240655155404
+      euclidean_error: -0.004573867584185876
+    wrist_top_marker_pose:
+      angle_rotation: 15.52794223563583
+      euclidean_error: -0.0037100429317279415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0761921310972906
+      euclidean_error: -0.00958821559009393
+    base_right_marker_pose:
+      angle_rotation: 5.147424730082743
+      euclidean_error: -0.0077171676942596745
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.103689367432153
+      euclidean_error: -0.004098197704213491
+    wrist_top_marker_pose:
+      angle_rotation: 15.320212791437411
+      euclidean_error: -0.0023849745506545617
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.455190977616432
+      euclidean_error: -0.009580402779583053
+    base_right_marker_pose:
+      angle_rotation: 4.384769090813119
+      euclidean_error: -0.007531198122878502
+    shoulder_marker_pose:
+      angle_rotation: 6.863506916324688
+      euclidean_error: -0.002066947351638815
+    wrist_inside_marker_pose:
+      angle_rotation: 27.5448738390219
+      euclidean_error: -0.003513751412957844
+    wrist_top_marker_pose:
+      angle_rotation: 16.50839721140244
+      euclidean_error: -0.002787112469791686
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.088899576132708
+      euclidean_error: -0.009594153055630938
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 11.653089171252335
+      euclidean_error: -0.0011888097830483613
+    wrist_inside_marker_pose:
+      angle_rotation: 27.775892430426882
+      euclidean_error: -0.0030140018672742963
+    wrist_top_marker_pose:
+      angle_rotation: 19.64818597790543
+      euclidean_error: -0.0026916164491569416
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0074998799530444
+      euclidean_error: -0.009783574352649094
+    base_right_marker_pose:
+      angle_rotation: 5.539227793768478
+      euclidean_error: -0.007552305508325974
+    shoulder_marker_pose:
+      angle_rotation: 8.062452376005966
+      euclidean_error: -0.001914993764351336
+    wrist_inside_marker_pose:
+      angle_rotation: 24.40013093773497
+      euclidean_error: -0.003964513382859192
+    wrist_top_marker_pose:
+      angle_rotation: 14.722502964811007
+      euclidean_error: -0.0023805711711162303
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1585459240508773
+      euclidean_error: -0.00946995857077959
+    base_right_marker_pose:
+      angle_rotation: 3.736681587735287
+      euclidean_error: -0.008043295712959031
+    shoulder_marker_pose:
+      angle_rotation: 10.962424701610335
+      euclidean_error: -0.001973848839493697
+    wrist_inside_marker_pose:
+      angle_rotation: 26.10904946235749
+      euclidean_error: -0.0038923445482058616
+    wrist_top_marker_pose:
+      angle_rotation: 18.9300215913417
+      euclidean_error: -0.0014093246885590327
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.560850977055742
+      euclidean_error: -0.009487238282172572
+    base_right_marker_pose:
+      angle_rotation: 6.633278140665504
+      euclidean_error: -0.007128336052057427
+    shoulder_marker_pose:
+      angle_rotation: 9.241515456254508
+      euclidean_error: -0.002026498023483869
+    wrist_inside_marker_pose:
+      angle_rotation: 27.39658442760448
+      euclidean_error: -0.0028897734412607345
+    wrist_top_marker_pose:
+      angle_rotation: 14.627406095587773
+      euclidean_error: -0.0033496720214950537
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.833389130230055
+      euclidean_error: -0.009485536432093489
+    base_right_marker_pose:
+      angle_rotation: 5.381882929747683
+      euclidean_error: -0.007210548738876166
+    shoulder_marker_pose:
+      angle_rotation: 7.96716734786919
+      euclidean_error: -0.0013843239882181946
+    wrist_inside_marker_pose:
+      angle_rotation: 28.374260076541503
+      euclidean_error: -0.0038609768356535623
+    wrist_top_marker_pose:
+      angle_rotation: 11.49323034974733
+      euclidean_error: -0.0013489742316181719
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7391322645540406
+      euclidean_error: -0.009496149713713486
+    base_right_marker_pose:
+      angle_rotation: 5.056194492467523
+      euclidean_error: -0.007520043868554316
+    shoulder_marker_pose:
+      angle_rotation: 12.094863412084312
+      euclidean_error: -0.0009717354922664789
+    wrist_inside_marker_pose:
+      angle_rotation: 26.67440023992972
+      euclidean_error: -0.0027491374911818856
+    wrist_top_marker_pose:
+      angle_rotation: 13.0980829134057
+      euclidean_error: -0.0017526469080991758
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6407152107716687
+      euclidean_error: -0.009386492377121636
+    base_right_marker_pose:
+      angle_rotation: 5.905988506955128
+      euclidean_error: -0.007131532095414728
+    shoulder_marker_pose:
+      angle_rotation: 9.400394779583047
+      euclidean_error: -0.0017581683054131991
+    wrist_inside_marker_pose:
+      angle_rotation: 24.76793816028018
+      euclidean_error: -0.00359050612871481
+    wrist_top_marker_pose:
+      angle_rotation: 14.066982992251468
+      euclidean_error: -0.0028964632465396933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.986698056800764
+      euclidean_error: -0.009578194956074482
+    base_right_marker_pose:
+      angle_rotation: 3.654003417845572
+      euclidean_error: -0.007808223617283505
+    shoulder_marker_pose:
+      angle_rotation: 8.475853108871009
+      euclidean_error: -0.002065418106603545
+    wrist_inside_marker_pose:
+      angle_rotation: 26.364156822372628
+      euclidean_error: -0.0035968482557628967
+    wrist_top_marker_pose:
+      angle_rotation: 13.976456832239158
+      euclidean_error: -0.0030714948426809885
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.496429231527588
+      euclidean_error: -0.009209578434874688
+    base_right_marker_pose:
+      angle_rotation: 4.6772658691916495
+      euclidean_error: -0.0073406044872206255
+    shoulder_marker_pose:
+      angle_rotation: 13.632085782167659
+      euclidean_error: -0.0011183082108793263
+    wrist_inside_marker_pose:
+      angle_rotation: 28.245437981285896
+      euclidean_error: -0.0025410963149916643
+    wrist_top_marker_pose:
+      angle_rotation: 18.966678567917054
+      euclidean_error: -0.0021309053395680566
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.158131204711329
+      euclidean_error: -0.00944181434911262
+    base_right_marker_pose:
+      angle_rotation: 4.951886696318721
+      euclidean_error: -0.007330887256660978
+    shoulder_marker_pose:
+      angle_rotation: 14.055411116059295
+      euclidean_error: 3.34932578636149e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 27.824670978259807
+      euclidean_error: -0.002924112530883205
+    wrist_top_marker_pose:
+      angle_rotation: 14.607029069227071
+      euclidean_error: -0.0014644571221908986
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4098559845267
+      euclidean_error: -0.00954851959119396
+    base_right_marker_pose:
+      angle_rotation: 5.916716303916298
+      euclidean_error: -0.007140559686706682
+    shoulder_marker_pose:
+      angle_rotation: 10.550730815619866
+      euclidean_error: -0.0007410260360956045
+    wrist_inside_marker_pose:
+      angle_rotation: 21.474130659396263
+      euclidean_error: -0.0039187214614865296
+    wrist_top_marker_pose:
+      angle_rotation: 13.465697009753804
+      euclidean_error: -0.0023070403938605377
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7480235660534857
+      euclidean_error: -0.00954844100787322
+    base_right_marker_pose:
+      angle_rotation: 6.325591099011985
+      euclidean_error: -0.007398871427821252
+    shoulder_marker_pose:
+      angle_rotation: 13.1441967487704
+      euclidean_error: -0.0003673236717607331
+    wrist_inside_marker_pose:
+      angle_rotation: 25.979473614292232
+      euclidean_error: -0.0025364037429063124
+    wrist_top_marker_pose:
+      angle_rotation: 14.553891368858741
+      euclidean_error: -0.002640035470598212
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.600268915156922
+      euclidean_error: -0.009485833687286838
+    base_right_marker_pose:
+      angle_rotation: 3.4799358481388967
+      euclidean_error: -0.008025875249874526
+    shoulder_marker_pose:
+      angle_rotation: 6.65205039560624
+      euclidean_error: -0.0025509817703375237
+    wrist_inside_marker_pose:
+      angle_rotation: 27.689429464723418
+      euclidean_error: -0.0025114896751327054
+    wrist_top_marker_pose:
+      angle_rotation: 15.072830814841241
+      euclidean_error: -0.0021117159528188933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4314021572505786
+      euclidean_error: -0.009432759595519258
+    base_right_marker_pose:
+      angle_rotation: 4.255819426897442
+      euclidean_error: -0.0072075794094284
+    shoulder_marker_pose:
+      angle_rotation: 10.599560448227791
+      euclidean_error: -0.001672091266181397
+    wrist_inside_marker_pose:
+      angle_rotation: 21.745731376875433
+      euclidean_error: -0.00410827151695492
+    wrist_top_marker_pose:
+      angle_rotation: 6.636435430897089
+      euclidean_error: -0.003063794780861606
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9064280053396714
+      euclidean_error: -0.009497385290424987
+    base_right_marker_pose:
+      angle_rotation: 4.609280576309237
+      euclidean_error: -0.007676706996635696
+    shoulder_marker_pose:
+      angle_rotation: 7.642007068736259
+      euclidean_error: -0.0029944420312694175
+    wrist_inside_marker_pose:
+      angle_rotation: 28.10736241053159
+      euclidean_error: -0.0026785561158869653
+    wrist_top_marker_pose:
+      angle_rotation: 17.082774150737556
+      euclidean_error: -0.002680987546586744
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.088719937100816
+      euclidean_error: -0.009430932822426796
+    base_right_marker_pose:
+      angle_rotation: 4.35964703373339
+      euclidean_error: -0.007865371708154156
+    shoulder_marker_pose:
+      angle_rotation: 7.888769910807881
+      euclidean_error: -0.001558367752877765
+    wrist_inside_marker_pose:
+      angle_rotation: 23.204256278558542
+      euclidean_error: -0.004016488345463531
+    wrist_top_marker_pose:
+      angle_rotation: 7.500745037297147
+      euclidean_error: -0.0026183638883122695
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.059586356466243
+      euclidean_error: -0.009323128980811668
+    base_right_marker_pose:
+      angle_rotation: 5.404700616814473
+      euclidean_error: -0.0074678841550368524
+    shoulder_marker_pose:
+      angle_rotation: 12.329187485443487
+      euclidean_error: -0.0013674981396996078
+    wrist_inside_marker_pose:
+      angle_rotation: 24.78430379824295
+      euclidean_error: -0.0036287528301247596
+    wrist_top_marker_pose:
+      angle_rotation: 14.491284153475116
+      euclidean_error: -0.0021235884950889794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6597942677157915
+      euclidean_error: -0.009454082505714334
+    base_right_marker_pose:
+      angle_rotation: 3.5720615060451197
+      euclidean_error: -0.007400138077300555
+    shoulder_marker_pose:
+      angle_rotation: 2.538632138047305
+      euclidean_error: -0.0032601218921426423
+    wrist_inside_marker_pose:
+      angle_rotation: 28.421435557496398
+      euclidean_error: -0.004644073601707044
+    wrist_top_marker_pose:
+      angle_rotation: 8.093669017576826
+      euclidean_error: -0.001999670451562019
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.55323654300171
+      euclidean_error: -0.00949107783461045
+    base_right_marker_pose:
+      angle_rotation: 5.004244731104095
+      euclidean_error: -0.007146359720934026
+    shoulder_marker_pose:
+      angle_rotation: 15.404521692216367
+      euclidean_error: -0.0010303252547149144
+    wrist_inside_marker_pose:
+      angle_rotation: 26.883601683074872
+      euclidean_error: -0.00396795871799327
+    wrist_top_marker_pose:
+      angle_rotation: 13.29749842968963
+      euclidean_error: -0.0025432779624580126
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7174911546391813
+      euclidean_error: -0.009588808244613833
+    base_right_marker_pose:
+      angle_rotation: 4.705175190772791
+      euclidean_error: -0.007485178799148451
+    shoulder_marker_pose:
+      angle_rotation: 4.176368867203706
+      euclidean_error: -0.0021179123766075225
+    wrist_inside_marker_pose:
+      angle_rotation: 27.63215668414152
+      euclidean_error: -0.004471841952703226
+    wrist_top_marker_pose:
+      angle_rotation: 15.39765062841133
+      euclidean_error: -0.0026837924395924917
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.758443860460095
+      euclidean_error: -0.009484429409943651
+    base_right_marker_pose:
+      angle_rotation: 3.367989303457714
+      euclidean_error: -0.00795397086523597
+    shoulder_marker_pose:
+      angle_rotation: 4.122514695820604
+      euclidean_error: -0.002492251255439726
+    wrist_inside_marker_pose:
+      angle_rotation: 23.803734972740354
+      euclidean_error: -0.003983149170138867
+    wrist_top_marker_pose:
+      angle_rotation: 11.62007080463996
+      euclidean_error: -0.0028644088754927743
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8692838870464312
+      euclidean_error: -0.009666219240277774
+    base_right_marker_pose:
+      angle_rotation: 4.1508734001675105
+      euclidean_error: -0.007407854973550232
+    shoulder_marker_pose:
+      angle_rotation: 17.30951228912266
+      euclidean_error: -0.0008640046424627235
+    wrist_inside_marker_pose:
+      angle_rotation: 25.178301977326424
+      euclidean_error: -0.003437551270715433
+    wrist_top_marker_pose:
+      angle_rotation: 12.311721256294069
+      euclidean_error: -0.001469783980555417
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.382816442639496
+      euclidean_error: -0.009583325935602183
+    base_right_marker_pose:
+      angle_rotation: 5.036279769988668
+      euclidean_error: -0.007124870552180473
+    shoulder_marker_pose:
+      angle_rotation: 12.979319093682783
+      euclidean_error: -0.0016209816347585448
+    wrist_inside_marker_pose:
+      angle_rotation: 25.530489515357033
+      euclidean_error: -0.003880290437253242
+    wrist_top_marker_pose:
+      angle_rotation: 18.201808081703195
+      euclidean_error: -0.0009814511836014894
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.353338552190199
+      euclidean_error: -0.009296650633337178
+    base_right_marker_pose:
+      angle_rotation: 4.730017219293999
+      euclidean_error: -0.007117865743607621
+    shoulder_marker_pose:
+      angle_rotation: 11.089813025627972
+      euclidean_error: -0.0015607580814175348
+    wrist_inside_marker_pose:
+      angle_rotation: 26.68519128093027
+      euclidean_error: -0.004848315680782256
+    wrist_top_marker_pose:
+      angle_rotation: 13.984109889527982
+      euclidean_error: -0.0030243476159454996
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3083039526035827
+      euclidean_error: -0.009479704591530247
+    base_right_marker_pose:
+      angle_rotation: 3.797272114131569
+      euclidean_error: -0.007216774345776056
+    shoulder_marker_pose:
+      angle_rotation: 12.760076599602533
+      euclidean_error: -0.0024080687262214573
+    wrist_inside_marker_pose:
+      angle_rotation: 26.461641297217252
+      euclidean_error: -0.004680797216572663
+    wrist_top_marker_pose:
+      angle_rotation: 16.104910426607226
+      euclidean_error: -0.0038779664314052553
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3131789749422444
+      euclidean_error: -0.009470769247901467
+    base_right_marker_pose:
+      angle_rotation: 4.1418060373456544
+      euclidean_error: -0.00757043694951498
+    shoulder_marker_pose:
+      angle_rotation: 7.557065668064342
+      euclidean_error: -0.00223895806751484
+    wrist_inside_marker_pose:
+      angle_rotation: 26.471968112090455
+      euclidean_error: -0.003605208941454663
+    wrist_top_marker_pose:
+      angle_rotation: 17.731381795607152
+      euclidean_error: -0.0018089830820997577
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8566201512156333
+      euclidean_error: -0.009479195720176414
+    base_right_marker_pose:
+      angle_rotation: 2.1280201962082987
+      euclidean_error: -0.008086899861514674
+    shoulder_marker_pose:
+      angle_rotation: 12.417381183066016
+      euclidean_error: -0.0014523032615362252
+    wrist_inside_marker_pose:
+      angle_rotation: 28.718064396717
+      euclidean_error: -0.0030016307350970717
+    wrist_top_marker_pose:
+      angle_rotation: 15.620541002700636
+      euclidean_error: -0.0027238269252163327
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.556108148245639
+      euclidean_error: -0.009690999389316834
+    base_right_marker_pose:
+      angle_rotation: 4.835951053292894
+      euclidean_error: -0.007320441534662159
+    shoulder_marker_pose:
+      angle_rotation: 10.745886244821493
+      euclidean_error: -0.0008401456472704183
+    wrist_inside_marker_pose:
+      angle_rotation: 21.232101650388206
+      euclidean_error: -0.0045934515414396415
+    wrist_top_marker_pose:
+      angle_rotation: 11.646539355816717
+      euclidean_error: -0.0020472592891354058
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.710306709614975
+      euclidean_error: -0.009488925078645405
+    base_right_marker_pose:
+      angle_rotation: 5.106521647017802
+      euclidean_error: -0.006884348304755816
+    shoulder_marker_pose:
+      angle_rotation: 5.278113355220462
+      euclidean_error: -0.002780645907207724
+    wrist_inside_marker_pose:
+      angle_rotation: 26.01656983442997
+      euclidean_error: -0.004064238460867453
+    wrist_top_marker_pose:
+      angle_rotation: 14.352078888613953
+      euclidean_error: -0.0028001486430997424
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5945755822241323
+      euclidean_error: -0.009768836038546946
+    base_right_marker_pose:
+      angle_rotation: 4.456483125220396
+      euclidean_error: -0.007838809792013235
+    shoulder_marker_pose:
+      angle_rotation: 10.887905446138761
+      euclidean_error: -0.0020160507939538386
+    wrist_inside_marker_pose:
+      angle_rotation: 27.230505435214514
+      euclidean_error: -0.002880929381376185
+    wrist_top_marker_pose:
+      angle_rotation: 7.980994262365925
+      euclidean_error: -0.0020662190142552994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7807235084341517
+      euclidean_error: -0.009458664359633828
+    base_right_marker_pose:
+      angle_rotation: 4.457194708813175
+      euclidean_error: -0.0076686262220415635
+    shoulder_marker_pose:
+      angle_rotation: 9.18285610438983
+      euclidean_error: -0.0002278018262097392
+    wrist_inside_marker_pose:
+      angle_rotation: 24.857786101701695
+      euclidean_error: -0.0028020974579804347
+    wrist_top_marker_pose:
+      angle_rotation: 13.164631653393622
+      euclidean_error: -0.001984080636876051
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.09373568475794
+      euclidean_error: -0.00958492847007697
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 10.63014353948745
+      euclidean_error: 0.00033269203917229984
+    wrist_inside_marker_pose:
+      angle_rotation: 24.234605279724576
+      euclidean_error: -0.0021584422700494654
+    wrist_top_marker_pose:
+      angle_rotation: 13.806684212261734
+      euclidean_error: -0.0011288904511362885
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.203577960572331
+      euclidean_error: -0.009647391584089449
+    base_right_marker_pose:
+      angle_rotation: 5.132457789332741
+      euclidean_error: -0.007735509481219149
+    shoulder_marker_pose:
+      angle_rotation: 8.092035601359191
+      euclidean_error: -0.0014129030394209874
+    wrist_inside_marker_pose:
+      angle_rotation: 24.96590542099304
+      euclidean_error: -0.004253572098319336
+    wrist_top_marker_pose:
+      angle_rotation: 13.518691998786553
+      euclidean_error: -0.0019250740327281246
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.292312213862225
+      euclidean_error: -0.009301948396969628
+    base_right_marker_pose:
+      angle_rotation: 2.757532139561833
+      euclidean_error: -0.007837310295640054
+    shoulder_marker_pose:
+      angle_rotation: 7.382661469743585
+      euclidean_error: -0.0015865867387890864
+    wrist_inside_marker_pose:
+      angle_rotation: 26.677013723931346
+      euclidean_error: -0.004731643590372592
+    wrist_top_marker_pose:
+      angle_rotation: 16.38621341715831
+      euclidean_error: -0.002347435666494424
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8698754284590695
+      euclidean_error: -0.009360192774679255
+    base_right_marker_pose:
+      angle_rotation: 4.048028741221251
+      euclidean_error: -0.00760215594234015
+    shoulder_marker_pose:
+      angle_rotation: 12.340390484392868
+      euclidean_error: -0.001095798425653327
+    wrist_inside_marker_pose:
+      angle_rotation: 24.52226371617335
+      euclidean_error: -0.00422827891913391
+    wrist_top_marker_pose:
+      angle_rotation: 19.762544284580365
+      euclidean_error: -0.0029166919185439344
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1536557997096097
+      euclidean_error: -0.009604374996558307
+    base_right_marker_pose:
+      angle_rotation: 4.486341162664679
+      euclidean_error: -0.007381287816575766
+    shoulder_marker_pose:
+      angle_rotation: 11.584890626874376
+      euclidean_error: -0.002229417325801064
+    wrist_inside_marker_pose:
+      angle_rotation: 22.976815542581623
+      euclidean_error: -0.0034549188344578097
+    wrist_top_marker_pose:
+      angle_rotation: 14.86395280151275
+      euclidean_error: -0.002872320507250281
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3935668724798447
+      euclidean_error: -0.009456070358534463
+    base_right_marker_pose:
+      angle_rotation: 6.093747032939498
+      euclidean_error: -0.006960066921861463
+    shoulder_marker_pose:
+      angle_rotation: 7.166215690541443
+      euclidean_error: -0.0016115877443780846
+    wrist_inside_marker_pose:
+      angle_rotation: 27.86194353508849
+      euclidean_error: -0.004519530088701207
+    wrist_top_marker_pose:
+      angle_rotation: 17.92299692771917
+      euclidean_error: -0.0029480895784846917
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.197045734640042
+      euclidean_error: -0.00953428261772471
+    base_right_marker_pose:
+      angle_rotation: 4.9055017024248535
+      euclidean_error: -0.00720448492124337
+    shoulder_marker_pose:
+      angle_rotation: 9.641223593089054
+      euclidean_error: -0.0002733555729574899
+    wrist_inside_marker_pose:
+      angle_rotation: 28.88765958128521
+      euclidean_error: -0.0018761130496885992
+    wrist_top_marker_pose:
+      angle_rotation: 15.097116272424763
+      euclidean_error: -0.0021827718466056467
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2271112235852017
+      euclidean_error: -0.009517816751848929
+    base_right_marker_pose:
+      angle_rotation: 4.322598962514923
+      euclidean_error: -0.007645259563141549
+    shoulder_marker_pose:
+      angle_rotation: 9.586184143918375
+      euclidean_error: -0.0007346152643697978
+    wrist_inside_marker_pose:
+      angle_rotation: 26.002817095108572
+      euclidean_error: -0.0022080581207252203
+    wrist_top_marker_pose:
+      angle_rotation: 20.448975425830515
+      euclidean_error: -0.0024672237822269683
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1799837924973815
+      euclidean_error: -0.009689778918566816
+    base_right_marker_pose:
+      angle_rotation: 6.645675859922035
+      euclidean_error: -0.007149312726600687
+    shoulder_marker_pose:
+      angle_rotation: 11.865980260445271
+      euclidean_error: -0.0002166619444541329
+    wrist_inside_marker_pose:
+      angle_rotation: 27.345960838944784
+      euclidean_error: -0.0032765643056406057
+    wrist_top_marker_pose:
+      angle_rotation: 20.861221516001482
+      euclidean_error: -0.0018048951723088624
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.043535712375943
+      euclidean_error: -0.009588067270102751
+    base_right_marker_pose:
+      angle_rotation: 4.684596113663421
+      euclidean_error: -0.007540330312376331
+    shoulder_marker_pose:
+      angle_rotation: 5.226151362264766
+      euclidean_error: -0.002440743381737831
+    wrist_inside_marker_pose:
+      angle_rotation: 28.028244899036352
+      euclidean_error: -0.0035086028502826494
+    wrist_top_marker_pose:
+      angle_rotation: 17.861364553298007
+      euclidean_error: -0.0024017224178778385
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5601556317585206
+      euclidean_error: -0.009527839391711646
+    base_right_marker_pose:
+      angle_rotation: 4.05814258111764
+      euclidean_error: -0.0076746200403223774
+    shoulder_marker_pose:
+      angle_rotation: 13.165058232853571
+      euclidean_error: -0.0017443214258424655
+    wrist_inside_marker_pose:
+      angle_rotation: 25.775116763065196
+      euclidean_error: -0.0033743728973111287
+    wrist_top_marker_pose:
+      angle_rotation: 17.664839860853736
+      euclidean_error: -0.0028912173545981856
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.459376578451914
+      euclidean_error: -0.009736307081758322
+    base_right_marker_pose:
+      angle_rotation: 3.5247376419716288
+      euclidean_error: -0.008062830854936198
+    shoulder_marker_pose:
+      angle_rotation: 7.34662281317334
+      euclidean_error: -0.001971560224861557
+    wrist_inside_marker_pose:
+      angle_rotation: 28.163228616035408
+      euclidean_error: -0.004257352558720506
+    wrist_top_marker_pose:
+      angle_rotation: 17.621283756037894
+      euclidean_error: -0.0017829040316375
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.613387677841162
+      euclidean_error: -0.009433170269033897
+    base_right_marker_pose:
+      angle_rotation: 5.776764301529546
+      euclidean_error: -0.0070028404117367105
+    shoulder_marker_pose:
+      angle_rotation: 13.828920322495653
+      euclidean_error: -6.465306947900373e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 28.579967192416063
+      euclidean_error: -0.002849268001755556
+    wrist_top_marker_pose:
+      angle_rotation: 17.91705753486364
+      euclidean_error: -0.0011805759803401594
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2515385254236056
+      euclidean_error: -0.009670413780958342
+    base_right_marker_pose:
+      angle_rotation: 4.10753246990755
+      euclidean_error: -0.007779120675102336
+    shoulder_marker_pose:
+      angle_rotation: 13.586261327605905
+      euclidean_error: -0.001844737169774402
+    wrist_inside_marker_pose:
+      angle_rotation: 25.56572231385436
+      euclidean_error: -0.0029825224899511227
+    wrist_top_marker_pose:
+      angle_rotation: 18.983215641962154
+      euclidean_error: -0.0014706931260770606
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.747824724739829
+      euclidean_error: -0.009654154009366644
+    base_right_marker_pose:
+      angle_rotation: 4.592611370943548
+      euclidean_error: -0.007760488625528694
+    shoulder_marker_pose:
+      angle_rotation: 15.867423237919676
+      euclidean_error: -0.001048773416663762
+    wrist_inside_marker_pose:
+      angle_rotation: 25.844791113159175
+      euclidean_error: -0.004036922844377511
+    wrist_top_marker_pose:
+      angle_rotation: 13.44212042107691
+      euclidean_error: -0.002766211608335678
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.075566844977834
+      euclidean_error: -0.009502394445457307
+    base_right_marker_pose:
+      angle_rotation: 3.777987868920755
+      euclidean_error: -0.007975050290100927
+    shoulder_marker_pose:
+      angle_rotation: 10.373450320433383
+      euclidean_error: -0.0015361575457868426
+    wrist_inside_marker_pose:
+      angle_rotation: 28.051153756926638
+      euclidean_error: -0.004317506048343467
+    wrist_top_marker_pose:
+      angle_rotation: 11.062154304259797
+      euclidean_error: -0.0024933009901286773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.57923621456738
+      euclidean_error: -0.009471384985047515
+    base_right_marker_pose:
+      angle_rotation: 5.582054722369316
+      euclidean_error: -0.007362001221195125
+    shoulder_marker_pose:
+      angle_rotation: 12.28812105216186
+      euclidean_error: -0.00031829265874872004
+    wrist_inside_marker_pose:
+      angle_rotation: 28.283934253363185
+      euclidean_error: -0.0024009711821271207
+    wrist_top_marker_pose:
+      angle_rotation: 15.626996395527906
+      euclidean_error: -0.0009693044812921769
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.078214592891147
+      euclidean_error: -0.009441479321551038
+    base_right_marker_pose:
+      angle_rotation: 4.742336172919759
+      euclidean_error: -0.007791746677029421
+    shoulder_marker_pose:
+      angle_rotation: 12.32340810633822
+      euclidean_error: -0.0009976753247800119
+    wrist_inside_marker_pose:
+      angle_rotation: 26.71372980900601
+      euclidean_error: -0.002622548417378523
+    wrist_top_marker_pose:
+      angle_rotation: 12.884515511871038
+      euclidean_error: -0.001995736946076243
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.144296432513515
+      euclidean_error: -0.009536274948141688
+    base_right_marker_pose:
+      angle_rotation: 6.534496414156551
+      euclidean_error: -0.007133400497257414
+    shoulder_marker_pose:
+      angle_rotation: 9.809202809810648
+      euclidean_error: 0.0001338169821819557
+    wrist_inside_marker_pose:
+      angle_rotation: 26.015884789509375
+      euclidean_error: -0.0037322710712432983
+    wrist_top_marker_pose:
+      angle_rotation: 16.77819517793349
+      euclidean_error: -0.0017318934764541938
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.414735758683717
+      euclidean_error: -0.00968019773158002
+    base_right_marker_pose:
+      angle_rotation: 4.371170905702974
+      euclidean_error: -0.007686563490932441
+    shoulder_marker_pose:
+      angle_rotation: 4.704950467427538
+      euclidean_error: -0.002719212549611827
+    wrist_inside_marker_pose:
+      angle_rotation: 23.980157944632268
+      euclidean_error: -0.003522216247439869
+    wrist_top_marker_pose:
+      angle_rotation: 10.453289864457963
+      euclidean_error: -0.002555307106897553
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0658223352703735
+      euclidean_error: -0.00949309016399602
+    base_right_marker_pose:
+      angle_rotation: 4.472570843857762
+      euclidean_error: -0.0074295328863857035
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.489715411573613
+      euclidean_error: -0.003352980437598352
+    wrist_top_marker_pose:
+      angle_rotation: 14.67740437010804
+      euclidean_error: -0.0021718018780821913
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.797791242185679
+      euclidean_error: -0.009510863294345584
+    base_right_marker_pose:
+      angle_rotation: 4.754913021873103
+      euclidean_error: -0.007150872428947741
+    shoulder_marker_pose:
+      angle_rotation: 11.051204537501189
+      euclidean_error: -0.0006637718993381947
+    wrist_inside_marker_pose:
+      angle_rotation: 22.28577640478971
+      euclidean_error: -0.0034348105901796933
+    wrist_top_marker_pose:
+      angle_rotation: 9.07472631564726
+      euclidean_error: -0.0027536195869137803
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8139217598345816
+      euclidean_error: -0.00950681167007894
+    base_right_marker_pose:
+      angle_rotation: 4.961900479539897
+      euclidean_error: -0.007311816596114351
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.754027641611735
+      euclidean_error: -0.004006426407002217
+    wrist_top_marker_pose:
+      angle_rotation: 15.659495039326258
+      euclidean_error: -0.002163293328200866
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0318643394632323
+      euclidean_error: -0.009606958059497295
+    base_right_marker_pose:
+      angle_rotation: 3.1745949687671278
+      euclidean_error: -0.007295423377554067
+    shoulder_marker_pose:
+      angle_rotation: 6.8536631038902165
+      euclidean_error: -0.0026465998695364146
+    wrist_inside_marker_pose:
+      angle_rotation: 27.059400267968947
+      euclidean_error: -0.0030411398223589847
+    wrist_top_marker_pose:
+      angle_rotation: 14.424882892913589
+      euclidean_error: -0.00279466777346693
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9247036142424268
+      euclidean_error: -0.009324193061351793
+    base_right_marker_pose:
+      angle_rotation: 4.3956165122131585
+      euclidean_error: -0.007739346288496596
+    shoulder_marker_pose:
+      angle_rotation: 7.443421436916529
+      euclidean_error: -0.0026355168924663275
+    wrist_inside_marker_pose:
+      angle_rotation: 24.593288623859767
+      euclidean_error: -0.004246056256157593
+    wrist_top_marker_pose:
+      angle_rotation: 7.992547697464831
+      euclidean_error: -0.003768512727887252
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.741355183912459
+      euclidean_error: -0.009863920017237904
+    base_right_marker_pose:
+      angle_rotation: 4.174203059297794
+      euclidean_error: -0.007483833402810447
+    shoulder_marker_pose:
+      angle_rotation: 12.606176837213082
+      euclidean_error: -0.0009723233745191351
+    wrist_inside_marker_pose:
+      angle_rotation: 27.184999240217895
+      euclidean_error: -0.0025620361893655685
+    wrist_top_marker_pose:
+      angle_rotation: 13.860906686191793
+      euclidean_error: -0.001729782532851054
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.825776514914376
+      euclidean_error: -0.009003868721652708
+    base_right_marker_pose:
+      angle_rotation: 6.377749412482057
+      euclidean_error: -0.007279025973007225
+    shoulder_marker_pose:
+      angle_rotation: 14.271712211983143
+      euclidean_error: -0.0012416060868737366
+    wrist_inside_marker_pose:
+      angle_rotation: 25.827169275484014
+      euclidean_error: -0.003596387391682665
+    wrist_top_marker_pose:
+      angle_rotation: 9.120105068033684
+      euclidean_error: -0.0026662276637644533
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4148868078894434
+      euclidean_error: -0.009675674686003832
+    base_right_marker_pose:
+      angle_rotation: 5.767166266002661
+      euclidean_error: -0.00721865319565429
+    shoulder_marker_pose:
+      angle_rotation: 11.233957028845483
+      euclidean_error: -0.0014824313966222968
+    wrist_inside_marker_pose:
+      angle_rotation: 24.959231511623802
+      euclidean_error: -0.002466704796441288
+    wrist_top_marker_pose:
+      angle_rotation: 12.283367136170382
+      euclidean_error: -0.001601712820424539
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1257489304749204
+      euclidean_error: -0.00955130221540934
+    base_right_marker_pose:
+      angle_rotation: 4.162234269149686
+      euclidean_error: -0.007530415034516125
+    shoulder_marker_pose:
+      angle_rotation: 10.971711280326277
+      euclidean_error: -0.002502944044531441
+    wrist_inside_marker_pose:
+      angle_rotation: 24.751061416601146
+      euclidean_error: -0.003254608509703938
+    wrist_top_marker_pose:
+      angle_rotation: 16.5729625831199
+      euclidean_error: -0.0016706980478891076
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2803580274533997
+      euclidean_error: -0.009674648707328481
+    base_right_marker_pose:
+      angle_rotation: 5.613060869049035
+      euclidean_error: -0.007283557125700724
+    shoulder_marker_pose:
+      angle_rotation: 5.59526984188713
+      euclidean_error: -0.001592392233860318
+    wrist_inside_marker_pose:
+      angle_rotation: 25.09574936120139
+      euclidean_error: -0.004308344877172354
+    wrist_top_marker_pose:
+      angle_rotation: 13.76706945961623
+      euclidean_error: -0.0025234077679846534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.17936152411199
+      euclidean_error: -0.00968824521367273
+    base_right_marker_pose:
+      angle_rotation: 4.616369211252817
+      euclidean_error: -0.007584396232966029
+    shoulder_marker_pose:
+      angle_rotation: 12.97627607724161
+      euclidean_error: -0.00034801789910265946
+    wrist_inside_marker_pose:
+      angle_rotation: 26.971156562654414
+      euclidean_error: -0.0036928602788418585
+    wrist_top_marker_pose:
+      angle_rotation: 17.5723464558289
+      euclidean_error: -0.0022417175073922158
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.278666791805773
+      euclidean_error: -0.009404808095565542
+    base_right_marker_pose:
+      angle_rotation: 5.1968445752533174
+      euclidean_error: -0.007685981199389791
+    shoulder_marker_pose:
+      angle_rotation: 6.512905903442128
+      euclidean_error: -0.0017930534449537294
+    wrist_inside_marker_pose:
+      angle_rotation: 23.71737956595601
+      euclidean_error: -0.0030068858864005232
+    wrist_top_marker_pose:
+      angle_rotation: 15.150869078811331
+      euclidean_error: -0.0026609232808740835
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.194599408314205
+      euclidean_error: -0.009492828682943877
+    base_right_marker_pose:
+      angle_rotation: 5.300493964405026
+      euclidean_error: -0.006868623487975012
+    shoulder_marker_pose:
+      angle_rotation: 6.098180507762163
+      euclidean_error: -0.0014855330694327762
+    wrist_inside_marker_pose:
+      angle_rotation: 27.567743512361496
+      euclidean_error: -0.0036704843130737075
+    wrist_top_marker_pose:
+      angle_rotation: 10.790176133461555
+      euclidean_error: -0.0013299397392096957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8875390310144802
+      euclidean_error: -0.00953614664101865
+    base_right_marker_pose:
+      angle_rotation: 4.327238647484439
+      euclidean_error: -0.007705813974477227
+    shoulder_marker_pose:
+      angle_rotation: 13.383181113531835
+      euclidean_error: -0.0013182999308023469
+    wrist_inside_marker_pose:
+      angle_rotation: 25.651821123964197
+      euclidean_error: -0.00344118660890369
+    wrist_top_marker_pose:
+      angle_rotation: 15.900788988908449
+      euclidean_error: -0.002911295494041899
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8395223425691487
+      euclidean_error: -0.009538211739487101
+    base_right_marker_pose:
+      angle_rotation: 4.901773974116594
+      euclidean_error: -0.007405646548081846
+    shoulder_marker_pose:
+      angle_rotation: 4.7175837085199035
+      euclidean_error: -0.0012195371696851476
+    wrist_inside_marker_pose:
+      angle_rotation: 22.874864044456363
+      euclidean_error: -0.0026180248921706673
+    wrist_top_marker_pose:
+      angle_rotation: 8.979101195980222
+      euclidean_error: -0.002788759285814235
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.034425531107408
+      euclidean_error: -0.00945638558881512
+    base_right_marker_pose:
+      angle_rotation: 5.379931678609141
+      euclidean_error: -0.007487573763529376
+    shoulder_marker_pose:
+      angle_rotation: 14.002681233666232
+      euclidean_error: -0.0019791067094115933
+    wrist_inside_marker_pose:
+      angle_rotation: 28.768170512183556
+      euclidean_error: -0.0033897982687165484
+    wrist_top_marker_pose:
+      angle_rotation: 17.525874260317746
+      euclidean_error: -0.0015788855619279785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2607269783524386
+      euclidean_error: -0.009538235837186937
+    base_right_marker_pose:
+      angle_rotation: 3.6501574867776023
+      euclidean_error: -0.007694751305925118
+    shoulder_marker_pose:
+      angle_rotation: 5.750234902677133
+      euclidean_error: -0.0021304291908411654
+    wrist_inside_marker_pose:
+      angle_rotation: 24.01899397163526
+      euclidean_error: -0.003545628981753035
+    wrist_top_marker_pose:
+      angle_rotation: 10.098565200213889
+      euclidean_error: -0.0036199499392246537
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.385214414372926
+      euclidean_error: -0.009361271166764218
+    base_right_marker_pose:
+      angle_rotation: 5.298827271701895
+      euclidean_error: -0.007364265668667991
+    shoulder_marker_pose:
+      angle_rotation: 12.302983012994812
+      euclidean_error: -0.0007902096178504792
+    wrist_inside_marker_pose:
+      angle_rotation: 24.152038546167947
+      euclidean_error: -0.003646023027922163
+    wrist_top_marker_pose:
+      angle_rotation: 8.853627355844766
+      euclidean_error: -0.002509493377626737
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5353056114973693
+      euclidean_error: -0.009029253804506476
+    base_right_marker_pose:
+      angle_rotation: 5.3027665356834675
+      euclidean_error: -0.00738063545997969
+    shoulder_marker_pose:
+      angle_rotation: 7.808942858583406
+      euclidean_error: -0.002421662829510729
+    wrist_inside_marker_pose:
+      angle_rotation: 26.810362413405628
+      euclidean_error: -0.002888449782075697
+    wrist_top_marker_pose:
+      angle_rotation: 15.84670413841629
+      euclidean_error: -0.0032774468441816307
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6463220195040917
+      euclidean_error: -0.00969588990908199
+    base_right_marker_pose:
+      angle_rotation: 6.369949266520651
+      euclidean_error: -0.007424386819246398
+    shoulder_marker_pose:
+      angle_rotation: 9.040867240970336
+      euclidean_error: -0.002739172834340109
+    wrist_inside_marker_pose:
+      angle_rotation: 24.804990336601893
+      euclidean_error: -0.004033112587156551
+    wrist_top_marker_pose:
+      angle_rotation: 15.340709189041068
+      euclidean_error: -0.0029542733705937296
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2958680554733775
+      euclidean_error: -0.00964176474819034
+    base_right_marker_pose:
+      angle_rotation: 3.63979689841617
+      euclidean_error: -0.0077367545596035425
+    shoulder_marker_pose:
+      angle_rotation: 9.923692998733978
+      euclidean_error: -0.0011804377437280023
+    wrist_inside_marker_pose:
+      angle_rotation: 28.347063399171173
+      euclidean_error: -0.0025074133563093293
+    wrist_top_marker_pose:
+      angle_rotation: 17.01839702650509
+      euclidean_error: -0.001831198418824398
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8573977947666194
+      euclidean_error: -0.009564765529639252
+    base_right_marker_pose:
+      angle_rotation: 4.89312031075435
+      euclidean_error: -0.006861990306829324
+    shoulder_marker_pose:
+      angle_rotation: 6.546166728390772
+      euclidean_error: -0.0015440540556417304
+    wrist_inside_marker_pose:
+      angle_rotation: 27.738803898116622
+      euclidean_error: -0.0042980421024181314
+    wrist_top_marker_pose:
+      angle_rotation: 12.019212754530002
+      euclidean_error: -0.002296062597634152
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.241809920802347
+      euclidean_error: -0.009327365711055413
+    base_right_marker_pose:
+      angle_rotation: 4.013914310521833
+      euclidean_error: -0.007818158509607431
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.706866747346595
+      euclidean_error: -0.0038773647539767087
+    wrist_top_marker_pose:
+      angle_rotation: 16.82040590725372
+      euclidean_error: -0.0032859067940135267
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.224162082278246
+      euclidean_error: -0.009406599293728224
+    base_right_marker_pose:
+      angle_rotation: 5.018580276395576
+      euclidean_error: -0.0074261666628332446
+    shoulder_marker_pose:
+      angle_rotation: 11.617750360984914
+      euclidean_error: -0.0006388229818116153
+    wrist_inside_marker_pose:
+      angle_rotation: 28.073245976946698
+      euclidean_error: -0.0027569874537202166
+    wrist_top_marker_pose:
+      angle_rotation: 17.52228049154199
+      euclidean_error: -0.0007028998956249977
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.632022230995551
+      euclidean_error: -0.009486081634074606
+    base_right_marker_pose:
+      angle_rotation: 4.6018925501644805
+      euclidean_error: -0.00768302957474587
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.193756587177063
+      euclidean_error: -0.004235684532095774
+    wrist_top_marker_pose:
+      angle_rotation: 12.15689456379524
+      euclidean_error: -0.002750824647125283
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.046629040280737
+      euclidean_error: -0.009659031876160018
+    base_right_marker_pose:
+      angle_rotation: 4.219376371138367
+      euclidean_error: -0.00787367250131732
+    shoulder_marker_pose:
+      angle_rotation: 8.458097919186498
+      euclidean_error: -0.0022779658762853705
+    wrist_inside_marker_pose:
+      angle_rotation: 22.220708106271054
+      euclidean_error: -0.0035328706360995277
+    wrist_top_marker_pose:
+      angle_rotation: 16.709168795288427
+      euclidean_error: -0.0014826188380039351
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.330295137842456
+      euclidean_error: -0.009708124438115862
+    base_right_marker_pose:
+      angle_rotation: 5.097435988043905
+      euclidean_error: -0.007330901491919395
+    shoulder_marker_pose:
+      angle_rotation: 14.734514134930677
+      euclidean_error: -0.0014744586522494885
+    wrist_inside_marker_pose:
+      angle_rotation: 26.242337844343503
+      euclidean_error: -0.0037083307434638835
+    wrist_top_marker_pose:
+      angle_rotation: 15.43711714001531
+      euclidean_error: -0.00284436239705399
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.061167302056611
+      euclidean_error: -0.009494665120517998
+    base_right_marker_pose:
+      angle_rotation: 3.7257506849819815
+      euclidean_error: -0.008049072179721395
+    shoulder_marker_pose:
+      angle_rotation: 11.032845471931921
+      euclidean_error: -0.002701522038920934
+    wrist_inside_marker_pose:
+      angle_rotation: 25.609866215515932
+      euclidean_error: -0.0042261836851194
+    wrist_top_marker_pose:
+      angle_rotation: 15.658560074109538
+      euclidean_error: -0.003872893457297022
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4898692387824006
+      euclidean_error: -0.009501289816343128
+    base_right_marker_pose:
+      angle_rotation: 4.4682046720298745
+      euclidean_error: -0.007556256786715898
+    shoulder_marker_pose:
+      angle_rotation: 13.449660800205915
+      euclidean_error: -0.0015392196224275345
+    wrist_inside_marker_pose:
+      angle_rotation: 22.994723653308316
+      euclidean_error: -0.0036572893604482903
+    wrist_top_marker_pose:
+      angle_rotation: 12.354538919583106
+      euclidean_error: -0.0023567262089134733
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2071908864814818
+      euclidean_error: -0.009412990499121032
+    base_right_marker_pose:
+      angle_rotation: 4.368874027962172
+      euclidean_error: -0.007804742173736723
+    shoulder_marker_pose:
+      angle_rotation: 16.275444799225706
+      euclidean_error: -0.0009173963612190139
+    wrist_inside_marker_pose:
+      angle_rotation: 26.42860758340367
+      euclidean_error: -0.003855274965004707
+    wrist_top_marker_pose:
+      angle_rotation: 21.060629606142868
+      euclidean_error: -0.0013827107832108387
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1594160746149687
+      euclidean_error: -0.009674697986815861
+    base_right_marker_pose:
+      angle_rotation: 5.231465503359878
+      euclidean_error: -0.007595227535264648
+    shoulder_marker_pose:
+      angle_rotation: 5.774670955178864
+      euclidean_error: -0.0014335383053499795
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 13.254730841277325
+      euclidean_error: -0.0027935841633908165
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.803609260775677
+      euclidean_error: -0.009620786482866128
+    base_right_marker_pose:
+      angle_rotation: 3.9114764441731813
+      euclidean_error: -0.007608022686325433
+    shoulder_marker_pose:
+      angle_rotation: 9.676063852021617
+      euclidean_error: -0.0017128552072684933
+    wrist_inside_marker_pose:
+      angle_rotation: 26.834366511362663
+      euclidean_error: -0.004195474185389569
+    wrist_top_marker_pose:
+      angle_rotation: 12.171271432025737
+      euclidean_error: -0.0028703631657827078
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0936684479327456
+      euclidean_error: -0.009473360991464785
+    base_right_marker_pose:
+      angle_rotation: 3.9052940754670757
+      euclidean_error: -0.007671005120322705
+    shoulder_marker_pose:
+      angle_rotation: 12.114570986983004
+      euclidean_error: -0.0017381752532100725
+    wrist_inside_marker_pose:
+      angle_rotation: 26.894869172091926
+      euclidean_error: -0.002714928705720099
+    wrist_top_marker_pose:
+      angle_rotation: 12.786986257569433
+      euclidean_error: -0.0014997497216595601
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6375187009734193
+      euclidean_error: -0.009447685035129605
+    base_right_marker_pose:
+      angle_rotation: 3.0318578061289623
+      euclidean_error: -0.006990661749560423
+    shoulder_marker_pose:
+      angle_rotation: 13.356966478238462
+      euclidean_error: -0.0007946312324371707
+    wrist_inside_marker_pose:
+      angle_rotation: 29.180556162329452
+      euclidean_error: -0.002207067305244781
+    wrist_top_marker_pose:
+      angle_rotation: 13.968993201683004
+      euclidean_error: -0.001828824067590995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6396138219822582
+      euclidean_error: -0.0098967231423287
+    base_right_marker_pose:
+      angle_rotation: 2.979356080648537
+      euclidean_error: -0.008210779110690014
+    shoulder_marker_pose:
+      angle_rotation: 9.093388720854502
+      euclidean_error: -0.0013400718939368117
+    wrist_inside_marker_pose:
+      angle_rotation: 28.46630266948337
+      euclidean_error: -0.003217935648811565
+    wrist_top_marker_pose:
+      angle_rotation: 14.567780858809797
+      euclidean_error: -0.002145333372611802
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3311275530644178
+      euclidean_error: -0.009423662488194706
+    base_right_marker_pose:
+      angle_rotation: 3.6552150523903575
+      euclidean_error: -0.007369474630446682
+    shoulder_marker_pose:
+      angle_rotation: 16.95169631337283
+      euclidean_error: -0.0017133790416741235
+    wrist_inside_marker_pose:
+      angle_rotation: 28.904458976338937
+      euclidean_error: -0.0025457479388676374
+    wrist_top_marker_pose:
+      angle_rotation: 12.277375972004897
+      euclidean_error: -0.0015160548176933464
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0244135005874253
+      euclidean_error: -0.009470182126327442
+    base_right_marker_pose:
+      angle_rotation: 3.158881880033198
+      euclidean_error: -0.008134161827639708
+    shoulder_marker_pose:
+      angle_rotation: 18.091681718730758
+      euclidean_error: -0.0018877032796659199
+    wrist_inside_marker_pose:
+      angle_rotation: 29.477560074639236
+      euclidean_error: -0.0041237426899929375
+    wrist_top_marker_pose:
+      angle_rotation: 17.00704247546382
+      euclidean_error: -0.002332637035608043
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.890198438198962
+      euclidean_error: -0.009458575348111675
+    base_right_marker_pose:
+      angle_rotation: 4.621386953445351
+      euclidean_error: -0.007680629165631947
+    shoulder_marker_pose:
+      angle_rotation: 13.157881043144336
+      euclidean_error: -0.0013813110962558328
+    wrist_inside_marker_pose:
+      angle_rotation: 25.700647572832985
+      euclidean_error: -0.002944798471243959
+    wrist_top_marker_pose:
+      angle_rotation: 16.780518031823803
+      euclidean_error: -0.0016945759107056535
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8486865994831896
+      euclidean_error: -0.009681998083815313
+    base_right_marker_pose:
+      angle_rotation: 4.7705972439916255
+      euclidean_error: -0.007350628676907056
+    shoulder_marker_pose:
+      angle_rotation: 12.238889698728457
+      euclidean_error: -0.0011573341794468561
+    wrist_inside_marker_pose:
+      angle_rotation: 27.899323171208312
+      euclidean_error: -0.0032279441614884163
+    wrist_top_marker_pose:
+      angle_rotation: 9.989550697029122
+      euclidean_error: -0.0020054023881912464
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.290137545186953
+      euclidean_error: -0.009214518584624076
+    base_right_marker_pose:
+      angle_rotation: 5.635170814852138
+      euclidean_error: -0.007159331883182629
+    shoulder_marker_pose:
+      angle_rotation: 10.84570867614613
+      euclidean_error: -0.0015917708472772407
+    wrist_inside_marker_pose:
+      angle_rotation: 24.777798123343352
+      euclidean_error: -0.0026672591081632335
+    wrist_top_marker_pose:
+      angle_rotation: 11.049312174163356
+      euclidean_error: -0.0013542532470200985
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9350482557280015
+      euclidean_error: -0.00946267886116492
+    base_right_marker_pose:
+      angle_rotation: 4.657795326110591
+      euclidean_error: -0.007490444827079168
+    shoulder_marker_pose:
+      angle_rotation: 10.81134300042188
+      euclidean_error: -0.0018297713506865154
+    wrist_inside_marker_pose:
+      angle_rotation: 28.010333172265895
+      euclidean_error: -0.0020197970970485812
+    wrist_top_marker_pose:
+      angle_rotation: 15.698713264841395
+      euclidean_error: -0.0012504295431962076
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.193572245088911
+      euclidean_error: -0.0093106596535103
+    base_right_marker_pose:
+      angle_rotation: 4.9256165274346975
+      euclidean_error: -0.00747347944331711
+    shoulder_marker_pose:
+      angle_rotation: 9.71982232727533
+      euclidean_error: -0.0009528059041161718
+    wrist_inside_marker_pose:
+      angle_rotation: 23.83965086360147
+      euclidean_error: -0.002774778801818978
+    wrist_top_marker_pose:
+      angle_rotation: 12.11348461596051
+      euclidean_error: -0.0007686169453602343
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.873609508217501
+      euclidean_error: -0.009391701653092333
+    base_right_marker_pose:
+      angle_rotation: 5.372113245434429
+      euclidean_error: -0.007312946259696251
+    shoulder_marker_pose:
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+      euclidean_error: -0.0009652560828780077
+    wrist_inside_marker_pose:
+      angle_rotation: 23.312780715012813
+      euclidean_error: -0.00215334515265464
+    wrist_top_marker_pose:
+      angle_rotation: 15.90042701090845
+      euclidean_error: -0.001228831526578933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7324490811451843
+      euclidean_error: -0.009611755347200934
+    base_right_marker_pose:
+      angle_rotation: 3.919691973251721
+      euclidean_error: -0.007842067583811119
+    shoulder_marker_pose:
+      angle_rotation: 9.362901046005016
+      euclidean_error: -0.0015402530768822142
+    wrist_inside_marker_pose:
+      angle_rotation: 26.067118252875552
+      euclidean_error: -0.003995973354734783
+    wrist_top_marker_pose:
+      angle_rotation: 22.147650555093445
+      euclidean_error: -0.0029296004502271655
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.691714338261648
+      euclidean_error: -0.009472414424897213
+    base_right_marker_pose:
+      angle_rotation: 4.840638761742492
+      euclidean_error: -0.007362061319564961
+    shoulder_marker_pose:
+      angle_rotation: 8.149089137552709
+      euclidean_error: -0.0021154668419812728
+    wrist_inside_marker_pose:
+      angle_rotation: 26.665744023810117
+      euclidean_error: -0.0040075545340264584
+    wrist_top_marker_pose:
+      angle_rotation: 12.914701898811387
+      euclidean_error: -0.0031728457914718122
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6563204972174717
+      euclidean_error: -0.0094138995399482
+    base_right_marker_pose:
+      angle_rotation: 3.745607086338414
+      euclidean_error: -0.007594706690009834
+    shoulder_marker_pose:
+      angle_rotation: 6.980148565420069
+      euclidean_error: -0.001760029372625982
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 14.726255286099176
+      euclidean_error: -0.002486700040163381
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2956969186511462
+      euclidean_error: -0.009602472483252744
+    base_right_marker_pose:
+      angle_rotation: 4.002968291525682
+      euclidean_error: -0.007528870446505187
+    shoulder_marker_pose:
+      angle_rotation: 16.43152119081617
+      euclidean_error: -0.0014482249191558605
+    wrist_inside_marker_pose:
+      angle_rotation: 23.80997277205977
+      euclidean_error: -0.004061604826854692
+    wrist_top_marker_pose:
+      angle_rotation: 13.440149315347169
+      euclidean_error: -0.0023359332424258694
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.768599196196457
+      euclidean_error: -0.00938112634015753
+    base_right_marker_pose:
+      angle_rotation: 5.399588418253287
+      euclidean_error: -0.007413158328280045
+    shoulder_marker_pose:
+      angle_rotation: 11.418814084260127
+      euclidean_error: -0.001527101237276729
+    wrist_inside_marker_pose:
+      angle_rotation: 27.118339241087277
+      euclidean_error: -0.0037367606263295494
+    wrist_top_marker_pose:
+      angle_rotation: 8.53899899289899
+      euclidean_error: -0.002179807063305006
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.923993027610379
+      euclidean_error: -0.009163954637878557
+    base_right_marker_pose:
+      angle_rotation: 3.7011175910027783
+      euclidean_error: -0.00752793473701352
+    shoulder_marker_pose:
+      angle_rotation: 13.290637791510408
+      euclidean_error: -0.0007479566629946532
+    wrist_inside_marker_pose:
+      angle_rotation: 22.45301183269255
+      euclidean_error: -0.00316930061873566
+    wrist_top_marker_pose:
+      angle_rotation: 14.451500081342951
+      euclidean_error: -0.0014125438918912714
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1453417957749497
+      euclidean_error: -0.00941841132548682
+    base_right_marker_pose:
+      angle_rotation: 4.55615228796371
+      euclidean_error: -0.007535862379654312
+    shoulder_marker_pose:
+      angle_rotation: 9.948828339189996
+      euclidean_error: -0.0026241428236013498
+    wrist_inside_marker_pose:
+      angle_rotation: 28.132837571247865
+      euclidean_error: -0.0035208986359576144
+    wrist_top_marker_pose:
+      angle_rotation: 15.189131283442578
+      euclidean_error: -0.002680194285354154
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0793024560407263
+      euclidean_error: -0.00961501253782715
+    base_right_marker_pose:
+      angle_rotation: 4.668685795410761
+      euclidean_error: -0.007455789784779898
+    shoulder_marker_pose:
+      angle_rotation: 10.103821932037233
+      euclidean_error: -0.00134266721003784
+    wrist_inside_marker_pose:
+      angle_rotation: 24.852092307426553
+      euclidean_error: -0.0017942088581939242
+    wrist_top_marker_pose:
+      angle_rotation: 15.759714344648199
+      euclidean_error: -0.0010758046600339854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0560611278450573
+      euclidean_error: -0.009462873091391488
+    base_right_marker_pose:
+      angle_rotation: 2.2328204660342212
+      euclidean_error: -0.0077577314634375005
+    shoulder_marker_pose:
+      angle_rotation: 13.450622471086996
+      euclidean_error: -0.0013805862009916847
+    wrist_inside_marker_pose:
+      angle_rotation: 23.87388770355424
+      euclidean_error: -0.0033937552511649205
+    wrist_top_marker_pose:
+      angle_rotation: 16.217995082073774
+      euclidean_error: -0.001211738788513328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.692721125743965
+      euclidean_error: -0.009628229235617458
+    base_right_marker_pose:
+      angle_rotation: 6.81278206623189
+      euclidean_error: -0.007208295906359408
+    shoulder_marker_pose:
+      angle_rotation: 13.276089841922614
+      euclidean_error: -0.0021342714157912557
+    wrist_inside_marker_pose:
+      angle_rotation: 26.387476181611046
+      euclidean_error: -0.004516723647083443
+    wrist_top_marker_pose:
+      angle_rotation: 11.856837492733588
+      euclidean_error: -0.0022470105631199333
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6964612119886833
+      euclidean_error: -0.009585669713485956
+    base_right_marker_pose:
+      angle_rotation: 5.229454384920911
+      euclidean_error: -0.007151291191466513
+    shoulder_marker_pose:
+      angle_rotation: 10.59195652844946
+      euclidean_error: -0.0018752058375006708
+    wrist_inside_marker_pose:
+      angle_rotation: 27.552564358129494
+      euclidean_error: -0.002864858766085554
+    wrist_top_marker_pose:
+      angle_rotation: 15.626768969463955
+      euclidean_error: -0.001410613703629049
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.433487274232336
+      euclidean_error: -0.009424653248905734
+    base_right_marker_pose:
+      angle_rotation: 4.252483430004331
+      euclidean_error: -0.007302798062162386
+    shoulder_marker_pose:
+      angle_rotation: 8.401614520562767
+      euclidean_error: -0.00031387159188189795
+    wrist_inside_marker_pose:
+      angle_rotation: 24.471851627419117
+      euclidean_error: -0.0029752505146282138
+    wrist_top_marker_pose:
+      angle_rotation: 10.969443405391178
+      euclidean_error: -0.001993048435223188
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.036636601169092
+      euclidean_error: -0.009488830304323015
+    base_right_marker_pose:
+      angle_rotation: 5.919472236039819
+      euclidean_error: -0.006913475121966273
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 30.014245645053258
+      euclidean_error: -0.0025630727203684867
+    wrist_top_marker_pose:
+      angle_rotation: 17.093279493135633
+      euclidean_error: -0.0021871250649970753
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.519377853617796
+      euclidean_error: -0.009500996082238422
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 7.161649024607162
+      euclidean_error: -0.0018043114659269666
+    wrist_inside_marker_pose:
+      angle_rotation: 23.99176319558724
+      euclidean_error: -0.0045040712102750735
+    wrist_top_marker_pose:
+      angle_rotation: 12.010455598120956
+      euclidean_error: -0.0031719443951286896
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.076070351751993
+      euclidean_error: -0.009358793825066769
+    base_right_marker_pose:
+      angle_rotation: 4.656654187387682
+      euclidean_error: -0.007603597202239687
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.13267447375314
+      euclidean_error: -0.0037714588736352805
+    wrist_top_marker_pose:
+      angle_rotation: 16.93120595261111
+      euclidean_error: -0.0025381034525463475
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.461394144258243
+      euclidean_error: -0.009424390570147989
+    base_right_marker_pose:
+      angle_rotation: 5.052782159760133
+      euclidean_error: -0.007863600291029726
+    shoulder_marker_pose:
+      angle_rotation: 11.575363596767497
+      euclidean_error: -0.0025844604629411405
+    wrist_inside_marker_pose:
+      angle_rotation: 22.15934845365031
+      euclidean_error: -0.0038319620128703935
+    wrist_top_marker_pose:
+      angle_rotation: 13.210658326008241
+      euclidean_error: -0.0032712835468688972
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.036426904545445
+      euclidean_error: -0.009147358229510627
+    base_right_marker_pose:
+      angle_rotation: 5.43480308359564
+      euclidean_error: -0.006894096245116277
+    shoulder_marker_pose:
+      angle_rotation: 9.743308806355751
+      euclidean_error: -0.0012592660719530357
+    wrist_inside_marker_pose:
+      angle_rotation: 27.00076048359492
+      euclidean_error: -0.0036791680357433076
+    wrist_top_marker_pose:
+      angle_rotation: 15.33035477639662
+      euclidean_error: -0.0023620627421024887
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.241989643729892
+      euclidean_error: -0.009542209222431541
+    base_right_marker_pose:
+      angle_rotation: 4.430473435928556
+      euclidean_error: -0.007382702003188246
+    shoulder_marker_pose:
+      angle_rotation: 7.157211004526728
+      euclidean_error: -0.0011114062830601679
+    wrist_inside_marker_pose:
+      angle_rotation: 25.794689084615577
+      euclidean_error: -0.0032122189461997186
+    wrist_top_marker_pose:
+      angle_rotation: 13.915394897283317
+      euclidean_error: -0.00028974841665929674
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5682656448971457
+      euclidean_error: -0.009282997105218849
+    base_right_marker_pose:
+      angle_rotation: 5.201232840567622
+      euclidean_error: -0.00763880788176885
+    shoulder_marker_pose:
+      angle_rotation: 7.929179690105778
+      euclidean_error: -0.0013041049129590698
+    wrist_inside_marker_pose:
+      angle_rotation: 23.718692506786226
+      euclidean_error: -0.0027370260235631827
+    wrist_top_marker_pose:
+      angle_rotation: 10.527006662464764
+      euclidean_error: -0.002382977149136156
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.78031707503962
+      euclidean_error: -0.009332236537538452
+    base_right_marker_pose:
+      angle_rotation: 4.061410772364703
+      euclidean_error: -0.007672964836346052
+    shoulder_marker_pose:
+      angle_rotation: 7.734106381433668
+      euclidean_error: -0.0018578170208800593
+    wrist_inside_marker_pose:
+      angle_rotation: 21.751503479255856
+      euclidean_error: -0.0030403143252116793
+    wrist_top_marker_pose:
+      angle_rotation: 11.062010400509527
+      euclidean_error: -0.0027861983108037336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.129176731812611
+      euclidean_error: -0.00939689550038214
+    base_right_marker_pose:
+      angle_rotation: 4.538794494294485
+      euclidean_error: -0.007529742369552839
+    shoulder_marker_pose:
+      angle_rotation: 12.23281686371549
+      euclidean_error: -0.0009753693542409181
+    wrist_inside_marker_pose:
+      angle_rotation: 25.12786439394242
+      euclidean_error: -0.0034067329781357625
+    wrist_top_marker_pose:
+      angle_rotation: 14.071117190644884
+      euclidean_error: -0.002370980154565605
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0206702027210612
+      euclidean_error: -0.009471893765475192
+    base_right_marker_pose:
+      angle_rotation: 3.9998835432684072
+      euclidean_error: -0.007456645289298347
+    shoulder_marker_pose:
+      angle_rotation: 7.494094886441297
+      euclidean_error: -0.0014312186227606327
+    wrist_inside_marker_pose:
+      angle_rotation: 25.616815905306787
+      euclidean_error: -0.0025421646458233527
+    wrist_top_marker_pose:
+      angle_rotation: 11.035807324599787
+      euclidean_error: -0.002201196412516815
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.906092836536644
+      euclidean_error: -0.009155807589761755
+    base_right_marker_pose:
+      angle_rotation: 5.24728696573586
+      euclidean_error: -0.007639331163046048
+    shoulder_marker_pose:
+      angle_rotation: 7.482485136822446
+      euclidean_error: -0.001161912725713976
+    wrist_inside_marker_pose:
+      angle_rotation: 23.408550234047876
+      euclidean_error: -0.003926681799194975
+    wrist_top_marker_pose:
+      angle_rotation: 15.696935201808655
+      euclidean_error: -0.0028732279648808756
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.06977893120222
+      euclidean_error: -0.009463393117596364
+    base_right_marker_pose:
+      angle_rotation: 7.567008009518704
+      euclidean_error: -0.007067668376089187
+    shoulder_marker_pose:
+      angle_rotation: 5.574702568934846
+      euclidean_error: -0.002394190023333853
+    wrist_inside_marker_pose:
+      angle_rotation: 21.926458251371102
+      euclidean_error: -0.004141013169480234
+    wrist_top_marker_pose:
+      angle_rotation: 9.914780201927325
+      euclidean_error: -0.003009121945731774
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6336935733778533
+      euclidean_error: -0.009424824644714058
+    base_right_marker_pose:
+      angle_rotation: 5.961436194061745
+      euclidean_error: -0.007399475845791592
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.054373337747442
+      euclidean_error: -0.003436130215519473
+    wrist_top_marker_pose:
+      angle_rotation: 14.906490951470893
+      euclidean_error: -0.002522075133971291
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2262422668345123
+      euclidean_error: -0.009708165663144253
+    base_right_marker_pose:
+      angle_rotation: 4.000962840185718
+      euclidean_error: -0.007621969884088364
+    shoulder_marker_pose:
+      angle_rotation: 8.24436224768604
+      euclidean_error: -0.0023289211152174305
+    wrist_inside_marker_pose:
+      angle_rotation: 27.008823991770793
+      euclidean_error: -0.0029057775037789613
+    wrist_top_marker_pose:
+      angle_rotation: 17.284487363880732
+      euclidean_error: -0.001783772601441913
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.819178764193248
+      euclidean_error: -0.009515128811200646
+    base_right_marker_pose:
+      angle_rotation: 6.322308696958067
+      euclidean_error: -0.007282956087360626
+    shoulder_marker_pose:
+      angle_rotation: 10.630307975743147
+      euclidean_error: -9.61876240843651e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 26.40465234093367
+      euclidean_error: -0.00373175193715225
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2084173204711
+      euclidean_error: -0.009700826977838695
+    base_right_marker_pose:
+      angle_rotation: 5.377955723756782
+      euclidean_error: -0.007320670113365679
+    shoulder_marker_pose:
+      angle_rotation: 9.998627592866244
+      euclidean_error: -0.002654776116327473
+    wrist_inside_marker_pose:
+      angle_rotation: 25.16924994194515
+      euclidean_error: -0.004106562482601883
+    wrist_top_marker_pose:
+      angle_rotation: 11.89243221977098
+      euclidean_error: -0.0035618970513173753
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.288834344962599
+      euclidean_error: -0.009520893106951478
+    base_right_marker_pose:
+      angle_rotation: 5.09087571504226
+      euclidean_error: -0.007402990094422468
+    shoulder_marker_pose:
+      angle_rotation: 12.200494121433795
+      euclidean_error: -0.0005832011561867079
+    wrist_inside_marker_pose:
+      angle_rotation: 24.25231899954025
+      euclidean_error: -0.0035661307342058635
+    wrist_top_marker_pose:
+      angle_rotation: 17.653518592892446
+      euclidean_error: -0.0012708015530015215
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4584582092578975
+      euclidean_error: -0.009567272564161011
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 8.442273592347155
+      euclidean_error: -0.0008021060267734414
+    wrist_inside_marker_pose:
+      angle_rotation: 26.103992275231587
+      euclidean_error: -0.002698520637613222
+    wrist_top_marker_pose:
+      angle_rotation: 15.060194315033058
+      euclidean_error: -0.0007577993809265715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4436133914750013
+      euclidean_error: -0.009539399344053678
+    base_right_marker_pose:
+      angle_rotation: 3.6740063519635386
+      euclidean_error: -0.007509434167576656
+    shoulder_marker_pose:
+      angle_rotation: 7.1608021498419685
+      euclidean_error: -0.0015659760899986441
+    wrist_inside_marker_pose:
+      angle_rotation: 24.072282108783124
+      euclidean_error: -0.004399289195000433
+    wrist_top_marker_pose:
+      angle_rotation: 11.615121107879263
+      euclidean_error: -0.0021573670197393424
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8776858736970055
+      euclidean_error: -0.00943361991397551
+    base_right_marker_pose:
+      angle_rotation: 7.318294747710767
+      euclidean_error: -0.006793755694233905
+    shoulder_marker_pose:
+      angle_rotation: 9.682716505866454
+      euclidean_error: -0.0008461150004830387
+    wrist_inside_marker_pose:
+      angle_rotation: 21.32050477245678
+      euclidean_error: -0.002254559967650005
+    wrist_top_marker_pose:
+      angle_rotation: 15.844319640613831
+      euclidean_error: -0.0017855660275364338
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.950568609546845
+      euclidean_error: -0.00939417209688409
+    base_right_marker_pose:
+      angle_rotation: 6.496598279327838
+      euclidean_error: -0.007314157610897931
+    shoulder_marker_pose:
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+      euclidean_error: -0.002258450576520743
+    wrist_inside_marker_pose:
+      angle_rotation: 24.988206726400108
+      euclidean_error: -0.004018756062882156
+    wrist_top_marker_pose:
+      angle_rotation: 14.853997123063726
+      euclidean_error: -0.002944245674926904
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.785866701926044
+      euclidean_error: -0.009317247846169718
+    base_right_marker_pose:
+      angle_rotation: 6.683808651357014
+      euclidean_error: -0.007242961753420429
+    shoulder_marker_pose:
+      angle_rotation: 9.023544565853939
+      euclidean_error: -0.0011900953176446905
+    wrist_inside_marker_pose:
+      angle_rotation: 26.943773723581582
+      euclidean_error: -0.002480252925913806
+    wrist_top_marker_pose:
+      angle_rotation: 14.767881338612465
+      euclidean_error: -0.0010019946678826441
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3565626926874024
+      euclidean_error: -0.00929023262120765
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 8.102311316479854
+      euclidean_error: -0.0012751568666767854
+    wrist_inside_marker_pose:
+      angle_rotation: 25.689493862460818
+      euclidean_error: -0.003915363705123909
+    wrist_top_marker_pose:
+      angle_rotation: 16.283324801406383
+      euclidean_error: -0.0025979751045844823
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8365130586124025
+      euclidean_error: -0.009678589707906804
+    base_right_marker_pose:
+      angle_rotation: 5.436075132897201
+      euclidean_error: -0.00763005511426218
+    shoulder_marker_pose:
+      angle_rotation: 9.814929306211695
+      euclidean_error: -0.0013189082834619281
+    wrist_inside_marker_pose:
+      angle_rotation: 28.05752378152956
+      euclidean_error: -0.004081898425280728
+    wrist_top_marker_pose:
+      angle_rotation: 15.944970018016186
+      euclidean_error: -0.0027640591497989364
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.02859867976657
+      euclidean_error: -0.009352243522824377
+    base_right_marker_pose:
+      angle_rotation: 5.265357530688491
+      euclidean_error: -0.007769294599828558
+    shoulder_marker_pose:
+      angle_rotation: 10.675934110486343
+      euclidean_error: -0.0008134029133386456
+    wrist_inside_marker_pose:
+      angle_rotation: 28.17896846677759
+      euclidean_error: -0.00327346598798417
+    wrist_top_marker_pose:
+      angle_rotation: 15.798311787472555
+      euclidean_error: -0.0008955136517077023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.942839066369196
+      euclidean_error: -0.009523849458013545
+    base_right_marker_pose:
+      angle_rotation: 5.990543611041266
+      euclidean_error: -0.007031403476012166
+    shoulder_marker_pose:
+      angle_rotation: 11.036508514065554
+      euclidean_error: -0.0010034867361350397
+    wrist_inside_marker_pose:
+      angle_rotation: 29.313269318567617
+      euclidean_error: -0.003834155863941646
+    wrist_top_marker_pose:
+      angle_rotation: 17.80556287518339
+      euclidean_error: -0.002590817802117007
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6009259825980284
+      euclidean_error: -0.00958882801842531
+    base_right_marker_pose:
+      angle_rotation: 5.712932722888426
+      euclidean_error: -0.006848097688375576
+    shoulder_marker_pose:
+      angle_rotation: 11.361933159079838
+      euclidean_error: -0.0013926317808935496
+    wrist_inside_marker_pose:
+      angle_rotation: 27.434505421423207
+      euclidean_error: -0.0023858262900714466
+    wrist_top_marker_pose:
+      angle_rotation: 15.073377471451971
+      euclidean_error: -0.001994638825765005
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.247348156652357
+      euclidean_error: -0.009558869349200916
+    base_right_marker_pose:
+      angle_rotation: 3.366578129408738
+      euclidean_error: -0.007607326536848702
+    shoulder_marker_pose:
+      angle_rotation: 9.370046048126206
+      euclidean_error: -0.0018667180798754845
+    wrist_inside_marker_pose:
+      angle_rotation: 21.925421286840812
+      euclidean_error: -0.004375824565579056
+    wrist_top_marker_pose:
+      angle_rotation: 5.062201162593918
+      euclidean_error: -0.0021189017510547803
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1835867711831805
+      euclidean_error: -0.009394823135810526
+    base_right_marker_pose:
+      angle_rotation: 5.124861069440131
+      euclidean_error: -0.007702838889915631
+    shoulder_marker_pose:
+      angle_rotation: 5.024287628511388
+      euclidean_error: -0.0018092111351484252
+    wrist_inside_marker_pose:
+      angle_rotation: 29.027116348968846
+      euclidean_error: -0.0031746176561133765
+    wrist_top_marker_pose:
+      angle_rotation: 10.74076578963069
+      euclidean_error: -0.0021879868722408657
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4312157230805056
+      euclidean_error: -0.00948123542467283
+    base_right_marker_pose:
+      angle_rotation: 4.756462193265548
+      euclidean_error: -0.007642706235586383
+    shoulder_marker_pose:
+      angle_rotation: 10.347650099597526
+      euclidean_error: -0.0016494449936561573
+    wrist_inside_marker_pose:
+      angle_rotation: 25.191627002543914
+      euclidean_error: -0.004290564783956841
+    wrist_top_marker_pose:
+      angle_rotation: 13.245894274020298
+      euclidean_error: -0.0030114623932790963
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7663729622264963
+      euclidean_error: -0.009377167188540425
+    base_right_marker_pose:
+      angle_rotation: 6.085903037973497
+      euclidean_error: -0.007192467631836119
+    shoulder_marker_pose:
+      angle_rotation: 11.567085925392513
+      euclidean_error: -0.002754040718333517
+    wrist_inside_marker_pose:
+      angle_rotation: 28.737172682343683
+      euclidean_error: -0.003597240753310138
+    wrist_top_marker_pose:
+      angle_rotation: 14.743892868440588
+      euclidean_error: -0.002043219583626188
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.951452017543289
+      euclidean_error: -0.009586321980950219
+    base_right_marker_pose:
+      angle_rotation: 6.096554314484581
+      euclidean_error: -0.0072298267086761125
+    shoulder_marker_pose:
+      angle_rotation: 11.343056188244384
+      euclidean_error: -0.0015363091015980768
+    wrist_inside_marker_pose:
+      angle_rotation: 22.26189035978625
+      euclidean_error: -0.00423201416225627
+    wrist_top_marker_pose:
+      angle_rotation: 14.065534905439474
+      euclidean_error: -0.002311640421902794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.780099892243334
+      euclidean_error: -0.00914931481157788
+    base_right_marker_pose:
+      angle_rotation: 4.191339934405284
+      euclidean_error: -0.007707345682403277
+    shoulder_marker_pose:
+      angle_rotation: 8.560283721210645
+      euclidean_error: -0.001632456461832854
+    wrist_inside_marker_pose:
+      angle_rotation: 28.083262563461943
+      euclidean_error: -0.003575141761359091
+    wrist_top_marker_pose:
+      angle_rotation: 15.10164246005839
+      euclidean_error: -0.001721747081349978
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.030988953397498
+      euclidean_error: -0.009192031350816143
+    base_right_marker_pose:
+      angle_rotation: 4.281240517871348
+      euclidean_error: -0.007256450615270471
+    shoulder_marker_pose:
+      angle_rotation: 14.07354889990559
+      euclidean_error: -0.0013973974851951843
+    wrist_inside_marker_pose:
+      angle_rotation: 24.576496766196346
+      euclidean_error: -0.003083693573810886
+    wrist_top_marker_pose:
+      angle_rotation: 17.215636421200113
+      euclidean_error: -0.0015527317947254815
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2711171289598493
+      euclidean_error: -0.009543266101699421
+    base_right_marker_pose:
+      angle_rotation: 6.412239377684158
+      euclidean_error: -0.007081954888993436
+    shoulder_marker_pose:
+      angle_rotation: 7.055070491392186
+      euclidean_error: -0.00112962734009725
+    wrist_inside_marker_pose:
+      angle_rotation: 22.574204316716735
+      euclidean_error: -0.003913060593676354
+    wrist_top_marker_pose:
+      angle_rotation: 13.955506108576019
+      euclidean_error: -0.0022763823623731527
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.31281298534779
+      euclidean_error: -0.009371191405404766
+    base_right_marker_pose:
+      angle_rotation: 6.107433478470856
+      euclidean_error: -0.007333750514798121
+    shoulder_marker_pose:
+      angle_rotation: 9.685234349145695
+      euclidean_error: -0.0018508559480581166
+    wrist_inside_marker_pose:
+      angle_rotation: 28.987393654915653
+      euclidean_error: -0.004477403232967081
+    wrist_top_marker_pose:
+      angle_rotation: 12.218796972402284
+      euclidean_error: -0.0020764676987060637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.304408593642643
+      euclidean_error: -0.009777061061950088
+    base_right_marker_pose:
+      angle_rotation: 4.873172124330991
+      euclidean_error: -0.007559479428143945
+    shoulder_marker_pose:
+      angle_rotation: 11.656784712701322
+      euclidean_error: -0.0006100787974443467
+    wrist_inside_marker_pose:
+      angle_rotation: 26.971470331044603
+      euclidean_error: -0.00450643192852207
+    wrist_top_marker_pose:
+      angle_rotation: 14.635624237940908
+      euclidean_error: -0.0013839569325421186
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7039809639400336
+      euclidean_error: -0.009613628252351125
+    base_right_marker_pose:
+      angle_rotation: 5.359554925987496
+      euclidean_error: -0.0072560982340140745
+    shoulder_marker_pose:
+      angle_rotation: 6.694869056892749
+      euclidean_error: -0.0013117862162290717
+    wrist_inside_marker_pose:
+      angle_rotation: 25.776392752279417
+      euclidean_error: -0.004282919322726619
+    wrist_top_marker_pose:
+      angle_rotation: 12.64809652303342
+      euclidean_error: -0.0033489081486974825
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3507888750278565
+      euclidean_error: -0.009634954701438159
+    base_right_marker_pose:
+      angle_rotation: 5.126790248398103
+      euclidean_error: -0.007859134890785047
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.05186286538521
+      euclidean_error: -0.0036882055920945955
+    wrist_top_marker_pose:
+      angle_rotation: 14.51845829818189
+      euclidean_error: -0.0029925348502282123
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2494591729071702
+      euclidean_error: -0.009596189381285147
+    base_right_marker_pose:
+      angle_rotation: 5.121416241049731
+      euclidean_error: -0.007629490748189527
+    shoulder_marker_pose:
+      angle_rotation: 8.924960003898114
+      euclidean_error: -0.0007450808339878323
+    wrist_inside_marker_pose:
+      angle_rotation: 27.762913818235653
+      euclidean_error: -0.003548561488700752
+    wrist_top_marker_pose:
+      angle_rotation: 17.270661304349893
+      euclidean_error: -0.0027767106891686266
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3539571942576982
+      euclidean_error: -0.009404126076186348
+    base_right_marker_pose:
+      angle_rotation: 4.067947830855245
+      euclidean_error: -0.00775924537667072
+    shoulder_marker_pose:
+      angle_rotation: 9.967624900204154
+      euclidean_error: -0.0005418698851380466
+    wrist_inside_marker_pose:
+      angle_rotation: 19.844953107636446
+      euclidean_error: -0.003416202232852883
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8203439734377675
+      euclidean_error: -0.009644929358534782
+    base_right_marker_pose:
+      angle_rotation: 5.577492363797466
+      euclidean_error: -0.007152143128784982
+    shoulder_marker_pose:
+      angle_rotation: 4.72248488817564
+      euclidean_error: -0.0014843200107397259
+    wrist_inside_marker_pose:
+      angle_rotation: 27.828996525901115
+      euclidean_error: -0.003947423475338496
+    wrist_top_marker_pose:
+      angle_rotation: 8.636448645700538
+      euclidean_error: -0.0021417505630413336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0039254758629212
+      euclidean_error: -0.009366542396666788
+    base_right_marker_pose:
+      angle_rotation: 4.616948531038973
+      euclidean_error: -0.007609298944289855
+    shoulder_marker_pose:
+      angle_rotation: 6.379476767230551
+      euclidean_error: -0.0006563335357872013
+    wrist_inside_marker_pose:
+      angle_rotation: 24.89117690514328
+      euclidean_error: -0.004334244521912778
+    wrist_top_marker_pose:
+      angle_rotation: 12.12178117438454
+      euclidean_error: -0.0033602655044393526
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.150585446482307
+      euclidean_error: -0.009380224073081367
+    base_right_marker_pose:
+      angle_rotation: 3.0781885676290757
+      euclidean_error: -0.00817793792310939
+    shoulder_marker_pose:
+      angle_rotation: 5.06050688473754
+      euclidean_error: -0.0020658458154179105
+    wrist_inside_marker_pose:
+      angle_rotation: 27.363999487377654
+      euclidean_error: -0.004111337300315432
+    wrist_top_marker_pose:
+      angle_rotation: 17.62440038126323
+      euclidean_error: -0.0033498765321666735
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5682740445903653
+      euclidean_error: -0.009558293602036083
+    base_right_marker_pose:
+      angle_rotation: 4.501446240205454
+      euclidean_error: -0.007307220227754985
+    shoulder_marker_pose:
+      angle_rotation: 6.6150541526225926
+      euclidean_error: -0.002219328763533146
+    wrist_inside_marker_pose:
+      angle_rotation: 25.339811411588286
+      euclidean_error: -0.00371180008168015
+    wrist_top_marker_pose:
+      angle_rotation: 17.14105893144569
+      euclidean_error: -0.003097386425249038
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6328663798613188
+      euclidean_error: -0.009506682584448645
+    base_right_marker_pose:
+      angle_rotation: 3.949811455688779
+      euclidean_error: -0.007479291069312333
+    shoulder_marker_pose:
+      angle_rotation: 9.566620713583635
+      euclidean_error: -0.0016602251359186804
+    wrist_inside_marker_pose:
+      angle_rotation: 27.60250855471326
+      euclidean_error: -0.0030449806244404742
+    wrist_top_marker_pose:
+      angle_rotation: 19.650841068404286
+      euclidean_error: -0.003031385431750966
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4551077998547455
+      euclidean_error: -0.009451310586881867
+    base_right_marker_pose:
+      angle_rotation: 5.271515715870603
+      euclidean_error: -0.006730657956206754
+    shoulder_marker_pose:
+      angle_rotation: 11.497074687055209
+      euclidean_error: -0.002018498978462624
+    wrist_inside_marker_pose:
+      angle_rotation: 22.238072246544867
+      euclidean_error: -0.0036091089244388863
+    wrist_top_marker_pose:
+      angle_rotation: 17.699954264727843
+      euclidean_error: -0.0023557982013266976
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7186889899213944
+      euclidean_error: -0.009475681488606447
+    base_right_marker_pose:
+      angle_rotation: 5.9845381860424345
+      euclidean_error: -0.006553125706156626
+    shoulder_marker_pose:
+      angle_rotation: 14.890517170699757
+      euclidean_error: -0.0008022123483573118
+    wrist_inside_marker_pose:
+      angle_rotation: 26.845135112332255
+      euclidean_error: -0.0033674757650564713
+    wrist_top_marker_pose:
+      angle_rotation: 12.783776044775536
+      euclidean_error: -0.002158142065158186
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.470234144206856
+      euclidean_error: -0.009448175522221658
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 7.239664622014199
+      euclidean_error: -0.0017312211142824774
+    wrist_inside_marker_pose:
+      angle_rotation: 28.17261375525382
+      euclidean_error: -0.004454328750427727
+    wrist_top_marker_pose:
+      angle_rotation: 9.323795417876779
+      euclidean_error: -0.0026790321668000994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9680252966752887
+      euclidean_error: -0.009436429662339596
+    base_right_marker_pose:
+      angle_rotation: 4.296895354757659
+      euclidean_error: -0.007221361837923768
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.02343468898247
+      euclidean_error: -0.0034854553303923508
+    wrist_top_marker_pose:
+      angle_rotation: 13.608367794509565
+      euclidean_error: -0.0015251873685345751
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4252605587185463
+      euclidean_error: -0.009607259935097368
+    base_right_marker_pose:
+      angle_rotation: 3.85712070289728
+      euclidean_error: -0.007391737923167052
+    shoulder_marker_pose:
+      angle_rotation: 5.412688018174074
+      euclidean_error: -0.002161426952487999
+    wrist_inside_marker_pose:
+      angle_rotation: 27.652682255112076
+      euclidean_error: -0.004455090500048886
+    wrist_top_marker_pose:
+      angle_rotation: 14.25665359089576
+      euclidean_error: -0.0034567702865718752
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6273712836605636
+      euclidean_error: -0.009550285445283802
+    base_right_marker_pose:
+      angle_rotation: 4.624940015023402
+      euclidean_error: -0.007695963301683095
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.17890951041122
+      euclidean_error: -0.005582420473912442
+    wrist_top_marker_pose:
+      angle_rotation: 11.6762904556783
+      euclidean_error: -0.003894141823434505
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.899849480338903
+      euclidean_error: -0.009536610026259384
+    base_right_marker_pose:
+      angle_rotation: 3.328667167995054
+      euclidean_error: -0.0076115992198030336
+    shoulder_marker_pose:
+      angle_rotation: 7.100067896686347
+      euclidean_error: -0.002489330476873608
+    wrist_inside_marker_pose:
+      angle_rotation: 21.939589598110647
+      euclidean_error: -0.004646775504374312
+    wrist_top_marker_pose:
+      angle_rotation: 10.312171198237442
+      euclidean_error: -0.004018041485161272
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0102813728714217
+      euclidean_error: -0.009547483037595117
+    base_right_marker_pose:
+      angle_rotation: 5.126414437084758
+      euclidean_error: -0.007501884967209049
+    shoulder_marker_pose:
+      angle_rotation: 7.126276287016086
+      euclidean_error: -0.0018784323004020775
+    wrist_inside_marker_pose:
+      angle_rotation: 25.03614878850265
+      euclidean_error: -0.003741133561086407
+    wrist_top_marker_pose:
+      angle_rotation: 9.14467244345094
+      euclidean_error: -0.003260359085809128
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.7525828314706935
+      euclidean_error: -0.00914312902890746
+    base_right_marker_pose:
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+      euclidean_error: -0.007826900179292884
+    shoulder_marker_pose:
+      angle_rotation: 10.65837409520107
+      euclidean_error: -0.0007019960093671562
+    wrist_inside_marker_pose:
+      angle_rotation: 27.362929543285414
+      euclidean_error: -0.003514310546984256
+    wrist_top_marker_pose:
+      angle_rotation: 12.430136489900914
+      euclidean_error: -0.0005279098638240054
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.628155516786569
+      euclidean_error: -0.009674556868803363
+    base_right_marker_pose:
+      angle_rotation: 4.94470809262373
+      euclidean_error: -0.007411656727587701
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 31.55258749472327
+      euclidean_error: -0.0038585869852286736
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.252386370697186
+      euclidean_error: -0.009695561050071522
+    base_right_marker_pose:
+      angle_rotation: 3.7815387526582995
+      euclidean_error: -0.007952314341205802
+    shoulder_marker_pose:
+      angle_rotation: 8.53352884346021
+      euclidean_error: -0.002119218013138413
+    wrist_inside_marker_pose:
+      angle_rotation: 26.996804834292448
+      euclidean_error: -0.002976037829003242
+    wrist_top_marker_pose:
+      angle_rotation: 13.246462374811175
+      euclidean_error: -0.002578544987237308
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.719572856575927
+      euclidean_error: -0.009677481579748903
+    base_right_marker_pose:
+      angle_rotation: 5.088150602464496
+      euclidean_error: -0.007231584155169335
+    shoulder_marker_pose:
+      angle_rotation: 8.219857164186367
+      euclidean_error: -0.0011042224152613134
+    wrist_inside_marker_pose:
+      angle_rotation: 29.717368325381592
+      euclidean_error: -0.002644307028127124
+    wrist_top_marker_pose:
+      angle_rotation: 14.058099924510502
+      euclidean_error: -0.0019975617050470573
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.774411360213259
+      euclidean_error: -0.00961558655557282
+    base_right_marker_pose:
+      angle_rotation: 5.19959390631753
+      euclidean_error: -0.007290782108955618
+    shoulder_marker_pose:
+      angle_rotation: 11.082765254138828
+      euclidean_error: -0.0013230624528235424
+    wrist_inside_marker_pose:
+      angle_rotation: 25.946464074568443
+      euclidean_error: -0.0034833507020990417
+    wrist_top_marker_pose:
+      angle_rotation: 17.3412806418675
+      euclidean_error: -0.0018921402878557814
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7248130180699532
+      euclidean_error: -0.009489649497364305
+    base_right_marker_pose:
+      angle_rotation: 6.365873150971439
+      euclidean_error: -0.0071713553945692565
+    shoulder_marker_pose:
+      angle_rotation: 9.1999183383915
+      euclidean_error: -0.002205287099937392
+    wrist_inside_marker_pose:
+      angle_rotation: 25.847952293340906
+      euclidean_error: -0.003594121366244485
+    wrist_top_marker_pose:
+      angle_rotation: 13.445076293007183
+      euclidean_error: -0.0017509071459438363
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1881509569367283
+      euclidean_error: -0.009825142568723244
+    base_right_marker_pose:
+      angle_rotation: 5.153978446003252
+      euclidean_error: -0.007368982722132267
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.383058693634933
+      euclidean_error: -0.004207879956652061
+    wrist_top_marker_pose:
+      angle_rotation: 21.652453153663302
+      euclidean_error: -0.003481766115531082
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5411770042847013
+      euclidean_error: -0.009630796208823678
+    base_right_marker_pose:
+      angle_rotation: 6.146031424073089
+      euclidean_error: -0.007198314095102298
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.556391397092426
+      euclidean_error: -0.0044400642069453156
+    wrist_top_marker_pose:
+      angle_rotation: 12.619873939615905
+      euclidean_error: -0.0031326874861961063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.580910054962454
+      euclidean_error: -0.009148672311859896
+    base_right_marker_pose:
+      angle_rotation: 6.701791023294628
+      euclidean_error: -0.00686832580108343
+    shoulder_marker_pose:
+      angle_rotation: 10.215245338428648
+      euclidean_error: -0.0011086242888234121
+    wrist_inside_marker_pose:
+      angle_rotation: 25.394465670717285
+      euclidean_error: -0.004016271014576578
+    wrist_top_marker_pose:
+      angle_rotation: 15.191459092980338
+      euclidean_error: -0.0023607880112871404
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0241046853972704
+      euclidean_error: -0.009490152926296513
+    base_right_marker_pose:
+      angle_rotation: 4.147867308186042
+      euclidean_error: -0.007448045658621227
+    shoulder_marker_pose:
+      angle_rotation: 9.81814043102544
+      euclidean_error: -0.0020211791909185983
+    wrist_inside_marker_pose:
+      angle_rotation: 25.327618027014996
+      euclidean_error: -0.0052405899710279424
+    wrist_top_marker_pose:
+      angle_rotation: 12.598929881984333
+      euclidean_error: -0.004072469193236894
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.811841133387504
+      euclidean_error: -0.008985985486859138
+    base_right_marker_pose:
+      angle_rotation: 5.242980682139715
+      euclidean_error: -0.007706959831732085
+    shoulder_marker_pose:
+      angle_rotation: 14.82610695750572
+      euclidean_error: -0.0014666117101373999
+    wrist_inside_marker_pose:
+      angle_rotation: 26.484814488883664
+      euclidean_error: -0.0027579630445933034
+    wrist_top_marker_pose:
+      angle_rotation: 15.385031452759966
+      euclidean_error: -0.001195162028054031
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.993855851486493
+      euclidean_error: -0.00940667412706997
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 11.879086568463526
+      euclidean_error: -0.001816473443073896
+    wrist_inside_marker_pose:
+      angle_rotation: 26.68829750160534
+      euclidean_error: -0.002930237800538693
+    wrist_top_marker_pose:
+      angle_rotation: 17.43166752645159
+      euclidean_error: -0.0015377181404644391
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9621538430294374
+      euclidean_error: -0.009893153285208123
+    base_right_marker_pose:
+      angle_rotation: 6.009807560404831
+      euclidean_error: -0.007056553427807533
+    shoulder_marker_pose:
+      angle_rotation: 7.64089230678757
+      euclidean_error: -0.0011201712259432117
+    wrist_inside_marker_pose:
+      angle_rotation: 23.495048428206097
+      euclidean_error: -0.004267940782517465
+    wrist_top_marker_pose:
+      angle_rotation: 12.231282641227386
+      euclidean_error: -0.002268207594015137
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.53529922864848
+      euclidean_error: -0.009364171806102273
+    base_right_marker_pose:
+      angle_rotation: 5.793065768689696
+      euclidean_error: -0.007572625000637934
+    shoulder_marker_pose:
+      angle_rotation: 14.007039885530249
+      euclidean_error: -0.0014130650793131583
+    wrist_inside_marker_pose:
+      angle_rotation: 26.88749906140429
+      euclidean_error: -0.003757877575364388
+    wrist_top_marker_pose:
+      angle_rotation: 14.116535224950042
+      euclidean_error: -0.0027234495272152603
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6875491020496236
+      euclidean_error: -0.009647556022556292
+    base_right_marker_pose:
+      angle_rotation: 4.396144543917896
+      euclidean_error: -0.007634962078162055
+    shoulder_marker_pose:
+      angle_rotation: 6.219086881533857
+      euclidean_error: -0.0021927125761944666
+    wrist_inside_marker_pose:
+      angle_rotation: 23.719371482871054
+      euclidean_error: -0.003251638015738245
+    wrist_top_marker_pose:
+      angle_rotation: 17.204152680105242
+      euclidean_error: -0.0024532260723515442
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7118797936787884
+      euclidean_error: -0.009447802004763695
+    base_right_marker_pose:
+      angle_rotation: 4.833518109179495
+      euclidean_error: -0.007479010714956824
+    shoulder_marker_pose:
+      angle_rotation: 5.150871333208467
+      euclidean_error: -0.0013674550182216638
+    wrist_inside_marker_pose:
+      angle_rotation: 24.017463275852347
+      euclidean_error: -0.004479338169000702
+    wrist_top_marker_pose:
+      angle_rotation: 7.2754286210654175
+      euclidean_error: -0.00213371661548023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.268740016034364
+      euclidean_error: -0.009107188154062418
+    base_right_marker_pose:
+      angle_rotation: 6.827572692467952
+      euclidean_error: -0.007003957728912824
+    shoulder_marker_pose:
+      angle_rotation: 10.512607142004073
+      euclidean_error: -0.0020198526791354032
+    wrist_inside_marker_pose:
+      angle_rotation: 29.81949494890894
+      euclidean_error: -0.002604273072170593
+    wrist_top_marker_pose:
+      angle_rotation: 13.408213482868286
+      euclidean_error: -0.0014827415739497862
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4860041381165696
+      euclidean_error: -0.009572310152376806
+    base_right_marker_pose:
+      angle_rotation: 4.489054046311993
+      euclidean_error: -0.007668704945538063
+    shoulder_marker_pose:
+      angle_rotation: 13.444565504225968
+      euclidean_error: -0.0005706150947807354
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 14.697022511233836
+      euclidean_error: -0.0021524740352334426
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.901116014432639
+      euclidean_error: -0.009468016080264818
+    base_right_marker_pose:
+      angle_rotation: 4.22749142072443
+      euclidean_error: -0.007650854309237176
+    shoulder_marker_pose:
+      angle_rotation: 9.143550086737735
+      euclidean_error: -0.0014679009021266731
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 10.654244506435345
+      euclidean_error: -0.002155293062181207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8375217867818132
+      euclidean_error: -0.009798649460102449
+    base_right_marker_pose:
+      angle_rotation: 4.996492955599004
+      euclidean_error: -0.007736271738231659
+    shoulder_marker_pose:
+      angle_rotation: 12.897964111355206
+      euclidean_error: -0.0013204487078428695
+    wrist_inside_marker_pose:
+      angle_rotation: 27.57651970220502
+      euclidean_error: -0.0037160415064211305
+    wrist_top_marker_pose:
+      angle_rotation: 16.805720174148078
+      euclidean_error: -0.002905265713906924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.288562504188022
+      euclidean_error: -0.009230985578961404
+    base_right_marker_pose:
+      angle_rotation: 4.110891961948237
+      euclidean_error: -0.007775532063378554
+    shoulder_marker_pose:
+      angle_rotation: 11.299052418830515
+      euclidean_error: -0.0018105907600796112
+    wrist_inside_marker_pose:
+      angle_rotation: 26.489811115356858
+      euclidean_error: -0.003239790375125118
+    wrist_top_marker_pose:
+      angle_rotation: 13.280873593298328
+      euclidean_error: -0.0012010614044385415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6182092352241213
+      euclidean_error: -0.009750766785622478
+    base_right_marker_pose:
+      angle_rotation: 6.196693924974912
+      euclidean_error: -0.007354134892044839
+    shoulder_marker_pose:
+      angle_rotation: 14.47708271321347
+      euclidean_error: -0.0020231168668870536
+    wrist_inside_marker_pose:
+      angle_rotation: 27.194958008298176
+      euclidean_error: -0.002720623842344061
+    wrist_top_marker_pose:
+      angle_rotation: 15.416742048797555
+      euclidean_error: -0.0022300882382657594
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.193395069585061
+      euclidean_error: -0.009444593337555096
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 17.760718728687827
+      euclidean_error: -0.0007186951975831635
+    wrist_inside_marker_pose:
+      angle_rotation: 26.71748887816963
+      euclidean_error: -0.003102534655443634
+    wrist_top_marker_pose:
+      angle_rotation: 17.795322443109285
+      euclidean_error: -0.002663934033079185
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.610298270935843
+      euclidean_error: -0.009588646778755816
+    base_right_marker_pose:
+      angle_rotation: 3.585378805142654
+      euclidean_error: -0.007813687569391159
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.288770708718232
+      euclidean_error: -0.002816402866349099
+    wrist_top_marker_pose:
+      angle_rotation: 13.66452605457668
+      euclidean_error: -0.0015994260474229138
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2015362319623977
+      euclidean_error: -0.00949883535941154
+    base_right_marker_pose:
+      angle_rotation: 4.729697629128839
+      euclidean_error: -0.007710281472383174
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.364956149934542
+      euclidean_error: -0.0029614820920953466
+    wrist_top_marker_pose:
+      angle_rotation: 13.641864258266446
+      euclidean_error: -0.0023503104664909236
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.009535050673490364
+    base_right_marker_pose:
+      angle_rotation: 5.063087481147246
+      euclidean_error: -0.007627323609182168
+    shoulder_marker_pose:
+      angle_rotation: 10.138967262648908
+      euclidean_error: -0.0023301994706451667
+    wrist_inside_marker_pose:
+      angle_rotation: 24.060918116829047
+      euclidean_error: -0.003712852996649363
+    wrist_top_marker_pose:
+      angle_rotation: 14.146557764852105
+      euclidean_error: -0.002240059838397812
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.009449714283271904
+    base_right_marker_pose:
+      angle_rotation: 4.753379636486172
+      euclidean_error: -0.00746649629039009
+    shoulder_marker_pose:
+      angle_rotation: 15.12879129502665
+      euclidean_error: -0.0009369439274152791
+    wrist_inside_marker_pose:
+      angle_rotation: 27.62218455205146
+      euclidean_error: -0.002258587636190912
+    wrist_top_marker_pose:
+      angle_rotation: 17.925251823371006
+      euclidean_error: -0.0011289216986268835
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.682388859317769
+      euclidean_error: -0.009354776237869067
+    base_right_marker_pose:
+      angle_rotation: 5.915122989085867
+      euclidean_error: -0.0071687091350151055
+    shoulder_marker_pose:
+      angle_rotation: 8.501727032985112
+      euclidean_error: 0.00027661507015230846
+    wrist_inside_marker_pose:
+      angle_rotation: 26.560212248096953
+      euclidean_error: -0.0035580286080407753
+    wrist_top_marker_pose:
+      angle_rotation: 12.010016706198863
+      euclidean_error: -0.0027533555673026067
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.476324464122741
+      euclidean_error: -0.00945053594039802
+    base_right_marker_pose:
+      angle_rotation: 4.918679762089347
+      euclidean_error: -0.007576152891583532
+    shoulder_marker_pose:
+      angle_rotation: 4.201191297168265
+      euclidean_error: -0.0026922301849958696
+    wrist_inside_marker_pose:
+      angle_rotation: 23.307186159607703
+      euclidean_error: -0.0037050187532052803
+    wrist_top_marker_pose:
+      angle_rotation: 11.99737531402356
+      euclidean_error: -0.003395015104774468
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.054682555081974
+      euclidean_error: -0.00968496158400134
+    base_right_marker_pose:
+      angle_rotation: 2.7077605551978445
+      euclidean_error: -0.008216973896260082
+    shoulder_marker_pose:
+      angle_rotation: 10.52968332872272
+      euclidean_error: -0.0013664510270848806
+    wrist_inside_marker_pose:
+      angle_rotation: 28.51882080433758
+      euclidean_error: -0.003201584145607894
+    wrist_top_marker_pose:
+      angle_rotation: 16.25929592043887
+      euclidean_error: -0.0010260039939070653
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.869154665118681
+      euclidean_error: -0.009420962755567475
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 10.573819199134705
+      euclidean_error: 0.00039727582965121133
+    wrist_inside_marker_pose:
+      angle_rotation: 26.066044161999958
+      euclidean_error: -0.004142868960968271
+    wrist_top_marker_pose:
+      angle_rotation: 15.762509528263607
+      euclidean_error: -0.0015162051317110237
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.823568929529397
+      euclidean_error: -0.009614376757788534
+    base_right_marker_pose:
+      angle_rotation: 5.736892665693855
+      euclidean_error: -0.007035067856449917
+    shoulder_marker_pose:
+      angle_rotation: 9.28289046082421
+      euclidean_error: -0.0029726958688098826
+    wrist_inside_marker_pose:
+      angle_rotation: 27.114364249028384
+      euclidean_error: -0.0028986753364936835
+    wrist_top_marker_pose:
+      angle_rotation: 17.617962946685935
+      euclidean_error: -0.0024226369963571415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2201941340550446
+      euclidean_error: -0.009552652110091042
+    base_right_marker_pose:
+      angle_rotation: 5.046786476060127
+      euclidean_error: -0.007491767424921636
+    shoulder_marker_pose:
+      angle_rotation: 12.763149481099008
+      euclidean_error: -0.001398497148773603
+    wrist_inside_marker_pose:
+      angle_rotation: 24.151943742385846
+      euclidean_error: -0.0034348564228336986
+    wrist_top_marker_pose:
+      angle_rotation: 20.12684969782132
+      euclidean_error: -0.0018919641116007524
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.009775464008012658
+    base_right_marker_pose:
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+      euclidean_error: -0.0067675136735909636
+    shoulder_marker_pose:
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+      euclidean_error: -0.001454513021307946
+    wrist_inside_marker_pose:
+      angle_rotation: 26.88534769947718
+      euclidean_error: -0.002715609948354958
+    wrist_top_marker_pose:
+      angle_rotation: 17.037973538808146
+      euclidean_error: -0.00162407911318041
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1307460231745274
+      euclidean_error: -0.009515356822570098
+    base_right_marker_pose:
+      angle_rotation: 6.102898048439318
+      euclidean_error: -0.007258026634520798
+    shoulder_marker_pose:
+      angle_rotation: 1.989095891264686
+      euclidean_error: -0.0018250807961800453
+    wrist_inside_marker_pose:
+      angle_rotation: 23.500400765415446
+      euclidean_error: -0.003983910418211778
+    wrist_top_marker_pose:
+      angle_rotation: 11.495296067773799
+      euclidean_error: -0.002649269220401096
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.428808675757651
+      euclidean_error: -0.009345699606935987
+    base_right_marker_pose:
+      angle_rotation: 4.679384690580528
+      euclidean_error: -0.007265631429332231
+    shoulder_marker_pose:
+      angle_rotation: 7.864163146970543
+      euclidean_error: -0.0009020458852957436
+    wrist_inside_marker_pose:
+      angle_rotation: 26.069089026738848
+      euclidean_error: -0.0027448559978545672
+    wrist_top_marker_pose:
+      angle_rotation: 13.65581013315963
+      euclidean_error: -0.0017894901347931258
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7430867683127036
+      euclidean_error: -0.009316228723589504
+    base_right_marker_pose:
+      angle_rotation: 5.3455104926198205
+      euclidean_error: -0.007330769316083674
+    shoulder_marker_pose:
+      angle_rotation: 6.2332546534470525
+      euclidean_error: 2.0937170379764503e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 25.251334779856084
+      euclidean_error: -0.0029033881262175987
+    wrist_top_marker_pose:
+      angle_rotation: 14.781670042878165
+      euclidean_error: -0.0026090840316875807
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3352809704785256
+      euclidean_error: -0.00930021368871925
+    base_right_marker_pose:
+      angle_rotation: 4.3780878257925915
+      euclidean_error: -0.0077277465692433545
+    shoulder_marker_pose:
+      angle_rotation: 8.97577253375818
+      euclidean_error: -0.0012970447422075981
+    wrist_inside_marker_pose:
+      angle_rotation: 25.811331449373274
+      euclidean_error: -0.0048322093104936625
+    wrist_top_marker_pose:
+      angle_rotation: 10.775678460521327
+      euclidean_error: -0.002754332568707496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1635884282240068
+      euclidean_error: -0.009521936385231244
+    base_right_marker_pose:
+      angle_rotation: 4.258577656096701
+      euclidean_error: -0.007738753271442245
+    shoulder_marker_pose:
+      angle_rotation: 11.045372423086985
+      euclidean_error: -0.0005384102871529572
+    wrist_inside_marker_pose:
+      angle_rotation: 28.81034656787865
+      euclidean_error: -0.003960576388920334
+    wrist_top_marker_pose:
+      angle_rotation: 15.902295449816968
+      euclidean_error: -0.002421193830229762
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.002226367103056
+      euclidean_error: -0.009629155619133245
+    base_right_marker_pose:
+      angle_rotation: 4.781728709032862
+      euclidean_error: -0.007518300196408534
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.84938832623538
+      euclidean_error: -0.004217750278440291
+    wrist_top_marker_pose:
+      angle_rotation: 11.454457865873605
+      euclidean_error: -0.0022974321637581063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7710330426620997
+      euclidean_error: -0.00947782518600504
+    base_right_marker_pose:
+      angle_rotation: 5.574967464456269
+      euclidean_error: -0.007248171504237622
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.092217205805454
+      euclidean_error: -0.0036418920577443448
+    wrist_top_marker_pose:
+      angle_rotation: 16.563914242532388
+      euclidean_error: -0.0027207113332191613
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.234961237021278
+      euclidean_error: -0.009416510450675819
+    base_right_marker_pose:
+      angle_rotation: 5.073266664998594
+      euclidean_error: -0.0077720603739941385
+    shoulder_marker_pose:
+      angle_rotation: 7.997302561798458
+      euclidean_error: -0.0007167845356159663
+    wrist_inside_marker_pose:
+      angle_rotation: 23.81962490701991
+      euclidean_error: -0.0030577271598836164
+    wrist_top_marker_pose:
+      angle_rotation: 15.456196735576397
+      euclidean_error: -0.0025903977527467204
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2808480697983096
+      euclidean_error: -0.00972091281461862
+    base_right_marker_pose:
+      angle_rotation: 4.736843566180233
+      euclidean_error: -0.007597923215293623
+    shoulder_marker_pose:
+      angle_rotation: 9.92308479316046
+      euclidean_error: -0.002167672781956842
+    wrist_inside_marker_pose:
+      angle_rotation: 26.24790489600716
+      euclidean_error: -0.0037593313481343316
+    wrist_top_marker_pose:
+      angle_rotation: 12.982753248087793
+      euclidean_error: -0.0030142962934014417
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.725518953601189
+      euclidean_error: -0.009346310474392494
+    base_right_marker_pose:
+      angle_rotation: 6.014004133969199
+      euclidean_error: -0.007673072812123705
+    shoulder_marker_pose:
+      angle_rotation: 10.063902504518675
+      euclidean_error: -0.0015157757431331076
+    wrist_inside_marker_pose:
+      angle_rotation: 24.760650386610777
+      euclidean_error: -0.0034605977884002437
+    wrist_top_marker_pose:
+      angle_rotation: 13.45417843088498
+      euclidean_error: -0.0031752483984427426
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8627000913253275
+      euclidean_error: -0.009566569661744406
+    base_right_marker_pose:
+      angle_rotation: 6.811014016752454
+      euclidean_error: -0.006724788161324713
+    shoulder_marker_pose:
+      angle_rotation: 3.400305828233849
+      euclidean_error: -0.002108932031757549
+    wrist_inside_marker_pose:
+      angle_rotation: 22.782626321832428
+      euclidean_error: -0.00326092035957648
+    wrist_top_marker_pose:
+      angle_rotation: 6.999585271844626
+      euclidean_error: -0.0029525108072021577
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.070108570136827
+      euclidean_error: -0.009795232030237688
+    base_right_marker_pose:
+      angle_rotation: 4.239926268818876
+      euclidean_error: -0.007837090589277063
+    shoulder_marker_pose:
+      angle_rotation: 10.934356181000517
+      euclidean_error: -0.001597437231802501
+    wrist_inside_marker_pose:
+      angle_rotation: 19.882116393231186
+      euclidean_error: -0.004478434050284585
+    wrist_top_marker_pose:
+      angle_rotation: 17.096113283546707
+      euclidean_error: -0.0023683540020100757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.474411766023722
+      euclidean_error: -0.009124946524673772
+    base_right_marker_pose:
+      angle_rotation: 4.970969357487145
+      euclidean_error: -0.007427020763576375
+    shoulder_marker_pose:
+      angle_rotation: 8.486533974192058
+      euclidean_error: -0.0019043222879527866
+    wrist_inside_marker_pose:
+      angle_rotation: 27.291339115519065
+      euclidean_error: -0.0032572568710050875
+    wrist_top_marker_pose:
+      angle_rotation: 12.303300186794358
+      euclidean_error: -0.0014559589027971498
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2625127160760528
+      euclidean_error: -0.009612438042882254
+    base_right_marker_pose:
+      angle_rotation: 3.9554703420143715
+      euclidean_error: -0.008049787097754169
+    shoulder_marker_pose:
+      angle_rotation: 9.312832763236983
+      euclidean_error: -0.00195080458267205
+    wrist_inside_marker_pose:
+      angle_rotation: 24.8118285753151
+      euclidean_error: -0.0042483536931581245
+    wrist_top_marker_pose:
+      angle_rotation: 12.256874667052292
+      euclidean_error: -0.003071188705654593
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6113793570210184
+      euclidean_error: -0.009559063598255979
+    base_right_marker_pose:
+      angle_rotation: 4.462902308142645
+      euclidean_error: -0.00723605918523984
+    shoulder_marker_pose:
+      angle_rotation: 8.906302605744624
+      euclidean_error: -0.0004574283210661001
+    wrist_inside_marker_pose:
+      angle_rotation: 23.014896853974694
+      euclidean_error: -0.002422908485653852
+    wrist_top_marker_pose:
+      angle_rotation: 17.242280337678892
+      euclidean_error: -0.0019924343369863706
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3002973416233514
+      euclidean_error: -0.00974141103291326
+    base_right_marker_pose:
+      angle_rotation: 5.215739628828369
+      euclidean_error: -0.007378098745003947
+    shoulder_marker_pose:
+      angle_rotation: 9.038481280623778
+      euclidean_error: -0.0014289814265524559
+    wrist_inside_marker_pose:
+      angle_rotation: 25.93613805589733
+      euclidean_error: -0.003952198801365103
+    wrist_top_marker_pose:
+      angle_rotation: 18.006223686073824
+      euclidean_error: -0.003124331705436023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2949277296020036
+      euclidean_error: -0.009469667621938016
+    base_right_marker_pose:
+      angle_rotation: 4.5854475649755
+      euclidean_error: -0.0077650138290914494
+    shoulder_marker_pose:
+      angle_rotation: 12.946457810937446
+      euclidean_error: -0.0003350138594069296
+    wrist_inside_marker_pose:
+      angle_rotation: 29.008509253765954
+      euclidean_error: -0.0026117904119553614
+    wrist_top_marker_pose:
+      angle_rotation: 18.505433293800955
+      euclidean_error: -0.0006428964327073183
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.349147144354735
+      euclidean_error: -0.009759622867615558
+    base_right_marker_pose:
+      angle_rotation: 4.41155543798561
+      euclidean_error: -0.007716007169620731
+    shoulder_marker_pose:
+      angle_rotation: 8.70015722854862
+      euclidean_error: -0.0012861795005895127
+    wrist_inside_marker_pose:
+      angle_rotation: 27.58071585459137
+      euclidean_error: -0.0033787001932860106
+    wrist_top_marker_pose:
+      angle_rotation: 12.944577092414681
+      euclidean_error: -0.0032123434191926314
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.952696207353895
+      euclidean_error: -0.009650918871319969
+    base_right_marker_pose:
+      angle_rotation: 4.43243501366567
+      euclidean_error: -0.0076665359541912
+    shoulder_marker_pose:
+      angle_rotation: 11.559660935961666
+      euclidean_error: -0.00039011742624339707
+    wrist_inside_marker_pose:
+      angle_rotation: 27.125298465198743
+      euclidean_error: -0.0024088538639144286
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.046557729781444
+      euclidean_error: -0.009442895672910456
+    base_right_marker_pose:
+      angle_rotation: 6.157446601185896
+      euclidean_error: -0.007341852028044937
+    shoulder_marker_pose:
+      angle_rotation: 10.144625249563374
+      euclidean_error: -0.0017059557360719069
+    wrist_inside_marker_pose:
+      angle_rotation: 23.43939936708681
+      euclidean_error: -0.0028599233819467385
+    wrist_top_marker_pose:
+      angle_rotation: 12.861725023935973
+      euclidean_error: -0.0020942636786330793
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.147765006242737
+      euclidean_error: -0.009466416387806098
+    base_right_marker_pose:
+      angle_rotation: 4.729947311554742
+      euclidean_error: -0.007324899232501458
+    shoulder_marker_pose:
+      angle_rotation: 6.529449198857835
+      euclidean_error: -0.0003700956404368849
+    wrist_inside_marker_pose:
+      angle_rotation: 23.842191034786083
+      euclidean_error: -0.004149215049054522
+    wrist_top_marker_pose:
+      angle_rotation: 14.083231064029881
+      euclidean_error: -0.0022096016352124437
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8283151698670044
+      euclidean_error: -0.009649276787124461
+    base_right_marker_pose:
+      angle_rotation: 5.553406594132619
+      euclidean_error: -0.007233753563997025
+    shoulder_marker_pose:
+      angle_rotation: 11.877120648505912
+      euclidean_error: -0.00248505211291572
+    wrist_inside_marker_pose:
+      angle_rotation: 26.073800004275146
+      euclidean_error: -0.004641431147526243
+    wrist_top_marker_pose:
+      angle_rotation: 14.519739227660255
+      euclidean_error: -0.0025985961913213007
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5633959828449466
+      euclidean_error: -0.009558687152290468
+    base_right_marker_pose:
+      angle_rotation: 3.201167527447819
+      euclidean_error: -0.007599198999939993
+    shoulder_marker_pose:
+      angle_rotation: 11.398962907736607
+      euclidean_error: -0.002131892509562583
+    wrist_inside_marker_pose:
+      angle_rotation: 21.67892043142463
+      euclidean_error: -0.003294203554548014
+    wrist_top_marker_pose:
+      angle_rotation: 13.063110553718063
+      euclidean_error: -0.002221036902056661
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.911107714561862
+      euclidean_error: -0.009393401187762662
+    base_right_marker_pose:
+      angle_rotation: 5.849375596598851
+      euclidean_error: -0.007469278309911287
+    shoulder_marker_pose:
+      angle_rotation: 10.96915633693712
+      euclidean_error: -0.00025103605447851507
+    wrist_inside_marker_pose:
+      angle_rotation: 18.27739257818454
+      euclidean_error: -0.002723213721669615
+    wrist_top_marker_pose:
+      angle_rotation: 11.328777175680724
+      euclidean_error: -0.0031682518992209863
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.349341986774426
+      euclidean_error: -0.009406499790789447
+    base_right_marker_pose:
+      angle_rotation: 4.407711708954224
+      euclidean_error: -0.007467063352533887
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.651755064969603
+      euclidean_error: -0.004348178500742428
+    wrist_top_marker_pose:
+      angle_rotation: 12.248644441608901
+      euclidean_error: -0.002989102692284029
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.4058172739368535
+      euclidean_error: -0.009625383526106868
+    base_right_marker_pose:
+      angle_rotation: 4.816277292244814
+      euclidean_error: -0.006985672414618449
+    shoulder_marker_pose:
+      angle_rotation: 9.547287038054362
+      euclidean_error: -0.0008400176184603092
+    wrist_inside_marker_pose:
+      angle_rotation: 27.154697840978812
+      euclidean_error: -0.003114171933947363
+    wrist_top_marker_pose:
+      angle_rotation: 15.763733708393938
+      euclidean_error: -0.001498840493107445
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.03565276944186
+      euclidean_error: -0.009177720785661703
+    base_right_marker_pose:
+      angle_rotation: 4.238751498931685
+      euclidean_error: -0.007458791286567901
+    shoulder_marker_pose:
+      angle_rotation: 15.536024771671839
+      euclidean_error: -0.00022305529460575624
+    wrist_inside_marker_pose:
+      angle_rotation: 27.648581173295884
+      euclidean_error: -0.00314577494317847
+    wrist_top_marker_pose:
+      angle_rotation: 15.764918747897093
+      euclidean_error: -0.0005053119526507999
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6789124118507144
+      euclidean_error: -0.00931627925560341
+    base_right_marker_pose:
+      angle_rotation: 5.480945645909425
+      euclidean_error: -0.0075591089068970385
+    shoulder_marker_pose:
+      angle_rotation: 9.81559782750685
+      euclidean_error: -0.0009729804976693623
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 14.235472459977453
+      euclidean_error: -0.001062490147563433
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5721813696809006
+      euclidean_error: -0.00954624670922155
+    base_right_marker_pose:
+      angle_rotation: 3.8844867713607427
+      euclidean_error: -0.007666557836129795
+    shoulder_marker_pose:
+      angle_rotation: 11.832769364561281
+      euclidean_error: -0.000673832481848935
+    wrist_inside_marker_pose:
+      angle_rotation: 26.612012388412975
+      euclidean_error: -0.003097495852413923
+    wrist_top_marker_pose:
+      angle_rotation: 11.227016704271472
+      euclidean_error: -0.0014971158793858352
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.907079477345872
+      euclidean_error: -0.009328851306296015
+    base_right_marker_pose:
+      angle_rotation: 5.06912373469174
+      euclidean_error: -0.007664414643005268
+    shoulder_marker_pose:
+      angle_rotation: 11.868801829383083
+      euclidean_error: -0.0008352982925188268
+    wrist_inside_marker_pose:
+      angle_rotation: 25.69041622533926
+      euclidean_error: -0.0030380177769064876
+    wrist_top_marker_pose:
+      angle_rotation: 14.63901547614366
+      euclidean_error: -0.0016142793511449982
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.305975270377301
+      euclidean_error: -0.009467058579616938
+    base_right_marker_pose:
+      angle_rotation: 5.776554707437903
+      euclidean_error: -0.007237380376958424
+    shoulder_marker_pose:
+      angle_rotation: 12.783294093326319
+      euclidean_error: -0.0016573913913381366
+    wrist_inside_marker_pose:
+      angle_rotation: 26.732611032851445
+      euclidean_error: -0.0033624353943410012
+    wrist_top_marker_pose:
+      angle_rotation: 14.988824418712527
+      euclidean_error: -0.00362774373575081
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.546494874317624
+      euclidean_error: -0.009626466169234571
+    base_right_marker_pose:
+      angle_rotation: 5.993024674176056
+      euclidean_error: -0.0071254077974353125
+    shoulder_marker_pose:
+      angle_rotation: 8.399490089671586
+      euclidean_error: -0.0003021146729107471
+    wrist_inside_marker_pose:
+      angle_rotation: 31.875895272676527
+      euclidean_error: -0.003367602028058081
+    wrist_top_marker_pose:
+      angle_rotation: 16.608264896873287
+      euclidean_error: -0.000992249008108792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2124522834327323
+      euclidean_error: -0.009426339797482974
+    base_right_marker_pose:
+      angle_rotation: 3.563544955789507
+      euclidean_error: -0.007376694537177819
+    shoulder_marker_pose:
+      angle_rotation: 8.723829649304088
+      euclidean_error: -0.00015668802365931267
+    wrist_inside_marker_pose:
+      angle_rotation: 27.266712584753243
+      euclidean_error: -0.003911483835574159
+    wrist_top_marker_pose:
+      angle_rotation: 15.617103498531995
+      euclidean_error: -0.0014068954008324974
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.588930353081561
+      euclidean_error: -0.009529113065186223
+    base_right_marker_pose:
+      angle_rotation: 5.492616827009917
+      euclidean_error: -0.00717220136915131
+    shoulder_marker_pose:
+      angle_rotation: 10.686832259681479
+      euclidean_error: -0.0016842940577230792
+    wrist_inside_marker_pose:
+      angle_rotation: 29.567740398434555
+      euclidean_error: -0.002294130321722321
+    wrist_top_marker_pose:
+      angle_rotation: 12.988313393899334
+      euclidean_error: -0.001820019764543379
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.865044924214957
+      euclidean_error: -0.009518340233241274
+    base_right_marker_pose:
+      angle_rotation: 4.493620547983478
+      euclidean_error: -0.007970575660720902
+    shoulder_marker_pose:
+      angle_rotation: 9.366719549128087
+      euclidean_error: -0.00036746386264585595
+    wrist_inside_marker_pose:
+      angle_rotation: 22.59838794165237
+      euclidean_error: -0.0036037337038740125
+    wrist_top_marker_pose:
+      angle_rotation: 8.905274264835123
+      euclidean_error: -0.002019866082925148
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.876038002253143
+      euclidean_error: -0.009577549585868761
+    base_right_marker_pose:
+      angle_rotation: 3.9134260787295214
+      euclidean_error: -0.0077858982438172575
+    shoulder_marker_pose:
+      angle_rotation: 9.536492141426095
+      euclidean_error: -0.0012255128542212335
+    wrist_inside_marker_pose:
+      angle_rotation: 24.1924783288725
+      euclidean_error: -0.002998780520728772
+    wrist_top_marker_pose:
+      angle_rotation: 16.219003678868972
+      euclidean_error: -0.0028780606399506636
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3430744111644386
+      euclidean_error: -0.009718735509836485
+    base_right_marker_pose:
+      angle_rotation: 5.3294492870099415
+      euclidean_error: -0.007423222946557395
+    shoulder_marker_pose:
+      angle_rotation: 13.192368071682823
+      euclidean_error: 0.00043430227684115863
+    wrist_inside_marker_pose:
+      angle_rotation: 29.640541106099032
+      euclidean_error: -0.0021074606330633294
+    wrist_top_marker_pose:
+      angle_rotation: 14.954109682042583
+      euclidean_error: -0.0012180686625653525
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.0022066165017955
+      euclidean_error: -0.009310868015173779
+    base_right_marker_pose:
+      angle_rotation: 5.525686998448856
+      euclidean_error: -0.007664093081638734
+    shoulder_marker_pose:
+      angle_rotation: 9.898999944848478
+      euclidean_error: -0.0009770158753529268
+    wrist_inside_marker_pose:
+      angle_rotation: 29.564923006013966
+      euclidean_error: -0.0030349261480963063
+    wrist_top_marker_pose:
+      angle_rotation: 13.082146386130457
+      euclidean_error: -0.0006994580778789672
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9429012053194894
+      euclidean_error: -0.009489352476925061
+    base_right_marker_pose:
+      angle_rotation: 5.782803142672009
+      euclidean_error: -0.007536486643043627
+    shoulder_marker_pose:
+      angle_rotation: 11.136896940302432
+      euclidean_error: -0.0007821963126063425
+    wrist_inside_marker_pose:
+      angle_rotation: 22.408886898516602
+      euclidean_error: -0.0029092819793076208
+    wrist_top_marker_pose:
+      angle_rotation: 7.86540946436196
+      euclidean_error: -0.0018912529462323802
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.641567874100244
+      euclidean_error: -0.0093876311172435
+    base_right_marker_pose:
+      angle_rotation: 5.697402278084841
+      euclidean_error: -0.007550984880837608
+    shoulder_marker_pose:
+      angle_rotation: 12.245581847238387
+      euclidean_error: -0.0023704374401668504
+    wrist_inside_marker_pose:
+      angle_rotation: 28.92489686891683
+      euclidean_error: -0.0029992218668435378
+    wrist_top_marker_pose:
+      angle_rotation: 14.971149815230453
+      euclidean_error: -0.0023034279657146994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2017679757383193
+      euclidean_error: -0.009754396194166959
+    base_right_marker_pose:
+      angle_rotation: 4.6245249729031315
+      euclidean_error: -0.007728984741817602
+    shoulder_marker_pose:
+      angle_rotation: 13.660580472253942
+      euclidean_error: -0.0015530028414186825
+    wrist_inside_marker_pose:
+      angle_rotation: 22.434040927615403
+      euclidean_error: -0.0046164577089014
+    wrist_top_marker_pose:
+      angle_rotation: 11.570008318893024
+      euclidean_error: -0.002833629348104161
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.810511335509438
+      euclidean_error: -0.009415798023523658
+    base_right_marker_pose:
+      angle_rotation: 4.581540816242212
+      euclidean_error: -0.007518571741779723
+    shoulder_marker_pose:
+      angle_rotation: 9.019856884878713
+      euclidean_error: -0.0019769451895919055
+    wrist_inside_marker_pose:
+      angle_rotation: 25.987356788557644
+      euclidean_error: -0.0029100726096844554
+    wrist_top_marker_pose:
+      angle_rotation: 17.286767273593696
+      euclidean_error: -0.002300757368501438
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1147260416068434
+      euclidean_error: -0.009305351636324621
+    base_right_marker_pose:
+      angle_rotation: 3.9382296375424333
+      euclidean_error: -0.007848050712077725
+    shoulder_marker_pose:
+      angle_rotation: 13.957035451220074
+      euclidean_error: -0.001610255456854004
+    wrist_inside_marker_pose:
+      angle_rotation: 29.483663570794057
+      euclidean_error: -0.0028106540643964006
+    wrist_top_marker_pose:
+      angle_rotation: 21.78978921548785
+      euclidean_error: -0.0035749409690841727
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.898389441114511
+      euclidean_error: -0.009219406077349168
+    base_right_marker_pose:
+      angle_rotation: 3.8254849264930084
+      euclidean_error: -0.007616607730171587
+    shoulder_marker_pose:
+      angle_rotation: 12.420704309281055
+      euclidean_error: -0.0003062866631576844
+    wrist_inside_marker_pose:
+      angle_rotation: 26.95971876851498
+      euclidean_error: -0.0027744275433243537
+    wrist_top_marker_pose:
+      angle_rotation: 20.86146336228127
+      euclidean_error: -0.001361133249156321
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.854733201092481
+      euclidean_error: -0.009420621968568743
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 11.907173402505608
+      euclidean_error: -0.0012344818849446826
+    wrist_inside_marker_pose:
+      angle_rotation: 25.12723662657799
+      euclidean_error: -0.0037142979679143373
+    wrist_top_marker_pose:
+      angle_rotation: 13.345746942315598
+      euclidean_error: -0.0015839030442895696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.650614513600372
+      euclidean_error: -0.009452020308208908
+    base_right_marker_pose:
+      angle_rotation: 4.524028318481724
+      euclidean_error: -0.007656533569177171
+    shoulder_marker_pose:
+      angle_rotation: 15.044279050666727
+      euclidean_error: -0.0007008215963458797
+    wrist_inside_marker_pose:
+      angle_rotation: 25.649466341189996
+      euclidean_error: -0.002690956831782554
+    wrist_top_marker_pose:
+      angle_rotation: 13.127264186172022
+      euclidean_error: -0.001986771239256724
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8550811292639926
+      euclidean_error: -0.009451796089139486
+    base_right_marker_pose:
+      angle_rotation: 5.304610431332745
+      euclidean_error: -0.00738908427285212
+    shoulder_marker_pose:
+      angle_rotation: 15.323646682132647
+      euclidean_error: -0.001508312362725639
+    wrist_inside_marker_pose:
+      angle_rotation: 25.571886223515452
+      euclidean_error: -0.00295964359858758
+    wrist_top_marker_pose:
+      angle_rotation: 17.231957592387346
+      euclidean_error: -0.0017113030630433457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4035303643331343
+      euclidean_error: -0.00960595266494435
+    base_right_marker_pose:
+      angle_rotation: 4.5956774339646
+      euclidean_error: -0.007752386068944128
+    shoulder_marker_pose:
+      angle_rotation: 11.786927318017538
+      euclidean_error: -0.0003730879317855873
+    wrist_inside_marker_pose:
+      angle_rotation: 29.926038812400364
+      euclidean_error: -0.003978839407073997
+    wrist_top_marker_pose:
+      angle_rotation: 15.266648013406321
+      euclidean_error: -0.0016439166765879198
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.472062682197334
+      euclidean_error: -0.009589731234271315
+    base_right_marker_pose:
+      angle_rotation: 4.7132970389533595
+      euclidean_error: -0.007317507505137488
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.619438176100733
+      euclidean_error: -0.003558149542092326
+    wrist_top_marker_pose:
+      angle_rotation: 11.940579581672075
+      euclidean_error: -0.0022185479049564583
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.628309048281679
+      euclidean_error: -0.009333064830652105
+    base_right_marker_pose:
+      angle_rotation: 4.088141780197131
+      euclidean_error: -0.008113839469092943
+    shoulder_marker_pose:
+      angle_rotation: 13.61079069090191
+      euclidean_error: -0.002302062396176141
+    wrist_inside_marker_pose:
+      angle_rotation: 25.71316240283835
+      euclidean_error: -0.003913145322598899
+    wrist_top_marker_pose:
+      angle_rotation: 18.33500550898644
+      euclidean_error: -0.002711116693629334
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.743830793714522
+      euclidean_error: -0.009683454796569402
+    base_right_marker_pose:
+      angle_rotation: 4.9006824104217745
+      euclidean_error: -0.007121050335697321
+    shoulder_marker_pose:
+      angle_rotation: 10.145433184592733
+      euclidean_error: -0.0003105593178609478
+    wrist_inside_marker_pose:
+      angle_rotation: 25.865708784134195
+      euclidean_error: -0.004788296381169732
+    wrist_top_marker_pose:
+      angle_rotation: 12.288382688539768
+      euclidean_error: -0.0023646682762062943
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.035900059340459
+      euclidean_error: -0.009517256186446832
+    base_right_marker_pose:
+      angle_rotation: 3.5395267232689576
+      euclidean_error: -0.00769675448529239
+    shoulder_marker_pose:
+      angle_rotation: 10.896841047987394
+      euclidean_error: -0.0015236222965068213
+    wrist_inside_marker_pose:
+      angle_rotation: 26.81470751418139
+      euclidean_error: -0.004018865372545921
+    wrist_top_marker_pose:
+      angle_rotation: 16.945668319870805
+      euclidean_error: -0.002525382263272924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.568074009205025
+      euclidean_error: -0.009516790900747973
+    base_right_marker_pose:
+      angle_rotation: 3.7116450260696685
+      euclidean_error: -0.007601295319980217
+    shoulder_marker_pose:
+      angle_rotation: 10.58259572306606
+      euclidean_error: -0.0014398160300659324
+    wrist_inside_marker_pose:
+      angle_rotation: 23.558960544660902
+      euclidean_error: -0.0033826242708372423
+    wrist_top_marker_pose:
+      angle_rotation: 9.260799339763855
+      euclidean_error: -0.002539567450494662
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.402473765828384
+      euclidean_error: -0.009661945429993546
+    base_right_marker_pose:
+      angle_rotation: 5.35578918421101
+      euclidean_error: -0.007367270892211009
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.904432982715868
+      euclidean_error: -0.003980698089664503
+    wrist_top_marker_pose:
+      angle_rotation: 13.588042076770193
+      euclidean_error: -0.0021556813898285787
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5750348108311885
+      euclidean_error: -0.009626972584626303
+    base_right_marker_pose:
+      angle_rotation: 4.9363105681323995
+      euclidean_error: -0.007331950011869481
+    shoulder_marker_pose:
+      angle_rotation: 11.694422901985295
+      euclidean_error: -0.0018951036264578391
+    wrist_inside_marker_pose:
+      angle_rotation: 21.940259492414096
+      euclidean_error: -0.004424300520479707
+    wrist_top_marker_pose:
+      angle_rotation: 12.630055397301337
+      euclidean_error: -0.003276821542939845
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9799142912569194
+      euclidean_error: -0.009663497293807444
+    base_right_marker_pose:
+      angle_rotation: 4.862288610707168
+      euclidean_error: -0.00745032101844556
+    shoulder_marker_pose:
+      angle_rotation: 9.792395196554656
+      euclidean_error: -0.0011586497662865458
+    wrist_inside_marker_pose:
+      angle_rotation: 23.821826924836397
+      euclidean_error: -0.004284449206655827
+    wrist_top_marker_pose:
+      angle_rotation: 16.20189792363695
+      euclidean_error: -0.002200349363479792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0133121582111637
+      euclidean_error: -0.009333891777637326
+    base_right_marker_pose:
+      angle_rotation: 5.879874689878516
+      euclidean_error: -0.00754832504900893
+    shoulder_marker_pose:
+      angle_rotation: 9.219477901713729
+      euclidean_error: -0.0009631398788033652
+    wrist_inside_marker_pose:
+      angle_rotation: 23.966790098961674
+      euclidean_error: -0.004070012510276055
+    wrist_top_marker_pose:
+      angle_rotation: 14.121173479687073
+      euclidean_error: -0.0021575253620679247
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.135000321670438
+      euclidean_error: -0.009554902904360119
+    base_right_marker_pose:
+      angle_rotation: 4.172394756714015
+      euclidean_error: -0.00769535097698526
+    shoulder_marker_pose:
+      angle_rotation: 12.910935519109485
+      euclidean_error: -0.0008589637292100161
+    wrist_inside_marker_pose:
+      angle_rotation: 26.40240824086447
+      euclidean_error: -0.0036177567622794893
+    wrist_top_marker_pose:
+      angle_rotation: 13.773428492665793
+      euclidean_error: -0.001978287932454248
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.073088663029143
+      euclidean_error: -0.009339366032499852
+    base_right_marker_pose:
+      angle_rotation: 5.451437021143579
+      euclidean_error: -0.007170757864054078
+    shoulder_marker_pose:
+      angle_rotation: 7.974176724167997
+      euclidean_error: -0.00012811804142753846
+    wrist_inside_marker_pose:
+      angle_rotation: 27.335283797116208
+      euclidean_error: -0.002734789187905151
+    wrist_top_marker_pose:
+      angle_rotation: 18.46763362071378
+      euclidean_error: -0.0005802673125080426
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4140542493266746
+      euclidean_error: -0.009530792270223687
+    base_right_marker_pose:
+      angle_rotation: 5.1638434670407785
+      euclidean_error: -0.007643472679057073
+    shoulder_marker_pose:
+      angle_rotation: 9.430926190676708
+      euclidean_error: -0.0013327618195041468
+    wrist_inside_marker_pose:
+      angle_rotation: 25.75726829121639
+      euclidean_error: -0.002963460079718705
+    wrist_top_marker_pose:
+      angle_rotation: 11.52255714061141
+      euclidean_error: -0.0023620618850853647
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3264548250752854
+      euclidean_error: -0.00934296357136355
+    base_right_marker_pose:
+      angle_rotation: 4.811118508932371
+      euclidean_error: -0.007620089782325867
+    shoulder_marker_pose:
+      angle_rotation: 15.70547224495621
+      euclidean_error: 0.00016288999717628538
+    wrist_inside_marker_pose:
+      angle_rotation: 26.349789014442592
+      euclidean_error: -0.003407444428936368
+    wrist_top_marker_pose:
+      angle_rotation: 19.70314877225095
+      euclidean_error: -0.0009615105601264995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8595755597274195
+      euclidean_error: -0.009244588593168679
+    base_right_marker_pose:
+      angle_rotation: 6.79255257171374
+      euclidean_error: -0.007442661091041081
+    shoulder_marker_pose:
+      angle_rotation: 5.470772561031761
+      euclidean_error: -0.002472492717120023
+    wrist_inside_marker_pose:
+      angle_rotation: 19.79971583745128
+      euclidean_error: -0.0039041540666334695
+    wrist_top_marker_pose:
+      angle_rotation: 13.606158803331612
+      euclidean_error: -0.0025910417569543487
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3911622233870093
+      euclidean_error: -0.009411785386148508
+    base_right_marker_pose:
+      angle_rotation: 4.377483199884372
+      euclidean_error: -0.007785760948426201
+    shoulder_marker_pose:
+      angle_rotation: 11.619466580290036
+      euclidean_error: -0.0020144996622966094
+    wrist_inside_marker_pose:
+      angle_rotation: 26.553958805709783
+      euclidean_error: -0.00455545713501504
+    wrist_top_marker_pose:
+      angle_rotation: 16.09047055064111
+      euclidean_error: -0.0027077209903715316
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0388300102732497
+      euclidean_error: -0.009564280997228836
+    base_right_marker_pose:
+      angle_rotation: 5.560839419330181
+      euclidean_error: -0.007738498133399885
+    shoulder_marker_pose:
+      angle_rotation: 8.318528340017936
+      euclidean_error: -0.001303924093722153
+    wrist_inside_marker_pose:
+      angle_rotation: 25.817497153207604
+      euclidean_error: -0.004306786173131294
+    wrist_top_marker_pose:
+      angle_rotation: 13.133366186963885
+      euclidean_error: -0.0023267480163483567
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4158052401417827
+      euclidean_error: -0.009630703562000131
+    base_right_marker_pose:
+      angle_rotation: 4.133026224267247
+      euclidean_error: -0.007655969007926089
+    shoulder_marker_pose:
+      angle_rotation: 14.145354372357422
+      euclidean_error: 0.0001455911438696944
+    wrist_inside_marker_pose:
+      angle_rotation: 25.934912966370753
+      euclidean_error: -0.0037492522690423247
+    wrist_top_marker_pose:
+      angle_rotation: 15.209264389155205
+      euclidean_error: -0.0022417932741015667
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6347625526472633
+      euclidean_error: -0.009503494037418347
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 6.226606293799871
+      euclidean_error: -0.001813044488576332
+    wrist_inside_marker_pose:
+      angle_rotation: 19.597284845348597
+      euclidean_error: -0.0038938168602111745
+    wrist_top_marker_pose:
+      angle_rotation: 8.975000925553218
+      euclidean_error: -0.0032245310002968486
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.572230176151809
+      euclidean_error: -0.009570495902234355
+    base_right_marker_pose:
+      angle_rotation: 3.7556815440846054
+      euclidean_error: -0.0077712025680855
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.930618675882183
+      euclidean_error: -0.004371654353866217
+    wrist_top_marker_pose:
+      angle_rotation: 13.499188295341115
+      euclidean_error: -0.0011953737492651495
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4799424496068667
+      euclidean_error: -0.009662576477255436
+    base_right_marker_pose:
+      angle_rotation: 5.1846046633442295
+      euclidean_error: -0.007514098711211448
+    shoulder_marker_pose:
+      angle_rotation: 11.625048406812535
+      euclidean_error: -0.002028776653647979
+    wrist_inside_marker_pose:
+      angle_rotation: 22.66021820834972
+      euclidean_error: -0.00335532590151022
+    wrist_top_marker_pose:
+      angle_rotation: 16.281370713954196
+      euclidean_error: -0.0024525003682744906
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.226709253370298
+      euclidean_error: -0.009291550366613888
+    base_right_marker_pose:
+      angle_rotation: 6.63560954041253
+      euclidean_error: -0.007281101300617765
+    shoulder_marker_pose:
+      angle_rotation: 10.9936067702941
+      euclidean_error: -0.0004871590889539146
+    wrist_inside_marker_pose:
+      angle_rotation: 28.560414651638443
+      euclidean_error: -0.0034208227110810174
+    wrist_top_marker_pose:
+      angle_rotation: 19.193340937083605
+      euclidean_error: -0.0020452285539559467
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9529220352101033
+      euclidean_error: -0.009464774169998691
+    base_right_marker_pose:
+      angle_rotation: 3.4783916597528366
+      euclidean_error: -0.007930416176478383
+    shoulder_marker_pose:
+      angle_rotation: 13.83823783648278
+      euclidean_error: 1.4374717684395577e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 28.731639954160062
+      euclidean_error: -0.003422561061472762
+    wrist_top_marker_pose:
+      angle_rotation: 17.610204802148
+      euclidean_error: -0.0014133639282972732
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3681885905593316
+      euclidean_error: -0.00948918714043967
+    base_right_marker_pose:
+      angle_rotation: 4.803981769449043
+      euclidean_error: -0.007650845209282275
+    shoulder_marker_pose:
+      angle_rotation: 7.131875778001192
+      euclidean_error: -0.0025764835067256797
+    wrist_inside_marker_pose:
+      angle_rotation: 23.23939213780332
+      euclidean_error: -0.004255560899689148
+    wrist_top_marker_pose:
+      angle_rotation: 13.261859139565054
+      euclidean_error: -0.0022252826908510936
diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281634.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281634.yaml
new file mode 100644
index 0000000..327d939
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281634.yaml
@@ -0,0 +1,9600 @@
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.101930514078064
+      euclidean_error: -0.004247678532172339
+    base_right_marker_pose:
+      angle_rotation: 4.369829104873576
+      euclidean_error: -0.004183817295887238
+    shoulder_marker_pose:
+      angle_rotation: 24.261826475545234
+      euclidean_error: 0.0031434678881191447
+    wrist_inside_marker_pose:
+      angle_rotation: 23.948210245075273
+      euclidean_error: 0.0017120498277168883
+    wrist_top_marker_pose:
+      angle_rotation: 20.00853563080275
+      euclidean_error: -0.0007992683978294002
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.509328074400766
+      euclidean_error: -0.004477038924339927
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.370189419600525
+      euclidean_error: 0.0009101053205924359
+    wrist_top_marker_pose:
+      angle_rotation: 18.205726260898334
+      euclidean_error: -0.0017484273523118432
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9251652663609486
+      euclidean_error: -0.004520578310319157
+    base_right_marker_pose:
+      angle_rotation: 2.9988674906531227
+      euclidean_error: -0.00413324218623734
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.551063471441203
+      euclidean_error: 0.0017248896566649519
+    wrist_top_marker_pose:
+      angle_rotation: 15.218514107927057
+      euclidean_error: -0.0005751880760019867
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9643216148411193
+      euclidean_error: -0.004073769261921822
+    base_right_marker_pose:
+      angle_rotation: 2.2289561932617272
+      euclidean_error: -0.0037981231552707273
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.60231193685991
+      euclidean_error: 0.0016733743054166972
+    wrist_top_marker_pose:
+      angle_rotation: 19.224657420825224
+      euclidean_error: -0.0013711276508040493
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2841236783901158
+      euclidean_error: -0.004495359195618054
+    base_right_marker_pose:
+      angle_rotation: 1.8411306046489986
+      euclidean_error: -0.004601667129317755
+    shoulder_marker_pose:
+      angle_rotation: 22.194619987780605
+      euclidean_error: 0.0016871642760393213
+    wrist_inside_marker_pose:
+      angle_rotation: 24.036238363924078
+      euclidean_error: 0.0006399061092808855
+    wrist_top_marker_pose:
+      angle_rotation: 19.21489916400105
+      euclidean_error: -0.002361944420620321
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.199913355134524
+      euclidean_error: -0.004496201044155379
+    base_right_marker_pose:
+      angle_rotation: 4.762420744094498
+      euclidean_error: -0.0034144296335233415
+    shoulder_marker_pose:
+      angle_rotation: 18.200223018641065
+      euclidean_error: 0.003339508738508856
+    wrist_inside_marker_pose:
+      angle_rotation: 25.440265738773235
+      euclidean_error: 0.0013977582988464743
+    wrist_top_marker_pose:
+      angle_rotation: 20.09884334746493
+      euclidean_error: -0.0005560780333051518
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1108661379587135
+      euclidean_error: -0.004492700019567142
+    base_right_marker_pose:
+      angle_rotation: 6.082339370805354
+      euclidean_error: -0.003804417479810529
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.62431169785626
+      euclidean_error: 0.0013633025331675208
+    wrist_top_marker_pose:
+      angle_rotation: 21.003163714203044
+      euclidean_error: -0.0009122717545381187
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2493577026708125
+      euclidean_error: -0.004552200786811289
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.254197755257977
+      euclidean_error: 0.0016240307173773783
+    wrist_top_marker_pose:
+      angle_rotation: 20.63120803543221
+      euclidean_error: -0.0015644305700570627
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3430184204367013
+      euclidean_error: -0.0045347320583112305
+    base_right_marker_pose:
+      angle_rotation: 5.308410086692416
+      euclidean_error: -0.0039331971770766305
+    shoulder_marker_pose:
+      angle_rotation: 25.574223424503398
+      euclidean_error: 0.002029126104022727
+    wrist_inside_marker_pose:
+      angle_rotation: 19.76545124266545
+      euclidean_error: 0.002305531846116593
+    wrist_top_marker_pose:
+      angle_rotation: 21.252012618415698
+      euclidean_error: -0.0006343116469779142
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2233108423921006
+      euclidean_error: -0.00445389028332599
+    base_right_marker_pose:
+      angle_rotation: 5.924594345777421
+      euclidean_error: -0.0040048989385329525
+    shoulder_marker_pose:
+      angle_rotation: 18.931708331527794
+      euclidean_error: 0.0025584165402465775
+    wrist_inside_marker_pose:
+      angle_rotation: 24.50936853804718
+      euclidean_error: 0.0013476885568339814
+    wrist_top_marker_pose:
+      angle_rotation: 16.917480984744216
+      euclidean_error: -0.00138351304674178
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8771373330393333
+      euclidean_error: -0.0045982826849789715
+    base_right_marker_pose:
+      angle_rotation: 3.232058375991009
+      euclidean_error: -0.0043330525521859675
+    shoulder_marker_pose:
+      angle_rotation: 23.40128157680654
+      euclidean_error: 0.0021926358559539727
+    wrist_inside_marker_pose:
+      angle_rotation: 22.731475567168587
+      euclidean_error: 0.0012999653682534973
+    wrist_top_marker_pose:
+      angle_rotation: 21.32537436170186
+      euclidean_error: -0.000985647852856597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.395077068048624
+      euclidean_error: -0.004536203621312684
+    base_right_marker_pose:
+      angle_rotation: 4.076369879507116
+      euclidean_error: -0.0037840631788381707
+    shoulder_marker_pose:
+      angle_rotation: 19.47106313589517
+      euclidean_error: 0.0023476327350367976
+    wrist_inside_marker_pose:
+      angle_rotation: 25.712173179621907
+      euclidean_error: 0.0022770960280780184
+    wrist_top_marker_pose:
+      angle_rotation: 21.97861826952637
+      euclidean_error: -0.0003811569796143832
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2151819748365433
+      euclidean_error: -0.004372034024878069
+    base_right_marker_pose:
+      angle_rotation: 4.6564021521741275
+      euclidean_error: -0.0032176777948481616
+    shoulder_marker_pose:
+      angle_rotation: 20.06662601375729
+      euclidean_error: 0.0039293305473806495
+    wrist_inside_marker_pose:
+      angle_rotation: 26.536498087163935
+      euclidean_error: 0.0017217712037547184
+    wrist_top_marker_pose:
+      angle_rotation: 18.09151211247841
+      euclidean_error: -0.0013806249424619388
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5328064656910825
+      euclidean_error: -0.004583700644538835
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.60857277429894
+      euclidean_error: 0.002113428760810887
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 21.451084952635526
+      euclidean_error: -0.0002555276904578907
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4817819936117247
+      euclidean_error: -0.004197511996806624
+    base_right_marker_pose:
+      angle_rotation: 3.6217324133909825
+      euclidean_error: -0.004027322342416206
+    shoulder_marker_pose:
+      angle_rotation: 19.732225339285815
+      euclidean_error: 0.002628699846830229
+    wrist_inside_marker_pose:
+      angle_rotation: 24.199840637422934
+      euclidean_error: 0.0003229842420311435
+    wrist_top_marker_pose:
+      angle_rotation: 19.391691665628596
+      euclidean_error: -0.0011313073769437798
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2621315421947608
+      euclidean_error: -0.00456358635900167
+    base_right_marker_pose:
+      angle_rotation: 3.233758754138988
+      euclidean_error: -0.004248292713292967
+    shoulder_marker_pose:
+      angle_rotation: 19.37915662868426
+      euclidean_error: 0.002482747940763086
+    wrist_inside_marker_pose:
+      angle_rotation: 23.422617553396105
+      euclidean_error: 0.00177351133470105
+    wrist_top_marker_pose:
+      angle_rotation: 15.421816761233423
+      euclidean_error: -0.001593478063462439
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1325767728112575
+      euclidean_error: -0.0041099728113627165
+    base_right_marker_pose:
+      angle_rotation: 3.2537845649706267
+      euclidean_error: -0.0044751645730659595
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.11051524037423
+      euclidean_error: 0.0020087887425254136
+    wrist_top_marker_pose:
+      angle_rotation: 19.008133877996627
+      euclidean_error: 8.876843530447598e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.501445337613096
+      euclidean_error: -0.004324954221822885
+    base_right_marker_pose:
+      angle_rotation: 5.7464636248908745
+      euclidean_error: -0.0035585980545825846
+    shoulder_marker_pose:
+      angle_rotation: 19.14133946141438
+      euclidean_error: 0.0028030571236458135
+    wrist_inside_marker_pose:
+      angle_rotation: 25.608861144951305
+      euclidean_error: 0.0014446293222050155
+    wrist_top_marker_pose:
+      angle_rotation: 17.90349934247266
+      euclidean_error: -0.00014324086304484673
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.412604272337737
+      euclidean_error: -0.004624557600898194
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.505433632052107
+      euclidean_error: 0.0014027823819121599
+    wrist_top_marker_pose:
+      angle_rotation: 19.63645914472064
+      euclidean_error: -0.0008161159555296615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6915306492089655
+      euclidean_error: -0.00470730385018725
+    base_right_marker_pose:
+      angle_rotation: 3.5974701800558657
+      euclidean_error: -0.004038498238000288
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.372957328591234
+      euclidean_error: 0.0012193338461661263
+    wrist_top_marker_pose:
+      angle_rotation: 19.8863407904877
+      euclidean_error: -0.0015892302092946897
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7277443979760756
+      euclidean_error: -0.004286250216540943
+    base_right_marker_pose:
+      angle_rotation: 4.7455337647491715
+      euclidean_error: -0.00393382700619016
+    shoulder_marker_pose:
+      angle_rotation: 20.998052391781247
+      euclidean_error: 0.00255239531490703
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 22.80361874121713
+      euclidean_error: -0.0008654846153142159
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8097730528606017
+      euclidean_error: -0.004111606070346663
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.04005784061593
+      euclidean_error: 0.0036171730052416695
+    wrist_inside_marker_pose:
+      angle_rotation: 24.13192791177756
+      euclidean_error: 0.000675975956051289
+    wrist_top_marker_pose:
+      angle_rotation: 20.752399313148775
+      euclidean_error: -0.0004256238979492011
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3802552755611917
+      euclidean_error: -0.004252722476754567
+    base_right_marker_pose:
+      angle_rotation: 2.82425196444008
+      euclidean_error: -0.004187225295500752
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.368214822500267
+      euclidean_error: 0.0028533380269921693
+    wrist_top_marker_pose:
+      angle_rotation: 20.190716419957408
+      euclidean_error: -0.0006296076013303509
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.482196939039862
+      euclidean_error: -0.0042907249241783685
+    base_right_marker_pose:
+      angle_rotation: 5.010588098866735
+      euclidean_error: -0.0036911221190520926
+    shoulder_marker_pose:
+      angle_rotation: 21.04938064100913
+      euclidean_error: 0.0028812481222583175
+    wrist_inside_marker_pose:
+      angle_rotation: 20.30530741181579
+      euclidean_error: 0.0019706090796016706
+    wrist_top_marker_pose:
+      angle_rotation: 16.674124945920575
+      euclidean_error: -0.0008803859334558517
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7902011783886906
+      euclidean_error: -0.004343005274472289
+    base_right_marker_pose:
+      angle_rotation: 4.390911830603877
+      euclidean_error: -0.004129144941413476
+    shoulder_marker_pose:
+      angle_rotation: 19.759958094570198
+      euclidean_error: 0.0032067301592161312
+    wrist_inside_marker_pose:
+      angle_rotation: 20.017696735151734
+      euclidean_error: 0.0022293855673127805
+    wrist_top_marker_pose:
+      angle_rotation: 19.485993717759506
+      euclidean_error: -0.0003137150912095876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4073922741648253
+      euclidean_error: -0.004434299038398648
+    base_right_marker_pose:
+      angle_rotation: 2.8374193305400195
+      euclidean_error: -0.004179408191015255
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.404372005950005
+      euclidean_error: 0.0017499237214492203
+    wrist_top_marker_pose:
+      angle_rotation: 19.255036719990336
+      euclidean_error: -0.0004901698986430336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.971527552156425
+      euclidean_error: -0.004616697917038004
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.04596907072565
+      euclidean_error: 0.00285956353857042
+    wrist_inside_marker_pose:
+      angle_rotation: 27.781399302673957
+      euclidean_error: 0.0013644627696486333
+    wrist_top_marker_pose:
+      angle_rotation: 20.451382775601502
+      euclidean_error: -0.0016597012875126937
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9301561258777626
+      euclidean_error: -0.004441432163457604
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.19131665023053
+      euclidean_error: 0.0018959787937878891
+    wrist_top_marker_pose:
+      angle_rotation: 19.656554922967985
+      euclidean_error: 8.623132339546924e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4652149438194852
+      euclidean_error: -0.004467218752821855
+    base_right_marker_pose:
+      angle_rotation: 4.385465906059651
+      euclidean_error: -0.004294877048430901
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.808287044285553
+      euclidean_error: 0.0020489039196374126
+    wrist_top_marker_pose:
+      angle_rotation: 16.085050155224916
+      euclidean_error: -0.0015508654658658028
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.203266587505248
+      euclidean_error: -0.004020100207008603
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 27.25223235739693
+      euclidean_error: 0.0040880226522662655
+    wrist_inside_marker_pose:
+      angle_rotation: 25.08449392877595
+      euclidean_error: 0.0025389628105270123
+    wrist_top_marker_pose:
+      angle_rotation: 17.82867171272032
+      euclidean_error: -0.000903324928912097
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.110004002682079
+      euclidean_error: -0.00421149185831915
+    base_right_marker_pose:
+      angle_rotation: 5.044331625852999
+      euclidean_error: -0.004014624587906246
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.828607549249718
+      euclidean_error: 0.0007635565477167594
+    wrist_top_marker_pose:
+      angle_rotation: 17.08130754267163
+      euclidean_error: -0.0017641890364390456
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.427852152189799
+      euclidean_error: -0.004509735073379151
+    base_right_marker_pose:
+      angle_rotation: 3.4641441592153686
+      euclidean_error: -0.004210106563819038
+    shoulder_marker_pose:
+      angle_rotation: 26.57097251667952
+      euclidean_error: 0.003056504830487472
+    wrist_inside_marker_pose:
+      angle_rotation: 25.1099873482482
+      euclidean_error: 0.00138670855633094
+    wrist_top_marker_pose:
+      angle_rotation: 17.83363335614255
+      euclidean_error: -0.0007831304920429272
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.325473973620047
+      euclidean_error: -0.004185383748093852
+    base_right_marker_pose:
+      angle_rotation: 5.678067560289395
+      euclidean_error: -0.0033914908149678125
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.619540241936487
+      euclidean_error: 0.0020211987723304237
+    wrist_top_marker_pose:
+      angle_rotation: 22.421413254746593
+      euclidean_error: -0.0005244638744886787
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.659753914437049
+      euclidean_error: -0.0041952225580770275
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.602736324687257
+      euclidean_error: 0.0009005661916428043
+    wrist_top_marker_pose:
+      angle_rotation: 14.057315228388116
+      euclidean_error: -0.001427941276458844
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3743696613404075
+      euclidean_error: -0.003874163503566952
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.085286212072532
+      euclidean_error: 0.003005544270645033
+    wrist_inside_marker_pose:
+      angle_rotation: 21.81480505253522
+      euclidean_error: 0.0012436352816892482
+    wrist_top_marker_pose:
+      angle_rotation: 21.51899805997657
+      euclidean_error: -0.0006604585331784207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.575061887768429
+      euclidean_error: -0.004451838860534796
+    base_right_marker_pose:
+      angle_rotation: 2.249695275833387
+      euclidean_error: -0.004558040117918383
+    shoulder_marker_pose:
+      angle_rotation: 23.340788208610988
+      euclidean_error: 0.0034294281499263057
+    wrist_inside_marker_pose:
+      angle_rotation: 21.446167084249687
+      euclidean_error: 0.0017217198844292625
+    wrist_top_marker_pose:
+      angle_rotation: 16.140081857177655
+      euclidean_error: -0.0016591419423520604
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7276399924034984
+      euclidean_error: -0.00438190043800557
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.981776277969573
+      euclidean_error: 0.002694934187781106
+    wrist_inside_marker_pose:
+      angle_rotation: 20.29845607546179
+      euclidean_error: 0.0017110988767019553
+    wrist_top_marker_pose:
+      angle_rotation: 17.979692453089015
+      euclidean_error: 9.370379626361114e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.255130484467566
+      euclidean_error: -0.004251683931200567
+    base_right_marker_pose:
+      angle_rotation: 3.6092467006060716
+      euclidean_error: -0.003857958003162465
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.414746599678207
+      euclidean_error: 0.002282146651439554
+    wrist_top_marker_pose:
+      angle_rotation: 19.222392850540515
+      euclidean_error: -0.0003616992168761213
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.77119760377098
+      euclidean_error: -0.004247071949907255
+    base_right_marker_pose:
+      angle_rotation: 3.971402675169835
+      euclidean_error: -0.003884378382944753
+    shoulder_marker_pose:
+      angle_rotation: 21.322432420000037
+      euclidean_error: 0.0032375834649246427
+    wrist_inside_marker_pose:
+      angle_rotation: 25.31469542261778
+      euclidean_error: 0.00244470979497613
+    wrist_top_marker_pose:
+      angle_rotation: 21.79459887021836
+      euclidean_error: -0.0011371068828958109
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.682387453612166
+      euclidean_error: -0.00458801974153944
+    base_right_marker_pose:
+      angle_rotation: 5.141407166224168
+      euclidean_error: -0.0038602529934392837
+    shoulder_marker_pose:
+      angle_rotation: 18.0744518641517
+      euclidean_error: 0.0033487345958039816
+    wrist_inside_marker_pose:
+      angle_rotation: 24.30146502858256
+      euclidean_error: 0.0007667676883476027
+    wrist_top_marker_pose:
+      angle_rotation: 20.653258750820584
+      euclidean_error: -0.0010632611228654776
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7436547876093185
+      euclidean_error: -0.004292524055156788
+    base_right_marker_pose:
+      angle_rotation: 6.024482293478842
+      euclidean_error: -0.003928281733210248
+    shoulder_marker_pose:
+      angle_rotation: 20.923517305002154
+      euclidean_error: 0.0035550009238703995
+    wrist_inside_marker_pose:
+      angle_rotation: 26.056402282426937
+      euclidean_error: 0.000687877608002041
+    wrist_top_marker_pose:
+      angle_rotation: 18.315602590379964
+      euclidean_error: -0.0013540882176327207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1312273041192253
+      euclidean_error: -0.004367946836287051
+    base_right_marker_pose:
+      angle_rotation: 4.611006155773062
+      euclidean_error: -0.004021676189632228
+    shoulder_marker_pose:
+      angle_rotation: 21.177650447674754
+      euclidean_error: 0.0031988008613104135
+    wrist_inside_marker_pose:
+      angle_rotation: 24.948549298381998
+      euclidean_error: 0.001327828289684363
+    wrist_top_marker_pose:
+      angle_rotation: 13.589782805527204
+      euclidean_error: -0.0005099690956490432
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.471495746272322
+      euclidean_error: -0.004338164685925849
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.80619660244194
+      euclidean_error: 0.003217728888557647
+    wrist_inside_marker_pose:
+      angle_rotation: 26.652645421297375
+      euclidean_error: 0.0016083753654070332
+    wrist_top_marker_pose:
+      angle_rotation: 18.309789203333725
+      euclidean_error: -0.00043342102009602534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.201759024822512
+      euclidean_error: -0.004434061883334839
+    base_right_marker_pose:
+      angle_rotation: 6.677681119540943
+      euclidean_error: -0.0032734110712443476
+    shoulder_marker_pose:
+      angle_rotation: 21.805013472255013
+      euclidean_error: 0.0024465374983935195
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 17.362178455865678
+      euclidean_error: -0.0007649074010264156
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9357066317159384
+      euclidean_error: -0.004161153570900855
+    base_right_marker_pose:
+      angle_rotation: 5.447818758285883
+      euclidean_error: -0.0037047524861173464
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.254409639376945
+      euclidean_error: 0.0011979480778460116
+    wrist_top_marker_pose:
+      angle_rotation: 24.46675093162084
+      euclidean_error: -0.0008962635536670094
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8130230335845035
+      euclidean_error: -0.004608486323490535
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.27528884615925
+      euclidean_error: 0.0009922271714314368
+    wrist_top_marker_pose:
+      angle_rotation: 20.351252680781467
+      euclidean_error: -0.0011781985376174697
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9265905940087835
+      euclidean_error: -0.004350482784868714
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.393478932012993
+      euclidean_error: 0.0021648780896316167
+    wrist_top_marker_pose:
+      angle_rotation: 18.224562812863567
+      euclidean_error: -0.00015773430981935732
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.203395937423053
+      euclidean_error: -0.0044222863350932284
+    base_right_marker_pose:
+      angle_rotation: 4.903735078280287
+      euclidean_error: -0.004272258245844873
+    shoulder_marker_pose:
+      angle_rotation: 24.09373317409018
+      euclidean_error: 0.0038926662616552976
+    wrist_inside_marker_pose:
+      angle_rotation: 22.621515200501243
+      euclidean_error: 0.0014170783159612732
+    wrist_top_marker_pose:
+      angle_rotation: 19.530693747827772
+      euclidean_error: -0.0013124782561384496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2164919554961364
+      euclidean_error: -0.00443724609421714
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 24.744813313042208
+      euclidean_error: 0.003171098918447468
+    wrist_inside_marker_pose:
+      angle_rotation: 27.056828570138173
+      euclidean_error: 0.002893158630508985
+    wrist_top_marker_pose:
+      angle_rotation: 24.282479533068642
+      euclidean_error: -0.00042575610608275305
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2462652330724278
+      euclidean_error: -0.004220202186130506
+    base_right_marker_pose:
+      angle_rotation: 4.682291491116464
+      euclidean_error: -0.0038542742301458377
+    shoulder_marker_pose:
+      angle_rotation: 22.826605946063975
+      euclidean_error: 0.004022163810705193
+    wrist_inside_marker_pose:
+      angle_rotation: 27.3235687328882
+      euclidean_error: 0.0014824615840308697
+    wrist_top_marker_pose:
+      angle_rotation: 19.50703800801957
+      euclidean_error: -0.0007885936771762081
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7491029447733437
+      euclidean_error: -0.004390640942149249
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.44678726720401
+      euclidean_error: 0.001922865240656324
+    wrist_top_marker_pose:
+      angle_rotation: 17.359648804335038
+      euclidean_error: -0.0009862808158125347
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8170563504561357
+      euclidean_error: -0.004352771727511917
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.952162034295057
+      euclidean_error: 0.003160434115606514
+    wrist_inside_marker_pose:
+      angle_rotation: 22.31196004673575
+      euclidean_error: 0.002285564642037774
+    wrist_top_marker_pose:
+      angle_rotation: 22.54220099897045
+      euclidean_error: -0.0003699809237236451
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.017349194083514
+      euclidean_error: -0.004384209887567492
+    base_right_marker_pose:
+      angle_rotation: 5.104987696079961
+      euclidean_error: -0.0037677866353448275
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.474300183865736
+      euclidean_error: 0.0013098153472188567
+    wrist_top_marker_pose:
+      angle_rotation: 18.888622840073
+      euclidean_error: -0.0003445889732557328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.5579406274009076
+      euclidean_error: -0.004198043968714149
+    base_right_marker_pose:
+      angle_rotation: 5.634050428551686
+      euclidean_error: -0.0034012792909359213
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.217880366750215
+      euclidean_error: 0.001793933597070585
+    wrist_top_marker_pose:
+      angle_rotation: 17.886693002866622
+      euclidean_error: 0.0006122028558152026
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.013055372412452
+      euclidean_error: -0.004179692712893979
+    base_right_marker_pose:
+      angle_rotation: 3.6711602794993254
+      euclidean_error: -0.003956587266704004
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.83266380771355
+      euclidean_error: 0.0007559560862100412
+    wrist_top_marker_pose:
+      angle_rotation: 20.966694652541378
+      euclidean_error: -0.0015521985266662153
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.394128680512317
+      euclidean_error: -0.0045717658034795106
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.319920137091422
+      euclidean_error: 0.001935615434457194
+    wrist_top_marker_pose:
+      angle_rotation: 25.217511222213943
+      euclidean_error: 0.0006203939645567091
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.812459007588441
+      euclidean_error: -0.004373868626433297
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.476808852659417
+      euclidean_error: 0.0031180269224059254
+    wrist_top_marker_pose:
+      angle_rotation: 21.14530228410977
+      euclidean_error: 0.0009621990042277817
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9363218834359848
+      euclidean_error: -0.004536527255292189
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.88801866830986
+      euclidean_error: 0.00198925647014081
+    wrist_top_marker_pose:
+      angle_rotation: 17.766140163742243
+      euclidean_error: -0.00034080659748170206
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2836819393565997
+      euclidean_error: -0.004427556072407524
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.99021095034101
+      euclidean_error: 0.0016105813925922918
+    wrist_top_marker_pose:
+      angle_rotation: 18.68642894203701
+      euclidean_error: -0.0013373795433200275
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8584544234092684
+      euclidean_error: -0.004101135189181093
+    base_right_marker_pose:
+      angle_rotation: 3.1501061519191955
+      euclidean_error: -0.004405132263351708
+    shoulder_marker_pose:
+      angle_rotation: 16.706243109449844
+      euclidean_error: 0.002492212159987295
+    wrist_inside_marker_pose:
+      angle_rotation: 22.92883560699738
+      euclidean_error: 0.0014695741304776577
+    wrist_top_marker_pose:
+      angle_rotation: 17.691794983608517
+      euclidean_error: -0.0009854953203161099
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1914902066741253
+      euclidean_error: -0.004108161816041567
+    base_right_marker_pose:
+      angle_rotation: 4.6283852901583264
+      euclidean_error: -0.003501056155235327
+    shoulder_marker_pose:
+      angle_rotation: 22.245688352343954
+      euclidean_error: 0.004274003680272864
+    wrist_inside_marker_pose:
+      angle_rotation: 24.165316435967974
+      euclidean_error: 0.0015639288068977075
+    wrist_top_marker_pose:
+      angle_rotation: 14.723713304227374
+      euclidean_error: -9.02535290688844e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0357648227510405
+      euclidean_error: -0.00441003612122437
+    base_right_marker_pose:
+      angle_rotation: 4.037076296596731
+      euclidean_error: -0.0038974741400822355
+    shoulder_marker_pose:
+      angle_rotation: 20.717190569179472
+      euclidean_error: 0.003337568395363588
+    wrist_inside_marker_pose:
+      angle_rotation: 25.513118171727626
+      euclidean_error: 0.0014517207674491495
+    wrist_top_marker_pose:
+      angle_rotation: 19.10212381288345
+      euclidean_error: 7.0645979341033e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.043335448846027
+      euclidean_error: -0.003886985104280538
+    base_right_marker_pose:
+      angle_rotation: 3.24314984986676
+      euclidean_error: -0.003970519879493484
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.543458873121587
+      euclidean_error: 0.0019145297656970595
+    wrist_top_marker_pose:
+      angle_rotation: 21.426655775320125
+      euclidean_error: -0.00011622354106688437
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.491755971655163
+      euclidean_error: -0.004416568882608218
+    base_right_marker_pose:
+      angle_rotation: 9.666622861967737
+      euclidean_error: -0.00346540835417275
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.513915114812956
+      euclidean_error: 0.0010156067833668736
+    wrist_top_marker_pose:
+      angle_rotation: 19.409225473450107
+      euclidean_error: -0.0010622991325289766
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.004159362574195469
+    base_right_marker_pose:
+      angle_rotation: 6.347850303938439
+      euclidean_error: -0.0034976944865370285
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.163489902570465
+      euclidean_error: 0.0011204414638653626
+    wrist_top_marker_pose:
+      angle_rotation: 17.2259630706607
+      euclidean_error: -0.0005769463946575515
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4621988282301337
+      euclidean_error: -0.004320000079995001
+    base_right_marker_pose:
+      angle_rotation: 3.1190034716156183
+      euclidean_error: -0.004384343486363962
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.45083164807445
+      euclidean_error: 0.0020617571739321994
+    wrist_top_marker_pose:
+      angle_rotation: 22.47082440576071
+      euclidean_error: 0.0003652972275713928
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.140509575446751
+      euclidean_error: -0.004224236112105095
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.673657200069126
+      euclidean_error: 0.00449958835863884
+    wrist_inside_marker_pose:
+      angle_rotation: 26.111198171174088
+      euclidean_error: 0.0026704709668292637
+    wrist_top_marker_pose:
+      angle_rotation: 20.25899729236843
+      euclidean_error: 3.358964958399824e-07
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5979155157452225
+      euclidean_error: -0.00442358356849748
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.168589094201806
+      euclidean_error: 0.00303162709507665
+    wrist_inside_marker_pose:
+      angle_rotation: 23.665175126959518
+      euclidean_error: 0.0022251884902942942
+    wrist_top_marker_pose:
+      angle_rotation: 20.773306547817594
+      euclidean_error: -7.909156656893401e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.115890996738833
+      euclidean_error: -0.004257204221478017
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.1298471630269
+      euclidean_error: 0.001265232703194008
+    wrist_top_marker_pose:
+      angle_rotation: 19.257919136662906
+      euclidean_error: -0.0014442896632833602
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.44858794106421
+      euclidean_error: -0.004124198799402512
+    base_right_marker_pose:
+      angle_rotation: 5.736136999312286
+      euclidean_error: -0.0035001335014053225
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 17.082431604848125
+      euclidean_error: -7.500764031109775e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.451818238378603
+      euclidean_error: -0.004459496372269944
+    base_right_marker_pose:
+      angle_rotation: 5.450562541062276
+      euclidean_error: -0.003753631538060964
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.87470226662544
+      euclidean_error: 0.0027352688645470025
+    wrist_top_marker_pose:
+      angle_rotation: 16.727178472483505
+      euclidean_error: -0.0009203810913217536
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.124092778361105
+      euclidean_error: -0.0043982100559532
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 17.556425890656843
+      euclidean_error: 0.0040964690648361834
+    wrist_inside_marker_pose:
+      angle_rotation: 18.88599844797764
+      euclidean_error: 0.0015812412372516738
+    wrist_top_marker_pose:
+      angle_rotation: 18.67327633406515
+      euclidean_error: -0.0012299167482967555
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8762838874634669
+      euclidean_error: -0.004348415889444013
+    base_right_marker_pose:
+      angle_rotation: 5.289914457945584
+      euclidean_error: -0.00346999122633318
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.71396792154257
+      euclidean_error: 0.0029452938110839932
+    wrist_top_marker_pose:
+      angle_rotation: 18.351789808217035
+      euclidean_error: 0.0004834979740191425
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.743956698826084
+      euclidean_error: -0.003991131164297279
+    base_right_marker_pose:
+      angle_rotation: 8.09990735628438
+      euclidean_error: -0.0030991153556660933
+    shoulder_marker_pose:
+      angle_rotation: 19.847114374503786
+      euclidean_error: 0.004781250277982263
+    wrist_inside_marker_pose:
+      angle_rotation: 22.45573257186128
+      euclidean_error: 0.0002054166808006519
+    wrist_top_marker_pose:
+      angle_rotation: 24.484965875869822
+      euclidean_error: 0.0007333361684997985
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6313185112841384
+      euclidean_error: -0.0042121688077266795
+    base_right_marker_pose:
+      angle_rotation: 4.4159963837670535
+      euclidean_error: -0.0036927096881477217
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.984742246538545
+      euclidean_error: 0.001342319339241116
+    wrist_top_marker_pose:
+      angle_rotation: 20.786037038460023
+      euclidean_error: -0.000697453962439698
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0211017886321905
+      euclidean_error: -0.004275086761145519
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.702072987458983
+      euclidean_error: 0.004383570826975047
+    wrist_inside_marker_pose:
+      angle_rotation: 24.78590508779398
+      euclidean_error: 0.0016519686444650405
+    wrist_top_marker_pose:
+      angle_rotation: 17.641194297617222
+      euclidean_error: -0.0011380081587345492
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3401942712334587
+      euclidean_error: -0.004209807387369868
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.505434559939182
+      euclidean_error: 0.003125384895278027
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 21.286842685022414
+      euclidean_error: -0.0012364845759333942
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9283451791345856
+      euclidean_error: -0.004319791318680655
+    base_right_marker_pose:
+      angle_rotation: 6.634757160820363
+      euclidean_error: -0.003227296797250534
+    shoulder_marker_pose:
+      angle_rotation: 20.16059350450615
+      euclidean_error: 0.0035438888605165975
+    wrist_inside_marker_pose:
+      angle_rotation: 25.904586794416613
+      euclidean_error: 0.0019110580351616724
+    wrist_top_marker_pose:
+      angle_rotation: 18.195058859684718
+      euclidean_error: 0.0008204401216818091
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5842991263466093
+      euclidean_error: -0.00419856029703658
+    base_right_marker_pose:
+      angle_rotation: 5.0314393078967745
+      euclidean_error: -0.003854260895510664
+    shoulder_marker_pose:
+      angle_rotation: 20.86422332415218
+      euclidean_error: 0.004519367064647728
+    wrist_inside_marker_pose:
+      angle_rotation: 25.38950951983228
+      euclidean_error: 0.0023785232788680055
+    wrist_top_marker_pose:
+      angle_rotation: 19.867115760900706
+      euclidean_error: -0.0006230111597436139
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.186150728508827
+      euclidean_error: -0.004261147000749865
+    base_right_marker_pose:
+      angle_rotation: 3.560286517536997
+      euclidean_error: -0.0038267610640901895
+    shoulder_marker_pose:
+      angle_rotation: 20.85021500526384
+      euclidean_error: 0.0040983501231622865
+    wrist_inside_marker_pose:
+      angle_rotation: 26.389274547760735
+      euclidean_error: 0.0022148003069863975
+    wrist_top_marker_pose:
+      angle_rotation: 19.501501942651725
+      euclidean_error: -0.00016433562683959568
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9494274349292187
+      euclidean_error: -0.004546960239296793
+    base_right_marker_pose:
+      angle_rotation: 4.350794036949117
+      euclidean_error: -0.0036303967438762186
+    shoulder_marker_pose:
+      angle_rotation: 22.275453512273415
+      euclidean_error: 0.0042195314125963446
+    wrist_inside_marker_pose:
+      angle_rotation: 23.665637917965288
+      euclidean_error: 0.0025062173605097104
+    wrist_top_marker_pose:
+      angle_rotation: 23.246665393336013
+      euclidean_error: 0.001040040344923332
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4121599159449487
+      euclidean_error: -0.004344141800188939
+    base_right_marker_pose:
+      angle_rotation: 4.242704938494568
+      euclidean_error: -0.004096758262747691
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.113759570403158
+      euclidean_error: 0.002113573970127569
+    wrist_top_marker_pose:
+      angle_rotation: 21.284157773614563
+      euclidean_error: 0.0010101992978123198
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.738486041556099
+      euclidean_error: -0.004343116938398728
+    base_right_marker_pose:
+      angle_rotation: 7.701341376131581
+      euclidean_error: -0.003470193678530853
+    shoulder_marker_pose:
+      angle_rotation: 19.54067520081666
+      euclidean_error: 0.0040970409998385415
+    wrist_inside_marker_pose:
+      angle_rotation: 21.8809179756073
+      euclidean_error: 0.0029372091858052007
+    wrist_top_marker_pose:
+      angle_rotation: 21.31503485892125
+      euclidean_error: -0.00020858571445003804
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.872701237712582
+      euclidean_error: -0.004204453443251488
+    base_right_marker_pose:
+      angle_rotation: 7.429811350853444
+      euclidean_error: -0.003008173198400188
+    shoulder_marker_pose:
+      angle_rotation: 21.783323967578472
+      euclidean_error: 0.003990029607711332
+    wrist_inside_marker_pose:
+      angle_rotation: 25.987692664471084
+      euclidean_error: 0.002472405134845368
+    wrist_top_marker_pose:
+      angle_rotation: 24.44492382872837
+      euclidean_error: 0.00032276479476700537
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8187561616267462
+      euclidean_error: -0.004675642289772686
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.861312788501262
+      euclidean_error: 0.0024909515084146072
+    wrist_top_marker_pose:
+      angle_rotation: 20.170428733460927
+      euclidean_error: 0.0007023346630460336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7780321778309587
+      euclidean_error: -0.004151928517870163
+    base_right_marker_pose:
+      angle_rotation: 5.015459043744476
+      euclidean_error: -0.0036450650810577745
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.47370652391884
+      euclidean_error: 0.002474100441822502
+    wrist_top_marker_pose:
+      angle_rotation: 18.666993670488576
+      euclidean_error: -0.0002307033621398169
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.365743748447338
+      euclidean_error: -0.00392811285928063
+    base_right_marker_pose:
+      angle_rotation: 8.32499034459792
+      euclidean_error: -0.003135550078861238
+    shoulder_marker_pose:
+      angle_rotation: 17.07433179171846
+      euclidean_error: 0.0039702685861655596
+    wrist_inside_marker_pose:
+      angle_rotation: 18.6425932325208
+      euclidean_error: 0.002088191621531399
+    wrist_top_marker_pose:
+      angle_rotation: 20.05050793602375
+      euclidean_error: -5.852748827817056e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6082666646530694
+      euclidean_error: -0.004154146352724375
+    base_right_marker_pose:
+      angle_rotation: 5.202289724223116
+      euclidean_error: -0.003702366713799976
+    shoulder_marker_pose:
+      angle_rotation: 18.929457584602225
+      euclidean_error: 0.004176346337719905
+    wrist_inside_marker_pose:
+      angle_rotation: 22.62204241240195
+      euclidean_error: 0.0021113488822501747
+    wrist_top_marker_pose:
+      angle_rotation: 20.77413412134028
+      euclidean_error: 4.3588812444705916e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.465368557806514
+      euclidean_error: -0.004209364686306172
+    base_right_marker_pose:
+      angle_rotation: 7.505267714236105
+      euclidean_error: -0.0035174113705784826
+    shoulder_marker_pose:
+      angle_rotation: 15.175457236009617
+      euclidean_error: 0.004256674612326039
+    wrist_inside_marker_pose:
+      angle_rotation: 26.115815536019717
+      euclidean_error: 0.0023889157530588845
+    wrist_top_marker_pose:
+      angle_rotation: 21.560027871234016
+      euclidean_error: 0.00016472201132122777
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6725660156301942
+      euclidean_error: -0.00420086080531723
+    base_right_marker_pose:
+      angle_rotation: 4.826518285283804
+      euclidean_error: -0.0037172358616862633
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.71239121352082
+      euclidean_error: 0.0019505874993149819
+    wrist_top_marker_pose:
+      angle_rotation: 22.35239956029
+      euclidean_error: -0.0001691648963746406
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9359768883117157
+      euclidean_error: -0.0039455195753237415
+    base_right_marker_pose:
+      angle_rotation: 4.04590561332419
+      euclidean_error: -0.0036298758836502687
+    shoulder_marker_pose:
+      angle_rotation: 22.267182397859884
+      euclidean_error: 0.00432163097216709
+    wrist_inside_marker_pose:
+      angle_rotation: 23.41233403705274
+      euclidean_error: 0.0018671353535644197
+    wrist_top_marker_pose:
+      angle_rotation: 21.10414582285647
+      euclidean_error: -0.0006655438841423056
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3393442421963804
+      euclidean_error: -0.00419507032797084
+    base_right_marker_pose:
+      angle_rotation: 4.6528399169343375
+      euclidean_error: -0.0036826222964627675
+    shoulder_marker_pose:
+      angle_rotation: 22.93563727269707
+      euclidean_error: 0.004888104943144178
+    wrist_inside_marker_pose:
+      angle_rotation: 24.36704324180746
+      euclidean_error: 0.0011897997231247182
+    wrist_top_marker_pose:
+      angle_rotation: 17.792802229071352
+      euclidean_error: 0.00017551242134672407
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.174318940870808
+      euclidean_error: -0.003970832504636257
+    base_right_marker_pose:
+      angle_rotation: 5.046450781897099
+      euclidean_error: -0.0038362346626383825
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.379475430922103
+      euclidean_error: 0.0016513775190558633
+    wrist_top_marker_pose:
+      angle_rotation: 22.171455256562968
+      euclidean_error: -0.00019364032183610824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1384008043692306
+      euclidean_error: -0.004046545736158702
+    base_right_marker_pose:
+      angle_rotation: 7.682077494190346
+      euclidean_error: -0.003247138629920987
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.840240896945005
+      euclidean_error: 0.0016431150437294928
+    wrist_top_marker_pose:
+      angle_rotation: 21.908860541345042
+      euclidean_error: -0.0011377046674815317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.118005536635267
+      euclidean_error: -0.00400821659010564
+    base_right_marker_pose:
+      angle_rotation: 7.318084046051599
+      euclidean_error: -0.0033187047204500386
+    shoulder_marker_pose:
+      angle_rotation: 24.399326139987043
+      euclidean_error: 0.0042746735482224185
+    wrist_inside_marker_pose:
+      angle_rotation: 29.23617249110053
+      euclidean_error: 0.0015087316444980514
+    wrist_top_marker_pose:
+      angle_rotation: 22.631207366714204
+      euclidean_error: -0.00035049278082321944
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0149020732665583
+      euclidean_error: -0.004351220918278109
+    base_right_marker_pose:
+      angle_rotation: 7.237262852781418
+      euclidean_error: -0.003196242345292033
+    shoulder_marker_pose:
+      angle_rotation: 19.60802031258615
+      euclidean_error: 0.004207290354103832
+    wrist_inside_marker_pose:
+      angle_rotation: 22.517605998757784
+      euclidean_error: 0.001330703985006343
+    wrist_top_marker_pose:
+      angle_rotation: 16.346055045314365
+      euclidean_error: -0.0009258144366466325
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.653007849994456
+      euclidean_error: -0.004014999248203699
+    base_right_marker_pose:
+      angle_rotation: 4.080889578810371
+      euclidean_error: -0.0038596472648332325
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.560110916323346
+      euclidean_error: 0.0021303313145943914
+    wrist_top_marker_pose:
+      angle_rotation: 22.685739480099457
+      euclidean_error: -5.349699978540734e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5602668743998502
+      euclidean_error: -0.003957475905403296
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 17.164565802317885
+      euclidean_error: 0.0030169631223639914
+    wrist_inside_marker_pose:
+      angle_rotation: 24.836400352280045
+      euclidean_error: 0.002611022304890298
+    wrist_top_marker_pose:
+      angle_rotation: 16.332800030017864
+      euclidean_error: -0.0006534118747145712
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.324808663782769
+      euclidean_error: -0.004273301766764215
+    base_right_marker_pose:
+      angle_rotation: 4.95018333325954
+      euclidean_error: -0.0036990045801130744
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.863383099836568
+      euclidean_error: 0.0022275850792756735
+    wrist_top_marker_pose:
+      angle_rotation: 20.063371614940344
+      euclidean_error: -0.000498306568745055
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4244723536628636
+      euclidean_error: -0.0037741266489874636
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 19.747404243439227
+      euclidean_error: 0.004066051682471761
+    wrist_inside_marker_pose:
+      angle_rotation: 27.00889893533837
+      euclidean_error: 0.002086037206761815
+    wrist_top_marker_pose:
+      angle_rotation: 21.270756849074502
+      euclidean_error: -0.00014377548271049534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.38214576171707
+      euclidean_error: -0.004112737026230717
+    base_right_marker_pose:
+      angle_rotation: 8.826825926837824
+      euclidean_error: -0.002758583616293664
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.250121545624314
+      euclidean_error: 0.0027525703406338087
+    wrist_top_marker_pose:
+      angle_rotation: 18.52545071778785
+      euclidean_error: 6.390606800277254e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.419977882770077
+      euclidean_error: -0.004512801616414763
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.979633073094885
+      euclidean_error: 0.005089255909037527
+    wrist_inside_marker_pose:
+      angle_rotation: 24.60528041321417
+      euclidean_error: 0.0013652030358171086
+    wrist_top_marker_pose:
+      angle_rotation: 18.609755841484734
+      euclidean_error: -0.00031926509895652266
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.698310564192805
+      euclidean_error: -0.004217193162460164
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.342164806485325
+      euclidean_error: 0.003302864804179295
+    wrist_top_marker_pose:
+      angle_rotation: 14.141262658826127
+      euclidean_error: 5.232207615946116e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1616509899590555
+      euclidean_error: -0.004445619698603243
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 19.245187014276933
+      euclidean_error: 0.0048046560787236015
+    wrist_inside_marker_pose:
+      angle_rotation: 20.976499825638182
+      euclidean_error: 0.002135910657135476
+    wrist_top_marker_pose:
+      angle_rotation: 17.702819304549653
+      euclidean_error: 0.0009105438779499764
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4042450061216742
+      euclidean_error: -0.003843497593364331
+    base_right_marker_pose:
+      angle_rotation: 5.116640434516775
+      euclidean_error: -0.0035672126842997143
+    shoulder_marker_pose:
+      angle_rotation: 21.089000325865484
+      euclidean_error: 0.0055421614741226755
+    wrist_inside_marker_pose:
+      angle_rotation: 20.49015148572017
+      euclidean_error: 0.002638597570947754
+    wrist_top_marker_pose:
+      angle_rotation: 20.171203051917683
+      euclidean_error: 0.0006246719608039575
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.951360632574448
+      euclidean_error: -0.00356418882607612
+    base_right_marker_pose:
+      angle_rotation: 7.028222065084908
+      euclidean_error: -0.003482218196846132
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.107485294591275
+      euclidean_error: 0.0025631734967495046
+    wrist_top_marker_pose:
+      angle_rotation: 15.559743331366981
+      euclidean_error: 0.0001389168085098591
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.32562306172708
+      euclidean_error: -0.004251898998429593
+    base_right_marker_pose:
+      angle_rotation: 7.098078678661923
+      euclidean_error: -0.0030922867162123113
+    shoulder_marker_pose:
+      angle_rotation: 19.07524391152474
+      euclidean_error: 0.004828914885267266
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 15.26560414175957
+      euclidean_error: -0.0015901038719292604
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.445148314079413
+      euclidean_error: -0.004111795697071985
+    base_right_marker_pose:
+      angle_rotation: 5.98152902425137
+      euclidean_error: -0.0037599449154231968
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.39572756973128
+      euclidean_error: 0.0025894769784341465
+    wrist_top_marker_pose:
+      angle_rotation: 18.637952447884988
+      euclidean_error: 0.0011555869245416517
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5461702315261747
+      euclidean_error: -0.0045222782367217995
+    base_right_marker_pose:
+      angle_rotation: 6.700456890261377
+      euclidean_error: -0.0031105373416200344
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.8996520313051
+      euclidean_error: 0.0027582632478905245
+    wrist_top_marker_pose:
+      angle_rotation: 19.29381234527835
+      euclidean_error: 0.001324994229401244
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.7335860127347
+      euclidean_error: -0.0039023465984834305
+    base_right_marker_pose:
+      angle_rotation: 8.14931543979561
+      euclidean_error: -0.003080262128242861
+    shoulder_marker_pose:
+      angle_rotation: 17.976618775467788
+      euclidean_error: 0.004097957765350602
+    wrist_inside_marker_pose:
+      angle_rotation: 24.936962009416686
+      euclidean_error: 0.0027564121578712575
+    wrist_top_marker_pose:
+      angle_rotation: 18.138058875530426
+      euclidean_error: 5.504754141594237e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.514133019938761
+      euclidean_error: -0.004425799153827459
+    base_right_marker_pose:
+      angle_rotation: 7.619758971630215
+      euclidean_error: -0.0034674926807279904
+    shoulder_marker_pose:
+      angle_rotation: 22.613506832715405
+      euclidean_error: 0.004230433365738029
+    wrist_inside_marker_pose:
+      angle_rotation: 25.47370994608025
+      euclidean_error: 0.0028100028030707547
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5399904701943277
+      euclidean_error: -0.00423604906152375
+    base_right_marker_pose:
+      angle_rotation: 5.497897559328065
+      euclidean_error: -0.0031909415600582802
+    shoulder_marker_pose:
+      angle_rotation: 27.306679457568823
+      euclidean_error: 0.003986523413005538
+    wrist_inside_marker_pose:
+      angle_rotation: 20.749572779523092
+      euclidean_error: 0.0018846419073793585
+    wrist_top_marker_pose:
+      angle_rotation: 17.483858032303754
+      euclidean_error: -0.001254608166398663
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9778382009994553
+      euclidean_error: -0.004207326897546992
+    base_right_marker_pose:
+      angle_rotation: 4.078926666762261
+      euclidean_error: -0.0041615406257052845
+    shoulder_marker_pose:
+      angle_rotation: 20.149585502383538
+      euclidean_error: 0.003867602958039673
+    wrist_inside_marker_pose:
+      angle_rotation: 24.341130856244035
+      euclidean_error: 0.0004093701632764679
+    wrist_top_marker_pose:
+      angle_rotation: 22.952246376284748
+      euclidean_error: 0.0005915904756029766
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.320322649944815
+      euclidean_error: -0.004251893011070429
+    base_right_marker_pose:
+      angle_rotation: 9.884155837435054
+      euclidean_error: -0.002989703293612367
+    shoulder_marker_pose:
+      angle_rotation: 21.804027593611913
+      euclidean_error: 0.0056251179817145
+    wrist_inside_marker_pose:
+      angle_rotation: 22.727435020096564
+      euclidean_error: 0.0011549217773239029
+    wrist_top_marker_pose:
+      angle_rotation: 17.06173652868068
+      euclidean_error: 0.0008280784811740549
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0671688920326976
+      euclidean_error: -0.004246003449932423
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.122514916042327
+      euclidean_error: 0.005105658977053729
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 16.04660549939165
+      euclidean_error: -0.0006188515855940491
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6898443400606435
+      euclidean_error: -0.003659938697752829
+    base_right_marker_pose:
+      angle_rotation: 5.104580016029376
+      euclidean_error: -0.0036363911699734963
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 17.408548124693667
+      euclidean_error: 0.0010073885919861247
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1888303087077867
+      euclidean_error: -0.004266508870013341
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.86010364777563
+      euclidean_error: 0.0029942635537595352
+    wrist_inside_marker_pose:
+      angle_rotation: 21.893522906876893
+      euclidean_error: 0.0024335725330636437
+    wrist_top_marker_pose:
+      angle_rotation: 21.450466633641465
+      euclidean_error: 0.0009083936171935258
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.83598460796646
+      euclidean_error: -0.0036081400573186873
+    base_right_marker_pose:
+      angle_rotation: 6.8246798567586
+      euclidean_error: -0.002500238005093025
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.10808429165907
+      euclidean_error: 0.002014812453822845
+    wrist_top_marker_pose:
+      angle_rotation: 18.311046074304137
+      euclidean_error: -0.00013294525331275509
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8693356595670836
+      euclidean_error: -0.004055140665326529
+    base_right_marker_pose:
+      angle_rotation: 6.787731499599282
+      euclidean_error: -0.003299419331437514
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.797082894157896
+      euclidean_error: 0.0024313625585530296
+    wrist_top_marker_pose:
+      angle_rotation: 16.362789163771687
+      euclidean_error: 0.0005266575022090381
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5978268848014907
+      euclidean_error: -0.0039440885227242095
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.515629104655833
+      euclidean_error: 0.0018743588094609631
+    wrist_top_marker_pose:
+      angle_rotation: 19.296030300264242
+      euclidean_error: 0.0010124574370937722
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.514071409188166
+      euclidean_error: -0.004188494870760007
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 17.19064939365639
+      euclidean_error: 0.004516458693320069
+    wrist_inside_marker_pose:
+      angle_rotation: 21.392635768419858
+      euclidean_error: 0.0019680088175672017
+    wrist_top_marker_pose:
+      angle_rotation: 20.75465601118119
+      euclidean_error: 5.947811128714786e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3042692898117467
+      euclidean_error: -0.003967065863037522
+    base_right_marker_pose:
+      angle_rotation: 6.313346224522072
+      euclidean_error: -0.002866621571226635
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.61161394286714
+      euclidean_error: 0.0015661041651611196
+    wrist_top_marker_pose:
+      angle_rotation: 19.853795304915444
+      euclidean_error: 0.00028050949166491534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.185700639193382
+      euclidean_error: -0.0035285936762325942
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.601304494754032
+      euclidean_error: 0.004363407630090244
+    wrist_inside_marker_pose:
+      angle_rotation: 22.75891357133604
+      euclidean_error: 0.001463181713819317
+    wrist_top_marker_pose:
+      angle_rotation: 16.59512898061742
+      euclidean_error: 0.0006481677790730611
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.182231876624784
+      euclidean_error: -0.004242369884795871
+    base_right_marker_pose:
+      angle_rotation: 4.372351286415686
+      euclidean_error: -0.0037805512051108936
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.375407691923876
+      euclidean_error: 0.0015436041598660966
+    wrist_top_marker_pose:
+      angle_rotation: 16.9402964581862
+      euclidean_error: 0.00039018555198566673
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.26245957586307
+      euclidean_error: -0.004236759543936097
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.801634577639668
+      euclidean_error: 0.0046289591644638195
+    wrist_inside_marker_pose:
+      angle_rotation: 22.739831597141492
+      euclidean_error: 0.0018990706188383166
+    wrist_top_marker_pose:
+      angle_rotation: 19.38481297158826
+      euclidean_error: 0.000306396635499806
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7991621146623897
+      euclidean_error: -0.004459006536871035
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.327880434755453
+      euclidean_error: 0.0024367769841232567
+    wrist_top_marker_pose:
+      angle_rotation: 18.867272674550552
+      euclidean_error: -0.0003059262018925146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.510717574104946
+      euclidean_error: -0.004137883772552087
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 24.630331939126926
+      euclidean_error: 0.0040277908124936035
+    wrist_inside_marker_pose:
+      angle_rotation: 20.68839408803413
+      euclidean_error: 0.0024478221233869
+    wrist_top_marker_pose:
+      angle_rotation: 22.09086225175229
+      euclidean_error: -0.0002986222057178578
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1216591109000658
+      euclidean_error: -0.004179162502132461
+    base_right_marker_pose:
+      angle_rotation: 7.318293555020695
+      euclidean_error: -0.0033418342504732967
+    shoulder_marker_pose:
+      angle_rotation: 23.679264927574852
+      euclidean_error: 0.004770455427736464
+    wrist_inside_marker_pose:
+      angle_rotation: 20.690850221125395
+      euclidean_error: 0.0024498549453843
+    wrist_top_marker_pose:
+      angle_rotation: 15.859280984874758
+      euclidean_error: 0.0007277025348776389
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7201397950363861
+      euclidean_error: -0.004242026370115393
+    base_right_marker_pose:
+      angle_rotation: 9.103272268062613
+      euclidean_error: -0.0027865202676922163
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.18575283937753
+      euclidean_error: 0.0021376774382148023
+    wrist_top_marker_pose:
+      angle_rotation: 16.650302931740306
+      euclidean_error: -0.0003396218945722618
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9043629095516
+      euclidean_error: -0.004039425873636926
+    base_right_marker_pose:
+      angle_rotation: 6.0465178176237275
+      euclidean_error: -0.003578053014873017
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.685352401347014
+      euclidean_error: 0.001069426061847456
+    wrist_top_marker_pose:
+      angle_rotation: 22.471111278569794
+      euclidean_error: -0.0008832144487530558
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7255514372570206
+      euclidean_error: -0.004238634961527765
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.052860298961747
+      euclidean_error: 0.0023912549039337705
+    wrist_top_marker_pose:
+      angle_rotation: 18.278818446738168
+      euclidean_error: -0.00016922432489419048
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.352676183709559
+      euclidean_error: -0.004069353452450741
+    base_right_marker_pose:
+      angle_rotation: 9.61133158022032
+      euclidean_error: -0.002809553270766263
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.384438880168798
+      euclidean_error: 0.002881456249660408
+    wrist_top_marker_pose:
+      angle_rotation: 20.651109896242268
+      euclidean_error: -3.927671970738178e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.974914544735986
+      euclidean_error: -0.00433489400111553
+    base_right_marker_pose:
+      angle_rotation: 6.0519267494351014
+      euclidean_error: -0.0034791964380904705
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.049652616131144
+      euclidean_error: 0.0015718440869972872
+    wrist_top_marker_pose:
+      angle_rotation: 19.449724268770716
+      euclidean_error: 0.00047526038439738016
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9601365139201032
+      euclidean_error: -0.0038460939183486698
+    base_right_marker_pose:
+      angle_rotation: 7.987109181466362
+      euclidean_error: -0.002907313549517121
+    shoulder_marker_pose:
+      angle_rotation: 22.820696387837483
+      euclidean_error: 0.005344429341965662
+    wrist_inside_marker_pose:
+      angle_rotation: 23.624100263253375
+      euclidean_error: 0.0016392522111329244
+    wrist_top_marker_pose:
+      angle_rotation: 19.362442923241353
+      euclidean_error: -0.0011579621892662262
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.3764566830606364
+      euclidean_error: -0.004523918127660287
+    base_right_marker_pose:
+      angle_rotation: 6.564214142995826
+      euclidean_error: -0.002463331113919831
+    shoulder_marker_pose:
+      angle_rotation: 21.835569131095106
+      euclidean_error: 0.004828490284732978
+    wrist_inside_marker_pose:
+      angle_rotation: 19.62567926030218
+      euclidean_error: 0.001676488430439993
+    wrist_top_marker_pose:
+      angle_rotation: 15.559484760378213
+      euclidean_error: -0.0006782450975229004
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8368005636993523
+      euclidean_error: -0.004003237924578351
+    base_right_marker_pose:
+      angle_rotation: 3.3602047429334845
+      euclidean_error: -0.0036034304573473452
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 22.242063522119565
+      euclidean_error: 0.0007297159991860314
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.424265137859793
+      euclidean_error: -0.003946935946198771
+    base_right_marker_pose:
+      angle_rotation: 7.12745043930459
+      euclidean_error: -0.0028626691513866653
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.22012695699708
+      euclidean_error: 0.003136443847392645
+    wrist_top_marker_pose:
+      angle_rotation: 19.8409315550709
+      euclidean_error: 0.0011683323114237698
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5985250662625194
+      euclidean_error: -0.004447714321278218
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.0435968981169
+      euclidean_error: 0.0026129497380713573
+    wrist_top_marker_pose:
+      angle_rotation: 16.693147015764524
+      euclidean_error: -0.00022528626936169083
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9061716207732053
+      euclidean_error: -0.004060652918117635
+    base_right_marker_pose:
+      angle_rotation: 6.330709566630723
+      euclidean_error: -0.0032143976065716062
+    shoulder_marker_pose:
+      angle_rotation: 21.058875749124653
+      euclidean_error: 0.005017766394694867
+    wrist_inside_marker_pose:
+      angle_rotation: 19.670618542204192
+      euclidean_error: 0.0032414619240398457
+    wrist_top_marker_pose:
+      angle_rotation: 16.454273594022872
+      euclidean_error: 0.0004522655852934321
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7057123742832867
+      euclidean_error: -0.0040491959371091735
+    base_right_marker_pose:
+      angle_rotation: 6.506642642683921
+      euclidean_error: -0.0032708520284332465
+    shoulder_marker_pose:
+      angle_rotation: 21.570585321974615
+      euclidean_error: 0.00564309712196287
+    wrist_inside_marker_pose:
+      angle_rotation: 24.720124996930934
+      euclidean_error: 0.0009929286986313235
+    wrist_top_marker_pose:
+      angle_rotation: 18.368508351701884
+      euclidean_error: -0.0012992399020864687
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.330896801113048
+      euclidean_error: -0.003759376685221305
+    base_right_marker_pose:
+      angle_rotation: 3.701206754263856
+      euclidean_error: -0.0034949775270612937
+    shoulder_marker_pose:
+      angle_rotation: 21.104034522222765
+      euclidean_error: 0.00448121359269027
+    wrist_inside_marker_pose:
+      angle_rotation: 22.538148763673668
+      euclidean_error: 0.002135686183093677
+    wrist_top_marker_pose:
+      angle_rotation: 19.838342779985872
+      euclidean_error: 0.00023699213152705845
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7337945359307154
+      euclidean_error: -0.0037977346619779695
+    base_right_marker_pose:
+      angle_rotation: 7.978799745439386
+      euclidean_error: -0.0034831325628107423
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.366307945456583
+      euclidean_error: 0.0017358178333192198
+    wrist_top_marker_pose:
+      angle_rotation: 22.64193253156055
+      euclidean_error: -0.0002983952136165202
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.249082354365672
+      euclidean_error: -0.00435882974557622
+    base_right_marker_pose:
+      angle_rotation: 7.282341179574421
+      euclidean_error: -0.0033645794343465374
+    shoulder_marker_pose:
+      angle_rotation: 20.847597382185498
+      euclidean_error: 0.005764180180467426
+    wrist_inside_marker_pose:
+      angle_rotation: 20.185286807642644
+      euclidean_error: 0.002485421847014835
+    wrist_top_marker_pose:
+      angle_rotation: 16.143204627488934
+      euclidean_error: -0.0004296120265721015
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3154831943217102
+      euclidean_error: -0.0042429254170743835
+    base_right_marker_pose:
+      angle_rotation: 7.057849687145328
+      euclidean_error: -0.0034426567797857244
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.42822686777922
+      euclidean_error: 0.0014950453740146807
+    wrist_top_marker_pose:
+      angle_rotation: 18.61768788645131
+      euclidean_error: -0.0004178195891657577
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4268718279782115
+      euclidean_error: -0.003911996611370427
+    base_right_marker_pose:
+      angle_rotation: 7.371267007570792
+      euclidean_error: -0.0030659439703362157
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.28854104782762
+      euclidean_error: 0.002054278890192607
+    wrist_top_marker_pose:
+      angle_rotation: 18.268177690497808
+      euclidean_error: 2.2834528601745063e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.525556032735694
+      euclidean_error: -0.003777331393627348
+    base_right_marker_pose:
+      angle_rotation: 8.245718408895227
+      euclidean_error: -0.003210148744776653
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.08318232559324
+      euclidean_error: 0.0017532075214889975
+    wrist_top_marker_pose:
+      angle_rotation: 17.593037636329488
+      euclidean_error: -4.545323492743947e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8850697102768694
+      euclidean_error: -0.0038905491762921685
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.554595568382712
+      euclidean_error: 0.001963005100961479
+    wrist_top_marker_pose:
+      angle_rotation: 20.915918016627696
+      euclidean_error: -0.00026846739137997844
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6493474417926444
+      euclidean_error: -0.004111681100668063
+    base_right_marker_pose:
+      angle_rotation: 6.358483668908917
+      euclidean_error: -0.00318789438544842
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 17.4276049940654
+      euclidean_error: -0.0009230747192860989
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4413828549330034
+      euclidean_error: -0.0038427358341371898
+    base_right_marker_pose:
+      angle_rotation: 8.645668684396652
+      euclidean_error: -0.0028961538209519855
+    shoulder_marker_pose:
+      angle_rotation: 24.287296493174704
+      euclidean_error: 0.005381179014611326
+    wrist_inside_marker_pose:
+      angle_rotation: 24.64620290865265
+      euclidean_error: 0.0012118398070006808
+    wrist_top_marker_pose:
+      angle_rotation: 13.821150288443155
+      euclidean_error: 8.637675448874838e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7744480328450583
+      euclidean_error: -0.004404414373886945
+    base_right_marker_pose:
+      angle_rotation: 2.9722554315074947
+      euclidean_error: -0.0036426306180258328
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.775528643585723
+      euclidean_error: 0.0025484841116099055
+    wrist_top_marker_pose:
+      angle_rotation: 19.515447387407146
+      euclidean_error: -0.0006962040703809569
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.736053937463343
+      euclidean_error: -0.00412467251765547
+    base_right_marker_pose:
+      angle_rotation: 6.275770738693971
+      euclidean_error: -0.003014663139170426
+    shoulder_marker_pose:
+      angle_rotation: 17.961297451271683
+      euclidean_error: 0.004125218212727044
+    wrist_inside_marker_pose:
+      angle_rotation: 20.634536310521078
+      euclidean_error: 0.0025886616046520983
+    wrist_top_marker_pose:
+      angle_rotation: 14.525510663083859
+      euclidean_error: 0.0003311556035829888
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.921226891058346
+      euclidean_error: -0.0040319893814312335
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.016781683163703
+      euclidean_error: 0.002079774299715953
+    wrist_top_marker_pose:
+      angle_rotation: 21.78453314901299
+      euclidean_error: 9.203453378070492e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1807756367311157
+      euclidean_error: -0.004238676849265155
+    base_right_marker_pose:
+      angle_rotation: 8.111414301195124
+      euclidean_error: -0.0029449985726213157
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.699157177915065
+      euclidean_error: 0.0022487997205313803
+    wrist_top_marker_pose:
+      angle_rotation: 20.692659850259098
+      euclidean_error: 0.0005938463495835933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1112671332790254
+      euclidean_error: -0.003904447046489179
+    base_right_marker_pose:
+      angle_rotation: 10.607709426786247
+      euclidean_error: -0.002073117724964324
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.491128410433255
+      euclidean_error: 0.0014579825276029856
+    wrist_top_marker_pose:
+      angle_rotation: 21.83540338323403
+      euclidean_error: -2.9259849752216738e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.621102994668749
+      euclidean_error: -0.003942893530350267
+    base_right_marker_pose:
+      angle_rotation: 8.698197289495603
+      euclidean_error: -0.0031291645045812277
+    shoulder_marker_pose:
+      angle_rotation: 23.285092290091352
+      euclidean_error: 0.004765178395445213
+    wrist_inside_marker_pose:
+      angle_rotation: 25.045767713316447
+      euclidean_error: 0.0029071387471949484
+    wrist_top_marker_pose:
+      angle_rotation: 16.95679562961799
+      euclidean_error: -0.0006479867327391364
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.322765480241299
+      euclidean_error: -0.004161246542916497
+    base_right_marker_pose:
+      angle_rotation: 7.888691546425685
+      euclidean_error: -0.0028789921468873603
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.26282281184281
+      euclidean_error: 0.0021942287202432187
+    wrist_top_marker_pose:
+      angle_rotation: 19.35421531308436
+      euclidean_error: -0.00018264780020815774
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.400430533061463
+      euclidean_error: -0.004152304588214584
+    base_right_marker_pose:
+      angle_rotation: 8.278769231473078
+      euclidean_error: -0.0028393225898685204
+    shoulder_marker_pose:
+      angle_rotation: 24.056481582058414
+      euclidean_error: 0.005688058780954908
+    wrist_inside_marker_pose:
+      angle_rotation: 25.60925677684246
+      euclidean_error: 0.0024113455403348416
+    wrist_top_marker_pose:
+      angle_rotation: 22.5925535329396
+      euclidean_error: 0.0006948064237916052
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.137232313920373
+      euclidean_error: -0.004323051898734831
+    base_right_marker_pose:
+      angle_rotation: 7.099064504358527
+      euclidean_error: -0.00335417564252094
+    shoulder_marker_pose:
+      angle_rotation: 24.416815466394493
+      euclidean_error: 0.005554693624492901
+    wrist_inside_marker_pose:
+      angle_rotation: 25.319999611234493
+      euclidean_error: 0.001344030272494856
+    wrist_top_marker_pose:
+      angle_rotation: 22.605766434122167
+      euclidean_error: 0.0010823057164299765
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3997961539284165
+      euclidean_error: -0.004026242861264184
+    base_right_marker_pose:
+      angle_rotation: 6.182591276994243
+      euclidean_error: -0.0031523323071428466
+    shoulder_marker_pose:
+      angle_rotation: 25.750102946636265
+      euclidean_error: 0.005734766021184834
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 15.430475522670422
+      euclidean_error: 0.0006466435302923124
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4574590194295824
+      euclidean_error: -0.00359635600758057
+    base_right_marker_pose:
+      angle_rotation: 8.895719611034663
+      euclidean_error: -0.0026592509599203673
+    shoulder_marker_pose:
+      angle_rotation: 21.4750495242922
+      euclidean_error: 0.004193346294400713
+    wrist_inside_marker_pose:
+      angle_rotation: 25.641658341692832
+      euclidean_error: 0.0019165593442299622
+    wrist_top_marker_pose:
+      angle_rotation: 13.331573752546579
+      euclidean_error: 0.0006430497853572303
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.844697233085374
+      euclidean_error: -0.0037949108502375317
+    base_right_marker_pose:
+      angle_rotation: 8.136404362537522
+      euclidean_error: -0.003096908866422443
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.753349937538204
+      euclidean_error: 0.002711823930326429
+    wrist_top_marker_pose:
+      angle_rotation: 21.133436016328474
+      euclidean_error: 0.0007588301323856461
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.615900193725898
+      euclidean_error: -0.0036470290914146775
+    base_right_marker_pose:
+      angle_rotation: 6.037965377831462
+      euclidean_error: -0.0030592639439908087
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.1459229895586
+      euclidean_error: 0.0029228458673004054
+    wrist_top_marker_pose:
+      angle_rotation: 16.23582273997158
+      euclidean_error: -0.000142035376807792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7883678465254222
+      euclidean_error: -0.004055322304175268
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.149118970013596
+      euclidean_error: 0.004553454678825397
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 19.14074971839554
+      euclidean_error: 0.0018054405382961214
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.952196110957129
+      euclidean_error: -0.0038430042236767825
+    base_right_marker_pose:
+      angle_rotation: 7.076159196638596
+      euclidean_error: -0.0031104427595211037
+    shoulder_marker_pose:
+      angle_rotation: 23.429211269883094
+      euclidean_error: 0.004406038719621752
+    wrist_inside_marker_pose:
+      angle_rotation: 21.69757639754215
+      euclidean_error: 0.0015456413913014222
+    wrist_top_marker_pose:
+      angle_rotation: 16.916777428468226
+      euclidean_error: -0.0005091175249903879
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.367490397656352
+      euclidean_error: -0.004353704117611712
+    base_right_marker_pose:
+      angle_rotation: 6.861958730531237
+      euclidean_error: -0.0034935533069002656
+    shoulder_marker_pose:
+      angle_rotation: 17.27927380298005
+      euclidean_error: 0.0037611527294303393
+    wrist_inside_marker_pose:
+      angle_rotation: 27.243719638593586
+      euclidean_error: 0.0028460458009622602
+    wrist_top_marker_pose:
+      angle_rotation: 18.29776123188328
+      euclidean_error: 0.0006587878366111077
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.428279347075485
+      euclidean_error: -0.003471173295778285
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 19.548204460651345
+      euclidean_error: 0.0060268395734062175
+    wrist_inside_marker_pose:
+      angle_rotation: 24.101721916119136
+      euclidean_error: 0.002402055497225386
+    wrist_top_marker_pose:
+      angle_rotation: 18.166300767939898
+      euclidean_error: 0.0014544969817184006
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0608539207122263
+      euclidean_error: -0.0039280075350132115
+    base_right_marker_pose:
+      angle_rotation: 11.061734611287562
+      euclidean_error: -0.002602449941982665
+    shoulder_marker_pose:
+      angle_rotation: 18.600074223946944
+      euclidean_error: 0.0056773678678183614
+    wrist_inside_marker_pose:
+      angle_rotation: 25.29427486160612
+      euclidean_error: 0.0022652674596363997
+    wrist_top_marker_pose:
+      angle_rotation: 16.41999042232097
+      euclidean_error: 0.0009028925336188598
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0262373915967484
+      euclidean_error: -0.0040233873781988505
+    base_right_marker_pose:
+      angle_rotation: 7.216284075157252
+      euclidean_error: -0.0029121740597809476
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.10530224891577
+      euclidean_error: 0.003305841196646231
+    wrist_top_marker_pose:
+      angle_rotation: 18.124429759839725
+      euclidean_error: 0.0006752907627081139
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9485679743645
+      euclidean_error: -0.004209563882749734
+    base_right_marker_pose:
+      angle_rotation: 7.771595087009601
+      euclidean_error: -0.0027280203573046835
+    shoulder_marker_pose:
+      angle_rotation: 18.39777731989893
+      euclidean_error: 0.005640022514185827
+    wrist_inside_marker_pose:
+      angle_rotation: 19.291614999177956
+      euclidean_error: 0.0013620363316834139
+    wrist_top_marker_pose:
+      angle_rotation: 20.409707140636037
+      euclidean_error: -0.0013799431330784317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5888887497775457
+      euclidean_error: -0.0036713078941957855
+    base_right_marker_pose:
+      angle_rotation: 9.498690502388019
+      euclidean_error: -0.0028997467293579993
+    shoulder_marker_pose:
+      angle_rotation: 19.17250571831761
+      euclidean_error: 0.006624815317987975
+    wrist_inside_marker_pose:
+      angle_rotation: 21.398205824132425
+      euclidean_error: 0.0018101434327753019
+    wrist_top_marker_pose:
+      angle_rotation: 15.720696802188659
+      euclidean_error: 0.0001278195233138657
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.510379739938191
+      euclidean_error: -0.003513772178949548
+    base_right_marker_pose:
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+      euclidean_error: -0.0023219907290189523
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.510041973064332
+      euclidean_error: 0.0025587316392602366
+    wrist_top_marker_pose:
+      angle_rotation: 16.447442981848422
+      euclidean_error: 0.00024908363708986414
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.303165940536831
+      euclidean_error: -0.0037347610648524876
+    base_right_marker_pose:
+      angle_rotation: 6.960696380903018
+      euclidean_error: -0.003059805844544017
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.89212281795351
+      euclidean_error: 0.0024530182526408817
+    wrist_top_marker_pose:
+      angle_rotation: 17.414362389693927
+      euclidean_error: 0.00045771983552711504
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8601791761325828
+      euclidean_error: -0.004041487556265544
+    base_right_marker_pose:
+      angle_rotation: 7.398885343181655
+      euclidean_error: -0.002965862518201634
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.76556304663093
+      euclidean_error: 0.0011427409048040404
+    wrist_top_marker_pose:
+      angle_rotation: 20.54554437412011
+      euclidean_error: -0.00025324316586816664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.234629242261047
+      euclidean_error: -0.004027954768604847
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 23.603711987013302
+      euclidean_error: 0.005545090426192001
+    wrist_inside_marker_pose:
+      angle_rotation: 22.068775016170637
+      euclidean_error: 0.002809954541540427
+    wrist_top_marker_pose:
+      angle_rotation: 13.447470791849215
+      euclidean_error: -1.0241443409775286e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.099318162543656
+      euclidean_error: -0.00373566010814963
+    base_right_marker_pose:
+      angle_rotation: 5.724143114167055
+      euclidean_error: -0.0032512046218490243
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.11149505373259
+      euclidean_error: 0.0017241660894863342
+    wrist_top_marker_pose:
+      angle_rotation: 18.882468018671975
+      euclidean_error: -0.0001024158361423444
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4259098049586747
+      euclidean_error: -0.0041545772104256695
+    base_right_marker_pose:
+      angle_rotation: 8.309733085067963
+      euclidean_error: -0.00286090434122388
+    shoulder_marker_pose:
+      angle_rotation: 21.276685464810885
+      euclidean_error: 0.005953678450129396
+    wrist_inside_marker_pose:
+      angle_rotation: 23.06113920171685
+      euclidean_error: 0.0013718287584227884
+    wrist_top_marker_pose:
+      angle_rotation: 19.203089566599555
+      euclidean_error: 0.0008217471446109181
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9168384130570821
+      euclidean_error: -0.0037370353280821167
+    base_right_marker_pose:
+      angle_rotation: 9.231681388355987
+      euclidean_error: -0.002862698819471987
+    shoulder_marker_pose:
+      angle_rotation: 16.35755496348022
+      euclidean_error: 0.0046929879400446906
+    wrist_inside_marker_pose:
+      angle_rotation: 24.379852773719808
+      euclidean_error: 0.0021708705304109843
+    wrist_top_marker_pose:
+      angle_rotation: 20.038326719278732
+      euclidean_error: 7.606766545875665e-06
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.418623304015373
+      euclidean_error: -0.003906624065323383
+    base_right_marker_pose:
+      angle_rotation: 7.699470421853807
+      euclidean_error: -0.003236872252547318
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.64524913203865
+      euclidean_error: 0.001820164184587636
+    wrist_top_marker_pose:
+      angle_rotation: 18.860601046596045
+      euclidean_error: -6.171115157893592e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9275936598314536
+      euclidean_error: -0.004110833655124768
+    base_right_marker_pose:
+      angle_rotation: 6.297564081526454
+      euclidean_error: -0.003307717553200362
+    shoulder_marker_pose:
+      angle_rotation: 21.224826731560754
+      euclidean_error: 0.005317929744396488
+    wrist_inside_marker_pose:
+      angle_rotation: 22.44681550338292
+      euclidean_error: 0.002558900429460942
+    wrist_top_marker_pose:
+      angle_rotation: 22.35681044521536
+      euclidean_error: 0.00014543548780332483
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8360353000719418
+      euclidean_error: -0.003963794545168042
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.140545040919385
+      euclidean_error: 0.0022899249283389045
+    wrist_top_marker_pose:
+      angle_rotation: 19.964485148963632
+      euclidean_error: 0.0013301452043953388
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.683187596485099
+      euclidean_error: -0.003823505608486877
+    base_right_marker_pose:
+      angle_rotation: 5.793920541802127
+      euclidean_error: -0.0030675874958314697
+    shoulder_marker_pose:
+      angle_rotation: 23.89677362375568
+      euclidean_error: 0.0049624284137725905
+    wrist_inside_marker_pose:
+      angle_rotation: 24.712589432147464
+      euclidean_error: 0.0016083775816332357
+    wrist_top_marker_pose:
+      angle_rotation: 17.93440343732387
+      euclidean_error: -0.0008207248882227125
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.542257714756693
+      euclidean_error: -0.0042243723108613684
+    base_right_marker_pose:
+      angle_rotation: 5.267131748775278
+      euclidean_error: -0.0034021364995446834
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.407001221159934
+      euclidean_error: 0.0018329597839575884
+    wrist_top_marker_pose:
+      angle_rotation: 19.081312844333404
+      euclidean_error: -0.00028718061802901484
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4442589013477867
+      euclidean_error: -0.00367845608379358
+    base_right_marker_pose:
+      angle_rotation: 6.823565343982095
+      euclidean_error: -0.0027883922101228364
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.93943042391516
+      euclidean_error: 0.003250730586981554
+    wrist_top_marker_pose:
+      angle_rotation: 20.748413948122835
+      euclidean_error: 0.0008532895949557862
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6593996145091703
+      euclidean_error: -0.003720959527975354
+    base_right_marker_pose:
+      angle_rotation: 7.0486855479116315
+      euclidean_error: -0.0027283569758387305
+    shoulder_marker_pose:
+      angle_rotation: 25.55490263350021
+      euclidean_error: 0.004856498167585488
+    wrist_inside_marker_pose:
+      angle_rotation: 24.23231511103514
+      euclidean_error: 0.0018950202309944153
+    wrist_top_marker_pose:
+      angle_rotation: 17.522584226820275
+      euclidean_error: -0.00027876110544622357
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.233923681977676
+      euclidean_error: -0.0038276041441819286
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.42476870784894
+      euclidean_error: 0.004011906928212627
+    wrist_top_marker_pose:
+      angle_rotation: 14.751019395063736
+      euclidean_error: 0.0010275932722554337
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.222117828236388
+      euclidean_error: -0.003935958371485193
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.361372061761887
+      euclidean_error: 0.005188642910975427
+    wrist_inside_marker_pose:
+      angle_rotation: 23.386139855181806
+      euclidean_error: 0.003206075555545751
+    wrist_top_marker_pose:
+      angle_rotation: 16.8278660770057
+      euclidean_error: 0.0010244328323415486
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4442849450441417
+      euclidean_error: -0.00405398289877501
+    base_right_marker_pose:
+      angle_rotation: 5.948952554979558
+      euclidean_error: -0.0035088459451663168
+    shoulder_marker_pose:
+      angle_rotation: 25.92506654423914
+      euclidean_error: 0.005248858926559685
+    wrist_inside_marker_pose:
+      angle_rotation: 25.639579401261454
+      euclidean_error: 0.0019044254132308813
+    wrist_top_marker_pose:
+      angle_rotation: 22.12145137305896
+      euclidean_error: -0.00012192181487247211
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3503804431920803
+      euclidean_error: -0.0038934906452442464
+    base_right_marker_pose:
+      angle_rotation: 8.343517601423262
+      euclidean_error: -0.0028395122468201084
+    shoulder_marker_pose:
+      angle_rotation: 22.63414724839961
+      euclidean_error: 0.004239213670774733
+    wrist_inside_marker_pose:
+      angle_rotation: 23.289649365352098
+      euclidean_error: 0.0014243934340836262
+    wrist_top_marker_pose:
+      angle_rotation: 13.312959322203556
+      euclidean_error: -0.0005720101077618667
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.2895956385496918
+      euclidean_error: -0.004150283226098894
+    base_right_marker_pose:
+      angle_rotation: 8.254462059702895
+      euclidean_error: -0.00312633209917601
+    shoulder_marker_pose:
+      angle_rotation: 25.07195388778623
+      euclidean_error: 0.004968504064871038
+    wrist_inside_marker_pose:
+      angle_rotation: 23.29052560870515
+      euclidean_error: 0.0012249052975066288
+    wrist_top_marker_pose:
+      angle_rotation: 17.97760866781429
+      euclidean_error: -0.0006699183422733679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2367621667082527
+      euclidean_error: -0.003404561571729303
+    base_right_marker_pose:
+      angle_rotation: 4.197106570936121
+      euclidean_error: -0.0031944159966923458
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.08177364672046
+      euclidean_error: 0.0016500403612017545
+    wrist_top_marker_pose:
+      angle_rotation: 20.22654964091058
+      euclidean_error: -0.0005859609016776179
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.122510749720124
+      euclidean_error: -0.0038970297045660685
+    base_right_marker_pose:
+      angle_rotation: 9.080398631994345
+      euclidean_error: -0.0025899760085056345
+    shoulder_marker_pose:
+      angle_rotation: 16.052336579817656
+      euclidean_error: 0.005081763526858296
+    wrist_inside_marker_pose:
+      angle_rotation: 25.986234950499547
+      euclidean_error: 0.0024487174067434614
+    wrist_top_marker_pose:
+      angle_rotation: 17.54365574096504
+      euclidean_error: 0.0014088458918755098
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.2013136271329212
+      euclidean_error: -0.004131139711920584
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 24.622826045932616
+      euclidean_error: 0.0057118808137531785
+    wrist_inside_marker_pose:
+      angle_rotation: 22.78946209531125
+      euclidean_error: 0.0015477212434550358
+    wrist_top_marker_pose:
+      angle_rotation: 19.926187536200114
+      euclidean_error: -0.0001633335561297411
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8321907067316916
+      euclidean_error: -0.003914893253191831
+    base_right_marker_pose:
+      angle_rotation: 7.658168479629027
+      euclidean_error: -0.0031139803488693385
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.475137619251363
+      euclidean_error: 0.0018399999886499208
+    wrist_top_marker_pose:
+      angle_rotation: 18.559957493652057
+      euclidean_error: 0.0005521100744426688
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8425694663995285
+      euclidean_error: -0.003862857180278012
+    base_right_marker_pose:
+      angle_rotation: 5.062872060789311
+      euclidean_error: -0.003469975394881253
+    shoulder_marker_pose:
+      angle_rotation: 20.081123400511323
+      euclidean_error: 0.004393902130208516
+    wrist_inside_marker_pose:
+      angle_rotation: 22.809317005129483
+      euclidean_error: 0.00316909829931733
+    wrist_top_marker_pose:
+      angle_rotation: 20.55839373151363
+      euclidean_error: -0.00026828678055179633
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8529070031361736
+      euclidean_error: -0.003944352448800759
+    base_right_marker_pose:
+      angle_rotation: 8.362730347459046
+      euclidean_error: -0.002964421013144092
+    shoulder_marker_pose:
+      angle_rotation: 24.023529085664624
+      euclidean_error: 0.005121424275354669
+    wrist_inside_marker_pose:
+      angle_rotation: 23.60116413014638
+      euclidean_error: 0.003304981368112747
+    wrist_top_marker_pose:
+      angle_rotation: 17.006077163357496
+      euclidean_error: -0.00013374530419318909
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.218799637504608
+      euclidean_error: -0.0038478582402369232
+    base_right_marker_pose:
+      angle_rotation: 10.13360503308112
+      euclidean_error: -0.002778138810491715
+    shoulder_marker_pose:
+      angle_rotation: 22.939226647011633
+      euclidean_error: 0.006432782385346725
+    wrist_inside_marker_pose:
+      angle_rotation: 22.450743941611602
+      euclidean_error: 0.0019178076001641342
+    wrist_top_marker_pose:
+      angle_rotation: 15.606812328850921
+      euclidean_error: -0.00042068010779749976
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1778899092398984
+      euclidean_error: -0.0038851293432417
+    base_right_marker_pose:
+      angle_rotation: 7.288125304604455
+      euclidean_error: -0.003061114634107076
+    shoulder_marker_pose:
+      angle_rotation: 22.52040546546871
+      euclidean_error: 0.005617747809554374
+    wrist_inside_marker_pose:
+      angle_rotation: 22.02019440554643
+      euclidean_error: 0.0011042782789065786
+    wrist_top_marker_pose:
+      angle_rotation: 16.02852663901071
+      euclidean_error: -0.000668283728396335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3478704972592377
+      euclidean_error: -0.003938219788691022
+    base_right_marker_pose:
+      angle_rotation: 6.581560910322742
+      euclidean_error: -0.0034617280784995375
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 15.321021566671094
+      euclidean_error: 0.0021154828240165235
+    wrist_top_marker_pose:
+      angle_rotation: 14.085413686649156
+      euclidean_error: 0.00032016784204413895
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0037343140222076965
+    base_right_marker_pose:
+      angle_rotation: 7.504993234338696
+      euclidean_error: -0.0030332163137433144
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.43720957328086
+      euclidean_error: 0.002215623649418408
+    wrist_top_marker_pose:
+      angle_rotation: 16.230828946543685
+      euclidean_error: -3.3801193396798546e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.266582121473414
+      euclidean_error: -0.0034920950502139725
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.176337312923078
+      euclidean_error: 0.002757193216552989
+    wrist_top_marker_pose:
+      angle_rotation: 20.596113408886147
+      euclidean_error: 0.001000918262410555
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.809810483200014
+      euclidean_error: -0.0038232253310687137
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.26206737661513
+      euclidean_error: 0.002163154351291996
+    wrist_top_marker_pose:
+      angle_rotation: 16.412013304121214
+      euclidean_error: 0.00012427957244076637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.444469974904381
+      euclidean_error: -0.003918709918455332
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.17135474638027
+      euclidean_error: 0.0025734036532477633
+    wrist_top_marker_pose:
+      angle_rotation: 18.531202392988778
+      euclidean_error: 0.0004057973431880191
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7472819301058995
+      euclidean_error: -0.0035038355478422822
+    base_right_marker_pose:
+      angle_rotation: 9.467236649116284
+      euclidean_error: -0.0028229399557341273
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.11727949828633
+      euclidean_error: 0.002498428462419322
+    wrist_top_marker_pose:
+      angle_rotation: 19.60277694789026
+      euclidean_error: 0.0019062501087417916
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.781758165465153
+      euclidean_error: -0.0036804074148696353
+    base_right_marker_pose:
+      angle_rotation: 7.226321058440329
+      euclidean_error: -0.0029773762538888304
+    shoulder_marker_pose:
+      angle_rotation: 23.08774652855809
+      euclidean_error: 0.005776327476266108
+    wrist_inside_marker_pose:
+      angle_rotation: 22.003462576874263
+      euclidean_error: 0.004011897832256417
+    wrist_top_marker_pose:
+      angle_rotation: 19.392252760734827
+      euclidean_error: 0.001327629862212798
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2807617987898756
+      euclidean_error: -0.0038142222068717757
+    base_right_marker_pose:
+      angle_rotation: 7.664590467684564
+      euclidean_error: -0.0028474727927496613
+    shoulder_marker_pose:
+      angle_rotation: 16.184497588618875
+      euclidean_error: 0.005514170827973119
+    wrist_inside_marker_pose:
+      angle_rotation: 21.74264569902725
+      euclidean_error: 0.0024926630132547922
+    wrist_top_marker_pose:
+      angle_rotation: 13.921586185312654
+      euclidean_error: -0.00041432183394018995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5890060271092064
+      euclidean_error: -0.003808832964130926
+    base_right_marker_pose:
+      angle_rotation: 8.641733716686074
+      euclidean_error: -0.0026152566349629813
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.491072965428327
+      euclidean_error: 0.00150721432870915
+    wrist_top_marker_pose:
+      angle_rotation: 16.467561914447717
+      euclidean_error: -0.0003336997009060205
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5052490427220366
+      euclidean_error: -0.0038983916662809204
+    base_right_marker_pose:
+      angle_rotation: 5.914960032107751
+      euclidean_error: -0.0029360183959306063
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.627533934020605
+      euclidean_error: 0.0018858628669304878
+    wrist_top_marker_pose:
+      angle_rotation: 20.680228402046723
+      euclidean_error: -0.00037459802902783945
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.73069774102444
+      euclidean_error: -0.00400487200826638
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.56189357311439
+      euclidean_error: 0.0021833769028226646
+    wrist_top_marker_pose:
+      angle_rotation: 15.764929898063208
+      euclidean_error: 0.000898458043095518
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1128309333370257
+      euclidean_error: -0.004114629235484446
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.59825442835337
+      euclidean_error: 0.002929175055324973
+    wrist_top_marker_pose:
+      angle_rotation: 19.14491013731448
+      euclidean_error: 0.0008274571733188907
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6600982427426594
+      euclidean_error: -0.0038575038793750016
+    base_right_marker_pose:
+      angle_rotation: 5.760995497950324
+      euclidean_error: -0.0025401780564990872
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.5190707189056
+      euclidean_error: 0.0020891776415640217
+    wrist_top_marker_pose:
+      angle_rotation: 19.161727947508698
+      euclidean_error: -0.00023856298900148953
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.30200984476006
+      euclidean_error: -0.003919219546288821
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.07143738137581
+      euclidean_error: 0.0031831196932563532
+    wrist_top_marker_pose:
+      angle_rotation: 19.89846451189512
+      euclidean_error: 0.0007972781705156695
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.963609793815301
+      euclidean_error: -0.003984811868252391
+    base_right_marker_pose:
+      angle_rotation: 5.380942688557427
+      euclidean_error: -0.0035636414989660414
+    shoulder_marker_pose:
+      angle_rotation: 23.97026646413446
+      euclidean_error: 0.00572210397862527
+    wrist_inside_marker_pose:
+      angle_rotation: 20.52743460617742
+      euclidean_error: 0.0032449134712900785
+    wrist_top_marker_pose:
+      angle_rotation: 22.534180609421618
+      euclidean_error: 0.0019604155668307977
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8858232186099781
+      euclidean_error: -0.004236393588292642
+    base_right_marker_pose:
+      angle_rotation: 7.1765276719028295
+      euclidean_error: -0.0028900722336552276
+    shoulder_marker_pose:
+      angle_rotation: 20.36049424346342
+      euclidean_error: 0.004601271035196475
+    wrist_inside_marker_pose:
+      angle_rotation: 22.533395971735594
+      euclidean_error: 0.0025278287829904045
+    wrist_top_marker_pose:
+      angle_rotation: 21.063924079653667
+      euclidean_error: 0.0005458931682192913
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.233971047056585
+      euclidean_error: -0.003769829332773811
+    base_right_marker_pose:
+      angle_rotation: 6.186944524070013
+      euclidean_error: -0.0030658534690833905
+    shoulder_marker_pose:
+      angle_rotation: 23.55303306657843
+      euclidean_error: 0.006002194086677126
+    wrist_inside_marker_pose:
+      angle_rotation: 21.936442282033667
+      euclidean_error: 0.0021501017966150116
+    wrist_top_marker_pose:
+      angle_rotation: 19.206375730716438
+      euclidean_error: -0.00037868895118753354
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.283798773393512
+      euclidean_error: -0.003952703773403621
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.913265842779143
+      euclidean_error: 0.004961727132174909
+    wrist_inside_marker_pose:
+      angle_rotation: 22.532206140921048
+      euclidean_error: 0.0023408172052866716
+    wrist_top_marker_pose:
+      angle_rotation: 18.813901014279132
+      euclidean_error: 9.389415015714775e-06
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2241580174550126
+      euclidean_error: -0.004094122066185424
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.426924515556266
+      euclidean_error: 0.002351846218788478
+    wrist_top_marker_pose:
+      angle_rotation: 19.84666628322361
+      euclidean_error: 0.0004808385963014361
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5376180899084524
+      euclidean_error: -0.004151922206757974
+    base_right_marker_pose:
+      angle_rotation: 8.375491811220463
+      euclidean_error: -0.0026623626829583857
+    shoulder_marker_pose:
+      angle_rotation: 23.77420317167467
+      euclidean_error: 0.005487321315393978
+    wrist_inside_marker_pose:
+      angle_rotation: 21.140006762094476
+      euclidean_error: 0.00272791888303503
+    wrist_top_marker_pose:
+      angle_rotation: 13.641400430897654
+      euclidean_error: -0.0003942613926760652
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.897396321064396
+      euclidean_error: -0.003783627538475387
+    base_right_marker_pose:
+      angle_rotation: 8.563267693218506
+      euclidean_error: -0.0025638482387356776
+    shoulder_marker_pose:
+      angle_rotation: 22.64002152828501
+      euclidean_error: 0.006024487131783829
+    wrist_inside_marker_pose:
+      angle_rotation: 21.0071045116557
+      euclidean_error: 0.0028197787979569178
+    wrist_top_marker_pose:
+      angle_rotation: 14.141719437840637
+      euclidean_error: -0.00042723452722459587
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8150154483970424
+      euclidean_error: -0.003830860035754391
+    base_right_marker_pose:
+      angle_rotation: 9.862796909629719
+      euclidean_error: -0.0025991834929393054
+    shoulder_marker_pose:
+      angle_rotation: 22.90913403147833
+      euclidean_error: 0.005986401482260706
+    wrist_inside_marker_pose:
+      angle_rotation: 21.307198218607912
+      euclidean_error: 0.002382718161751174
+    wrist_top_marker_pose:
+      angle_rotation: 16.89555772104026
+      euclidean_error: 0.001707464143915871
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7018830237972993
+      euclidean_error: -0.0041271742507769105
+    base_right_marker_pose:
+      angle_rotation: 8.683048490174606
+      euclidean_error: -0.003192514657684664
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.319324726143652
+      euclidean_error: 0.0022422174742734446
+    wrist_top_marker_pose:
+      angle_rotation: 20.16183562037824
+      euclidean_error: 0.0005022584584094547
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1613683687743483
+      euclidean_error: -0.00405011914054354
+    base_right_marker_pose:
+      angle_rotation: 7.729823384414989
+      euclidean_error: -0.003309405033035784
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.33392694807863
+      euclidean_error: 0.002673472792964482
+    wrist_top_marker_pose:
+      angle_rotation: 17.316304594842368
+      euclidean_error: -0.0007290778704335255
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.651784994669513
+      euclidean_error: -0.003781255274415196
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.765706806074192
+      euclidean_error: 0.006348625895164717
+    wrist_inside_marker_pose:
+      angle_rotation: 24.62323712993241
+      euclidean_error: 0.002757765493735631
+    wrist_top_marker_pose:
+      angle_rotation: 22.04284531333039
+      euclidean_error: 0.0017182694441851831
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2732514442176517
+      euclidean_error: -0.004010353723894022
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 16.665848221225335
+      euclidean_error: 0.0045865824456295945
+    wrist_inside_marker_pose:
+      angle_rotation: 20.94021773876814
+      euclidean_error: 0.003094461283304817
+    wrist_top_marker_pose:
+      angle_rotation: 16.048083540174236
+      euclidean_error: 0.00099866199246601
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.960323416854294
+      euclidean_error: -0.003265307318616073
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.53024311262394
+      euclidean_error: 0.004802282765105748
+    wrist_inside_marker_pose:
+      angle_rotation: 18.0212779783986
+      euclidean_error: 0.0024047800254743956
+    wrist_top_marker_pose:
+      angle_rotation: 16.380581614615778
+      euclidean_error: 0.0010186533894107619
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.394495545957062
+      euclidean_error: -0.0037070938415284527
+    base_right_marker_pose:
+      angle_rotation: 9.585000820397722
+      euclidean_error: -0.0024934343878142418
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.726409703742895
+      euclidean_error: 0.0020164506273453453
+    wrist_top_marker_pose:
+      angle_rotation: 13.0620462863265
+      euclidean_error: 7.432071190316414e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6550439846181026
+      euclidean_error: -0.0038212648100265367
+    base_right_marker_pose:
+      angle_rotation: 7.5275794700585115
+      euclidean_error: -0.0023952899062876787
+    shoulder_marker_pose:
+      angle_rotation: 20.04935080979253
+      euclidean_error: 0.005796218926593544
+    wrist_inside_marker_pose:
+      angle_rotation: 27.739133394216665
+      euclidean_error: 0.0021018126348654187
+    wrist_top_marker_pose:
+      angle_rotation: 21.999516530406062
+      euclidean_error: 0.002139920079987312
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8549266241665983
+      euclidean_error: -0.0035609011186704675
+    base_right_marker_pose:
+      angle_rotation: 7.013375601458846
+      euclidean_error: -0.0030426224824763315
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.78413248579417
+      euclidean_error: 0.0019484778967926442
+    wrist_top_marker_pose:
+      angle_rotation: 18.271554422081238
+      euclidean_error: -0.000632368439309583
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.457160986210862
+      euclidean_error: -0.003892754045029201
+    base_right_marker_pose:
+      angle_rotation: 8.374217026388024
+      euclidean_error: -0.003032738704830229
+    shoulder_marker_pose:
+      angle_rotation: 21.422179530439173
+      euclidean_error: 0.006202792864588691
+    wrist_inside_marker_pose:
+      angle_rotation: 21.349992085974215
+      euclidean_error: 0.002281203813966348
+    wrist_top_marker_pose:
+      angle_rotation: 19.29906141589598
+      euclidean_error: 0.0005929937247414196
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7189094670928564
+      euclidean_error: -0.0038608179169524748
+    base_right_marker_pose:
+      angle_rotation: 6.250230111755406
+      euclidean_error: -0.0028294052441620865
+    shoulder_marker_pose:
+      angle_rotation: 23.27157832300326
+      euclidean_error: 0.005648148201288672
+    wrist_inside_marker_pose:
+      angle_rotation: 21.33762562609874
+      euclidean_error: 0.001572189337347485
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4710793100664934
+      euclidean_error: -0.00440860415276223
+    base_right_marker_pose:
+      angle_rotation: 5.754409324322868
+      euclidean_error: -0.0031181450135117084
+    shoulder_marker_pose:
+      angle_rotation: 23.28566888635389
+      euclidean_error: 0.0051309500727589885
+    wrist_inside_marker_pose:
+      angle_rotation: 25.537915079099168
+      euclidean_error: 0.003119792140444999
+    wrist_top_marker_pose:
+      angle_rotation: 23.623742052388028
+      euclidean_error: 0.0015826047414365663
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4603867199063814
+      euclidean_error: -0.003943486471002178
+    base_right_marker_pose:
+      angle_rotation: 5.352607555605798
+      euclidean_error: -0.0031837359496613704
+    shoulder_marker_pose:
+      angle_rotation: 21.901717964057585
+      euclidean_error: 0.006321717006017136
+    wrist_inside_marker_pose:
+      angle_rotation: 25.23378545969588
+      euclidean_error: 0.0037489381412176837
+    wrist_top_marker_pose:
+      angle_rotation: 19.330375874280122
+      euclidean_error: 0.0006766162462619185
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.540268437800789
+      euclidean_error: -0.0032728325170604533
+    base_right_marker_pose:
+      angle_rotation: 6.44484771655613
+      euclidean_error: -0.002112116995283797
+    shoulder_marker_pose:
+      angle_rotation: 24.960500885229685
+      euclidean_error: 0.006133165587444034
+    wrist_inside_marker_pose:
+      angle_rotation: 21.136818060499078
+      euclidean_error: 0.0035981887663343315
+    wrist_top_marker_pose:
+      angle_rotation: 17.752151889578677
+      euclidean_error: 0.0014742229932444006
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3765233341313734
+      euclidean_error: -0.0037575873947438554
+    base_right_marker_pose:
+      angle_rotation: 6.4264173984926956
+      euclidean_error: -0.0021565292832691485
+    shoulder_marker_pose:
+      angle_rotation: 25.334530563206897
+      euclidean_error: 0.006423767405995595
+    wrist_inside_marker_pose:
+      angle_rotation: 22.82392268050486
+      euclidean_error: 0.001274148399414754
+    wrist_top_marker_pose:
+      angle_rotation: 20.370378540804367
+      euclidean_error: -0.00014516115944385177
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.092411558372776
+      euclidean_error: -0.003689213601811514
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.52588908520721
+      euclidean_error: 0.00256950361505337
+    wrist_top_marker_pose:
+      angle_rotation: 19.550492033424185
+      euclidean_error: 0.0008144039310727935
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.54031259892853
+      euclidean_error: -0.003532898094689041
+    base_right_marker_pose:
+      angle_rotation: 8.64916262962683
+      euclidean_error: -0.0024241640398691144
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.4418829230443
+      euclidean_error: 0.0021262130494520415
+    wrist_top_marker_pose:
+      angle_rotation: 17.592881915522735
+      euclidean_error: 0.0003801213289396088
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.521752801296996
+      euclidean_error: -0.0039752533239081345
+    base_right_marker_pose:
+      angle_rotation: 6.506265786352615
+      euclidean_error: -0.002780878457115832
+    shoulder_marker_pose:
+      angle_rotation: 17.958178960469603
+      euclidean_error: 0.0055446275343683515
+    wrist_inside_marker_pose:
+      angle_rotation: 28.507155384161983
+      euclidean_error: 0.002283605572916958
+    wrist_top_marker_pose:
+      angle_rotation: 20.354362887316963
+      euclidean_error: 0.000520801657644121
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.213779935466555
+      euclidean_error: -0.0034548708871221523
+    base_right_marker_pose:
+      angle_rotation: 7.4692578455611685
+      euclidean_error: -0.002595266163062049
+    shoulder_marker_pose:
+      angle_rotation: 21.873677802175997
+      euclidean_error: 0.005234511166375411
+    wrist_inside_marker_pose:
+      angle_rotation: 24.95200231650638
+      euclidean_error: 0.002171820126374846
+    wrist_top_marker_pose:
+      angle_rotation: 24.785071843558974
+      euclidean_error: -2.552078274398184e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.389069231467594
+      euclidean_error: -0.0035179845114523545
+    base_right_marker_pose:
+      angle_rotation: 9.803447353154622
+      euclidean_error: -0.0025960649192439123
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.041191235377358
+      euclidean_error: 0.0028616569848305407
+    wrist_top_marker_pose:
+      angle_rotation: 17.635156181895105
+      euclidean_error: 0.0005664415389745603
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4316171032621137
+      euclidean_error: -0.0039004233236396013
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 19.55505151007146
+      euclidean_error: 0.005416607147393004
+    wrist_inside_marker_pose:
+      angle_rotation: 23.344371350980317
+      euclidean_error: 0.0017981036232259662
+    wrist_top_marker_pose:
+      angle_rotation: 17.52424275789329
+      euclidean_error: -0.0002540497842261624
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5829388237408435
+      euclidean_error: -0.0038145914187902585
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 19.306709646995948
+      euclidean_error: 0.005756874245746779
+    wrist_inside_marker_pose:
+      angle_rotation: 23.90496703456808
+      euclidean_error: 0.0021072321346191636
+    wrist_top_marker_pose:
+      angle_rotation: 17.365795241211494
+      euclidean_error: 0.0003795463055654702
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.360297573653457
+      euclidean_error: -0.0035711754524486716
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.306598532509348
+      euclidean_error: 0.004487727917925843
+    wrist_inside_marker_pose:
+      angle_rotation: 22.326232397392495
+      euclidean_error: 0.00290689089330598
+    wrist_top_marker_pose:
+      angle_rotation: 20.623958171477316
+      euclidean_error: 0.0016308357991803302
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.115045177584323
+      euclidean_error: -0.003746562860607705
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.33264231291933
+      euclidean_error: 0.002766976784927433
+    wrist_top_marker_pose:
+      angle_rotation: 17.170269811752817
+      euclidean_error: 0.0005623684338592616
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.065199064660947
+      euclidean_error: -0.0037204417770301257
+    base_right_marker_pose:
+      angle_rotation: 9.534204195420266
+      euclidean_error: -0.0024789954888924104
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.614917133654114
+      euclidean_error: 0.002937606441431484
+    wrist_top_marker_pose:
+      angle_rotation: 20.596909358948356
+      euclidean_error: 0.001136566402018091
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8850756182196917
+      euclidean_error: -0.0039499932146703776
+    base_right_marker_pose:
+      angle_rotation: 9.271901419693283
+      euclidean_error: -0.0022560798515188774
+    shoulder_marker_pose:
+      angle_rotation: 22.906829299727608
+      euclidean_error: 0.006414573979320992
+    wrist_inside_marker_pose:
+      angle_rotation: 24.321443159348902
+      euclidean_error: 0.0019981955926602346
+    wrist_top_marker_pose:
+      angle_rotation: 18.95056135798046
+      euclidean_error: 0.0013121715823097846
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4329200788290737
+      euclidean_error: -0.003476449673116777
+    base_right_marker_pose:
+      angle_rotation: 11.36480163314706
+      euclidean_error: -0.002549944609193444
+    shoulder_marker_pose:
+      angle_rotation: 19.53194036189009
+      euclidean_error: 0.004905407805780082
+    wrist_inside_marker_pose:
+      angle_rotation: 23.194089728857623
+      euclidean_error: 0.0030989134747025915
+    wrist_top_marker_pose:
+      angle_rotation: 23.00972202769822
+      euclidean_error: 0.000872060214367032
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.747491041530658
+      euclidean_error: -0.0034513318698953244
+    base_right_marker_pose:
+      angle_rotation: 7.35992413087379
+      euclidean_error: -0.002925223030466273
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.12844133467004
+      euclidean_error: 0.002415942091154366
+    wrist_top_marker_pose:
+      angle_rotation: 15.463912939420615
+      euclidean_error: 0.0014261176208257842
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.117015948053069
+      euclidean_error: -0.003981686212040758
+    base_right_marker_pose:
+      angle_rotation: 5.811587933022109
+      euclidean_error: -0.0022896477245961666
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.891437655314146
+      euclidean_error: 0.0017682844831232725
+    wrist_top_marker_pose:
+      angle_rotation: 15.716666954694773
+      euclidean_error: 6.222642570141712e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9196362372829467
+      euclidean_error: -0.0034441610274165146
+    base_right_marker_pose:
+      angle_rotation: 9.787109582201255
+      euclidean_error: -0.0018793950147317773
+    shoulder_marker_pose:
+      angle_rotation: 18.94839370649065
+      euclidean_error: 0.006368142419952316
+    wrist_inside_marker_pose:
+      angle_rotation: 25.9853045906968
+      euclidean_error: 0.0017072397561533892
+    wrist_top_marker_pose:
+      angle_rotation: 19.980239702407857
+      euclidean_error: 0.001552468406881058
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8060317228075573
+      euclidean_error: -0.0037476945012488994
+    base_right_marker_pose:
+      angle_rotation: 10.49238550908421
+      euclidean_error: -0.002049683091323251
+    shoulder_marker_pose:
+      angle_rotation: 16.82347250125363
+      euclidean_error: 0.00585359341607794
+    wrist_inside_marker_pose:
+      angle_rotation: 28.189440447516414
+      euclidean_error: 0.0022350977563189156
+    wrist_top_marker_pose:
+      angle_rotation: 15.795399554639145
+      euclidean_error: 0.0015733205865777755
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.023726857062329
+      euclidean_error: -0.003940967990214594
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.471775201813287
+      euclidean_error: 0.006328448883344162
+    wrist_inside_marker_pose:
+      angle_rotation: 23.030162629178804
+      euclidean_error: 0.002226627285224936
+    wrist_top_marker_pose:
+      angle_rotation: 21.211937981544484
+      euclidean_error: 0.0019889992406012524
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8130007091180604
+      euclidean_error: -0.003638279067696759
+    base_right_marker_pose:
+      angle_rotation: 8.229157864422088
+      euclidean_error: -0.0025931776461227685
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.56203721712291
+      euclidean_error: 0.0026121217364462046
+    wrist_top_marker_pose:
+      angle_rotation: 18.50982438640802
+      euclidean_error: 0.001399405896203687
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.003294747978675
+      euclidean_error: -0.0035441733505625628
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.107296627122338
+      euclidean_error: 0.002957264900070089
+    wrist_top_marker_pose:
+      angle_rotation: 16.036366846966416
+      euclidean_error: 0.00020925340388067148
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.767678454238499
+      euclidean_error: -0.003897480637806261
+    base_right_marker_pose:
+      angle_rotation: 6.0714099630248235
+      euclidean_error: -0.002880019085500951
+    shoulder_marker_pose:
+      angle_rotation: 17.216432542011926
+      euclidean_error: 0.005224272369437566
+    wrist_inside_marker_pose:
+      angle_rotation: 21.48689323653025
+      euclidean_error: 0.0014490352273210938
+    wrist_top_marker_pose:
+      angle_rotation: 16.909429006956664
+      euclidean_error: -0.0002921510611484379
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.3030334371703765
+      euclidean_error: -0.003457109877421205
+    base_right_marker_pose:
+      angle_rotation: 9.58770990610895
+      euclidean_error: -0.0023069324266363767
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.150174559203307
+      euclidean_error: 0.0025451864708201377
+    wrist_top_marker_pose:
+      angle_rotation: 20.33258896437924
+      euclidean_error: 9.14469050891098e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.101397105587952
+      euclidean_error: -0.004059363770909652
+    base_right_marker_pose:
+      angle_rotation: 6.766686962715367
+      euclidean_error: -0.002245514086237743
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.186239944219242
+      euclidean_error: 0.0023695093222051433
+    wrist_top_marker_pose:
+      angle_rotation: 19.674969034403937
+      euclidean_error: 0.0003073417325084593
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.249787529577763
+      euclidean_error: -0.003565093726504154
+    base_right_marker_pose:
+      angle_rotation: 7.9439751434182515
+      euclidean_error: -0.002494056782462284
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.121552996854106
+      euclidean_error: 0.002237913603180597
+    wrist_top_marker_pose:
+      angle_rotation: 21.20028876197703
+      euclidean_error: 0.00043695966301537936
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5815757448163288
+      euclidean_error: -0.0040781199759099
+    base_right_marker_pose:
+      angle_rotation: 7.315480774668465
+      euclidean_error: -0.002763681333669221
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.98472440008057
+      euclidean_error: 0.002447320376554596
+    wrist_top_marker_pose:
+      angle_rotation: 16.452987604304838
+      euclidean_error: -0.0002741614287692373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.345389525187343
+      euclidean_error: -0.0037297901245519904
+    base_right_marker_pose:
+      angle_rotation: 8.28312461936443
+      euclidean_error: -0.001973153417476614
+    shoulder_marker_pose:
+      angle_rotation: 23.04975057371717
+      euclidean_error: 0.005794630846102211
+    wrist_inside_marker_pose:
+      angle_rotation: 22.41398867148517
+      euclidean_error: 0.003888128878363206
+    wrist_top_marker_pose:
+      angle_rotation: 20.60357991920707
+      euclidean_error: 0.002300841347145144
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.168476891454783
+      euclidean_error: -0.004121409922243857
+    base_right_marker_pose:
+      angle_rotation: 8.589285516939919
+      euclidean_error: -0.0028225821615365243
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.78808967659024
+      euclidean_error: 0.003030670681535619
+    wrist_top_marker_pose:
+      angle_rotation: 18.92016830849507
+      euclidean_error: 0.0005247911700431152
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6675472261908455
+      euclidean_error: -0.003940729693012068
+    base_right_marker_pose:
+      angle_rotation: 4.752851456321703
+      euclidean_error: -0.002751160351739168
+    shoulder_marker_pose:
+      angle_rotation: 20.901010447178198
+      euclidean_error: 0.005540367483754638
+    wrist_inside_marker_pose:
+      angle_rotation: 25.173512259747724
+      euclidean_error: 0.0020377796641686263
+    wrist_top_marker_pose:
+      angle_rotation: 17.774931617025548
+      euclidean_error: 0.001229963539286727
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3765752138576506
+      euclidean_error: -0.003846213977882207
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.43812890560596
+      euclidean_error: 0.005984517268632916
+    wrist_inside_marker_pose:
+      angle_rotation: 24.011560193651746
+      euclidean_error: 0.0033104192568860213
+    wrist_top_marker_pose:
+      angle_rotation: 19.070235467278966
+      euclidean_error: 0.00018377478118070112
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.957189743310105
+      euclidean_error: -0.0037393417119313543
+    base_right_marker_pose:
+      angle_rotation: 6.869430848284305
+      euclidean_error: -0.0028592150507320557
+    shoulder_marker_pose:
+      angle_rotation: 19.15998404776845
+      euclidean_error: 0.006115590479882194
+    wrist_inside_marker_pose:
+      angle_rotation: 21.24500784400321
+      euclidean_error: 0.0033269500874929525
+    wrist_top_marker_pose:
+      angle_rotation: 14.919881553793656
+      euclidean_error: 0.00015792048352869514
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.656899687456418
+      euclidean_error: -0.0033192673604549583
+    base_right_marker_pose:
+      angle_rotation: 10.051186646399863
+      euclidean_error: -0.001913978470048261
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.766993838076395
+      euclidean_error: 0.00263608836257212
+    wrist_top_marker_pose:
+      angle_rotation: 16.764687802812123
+      euclidean_error: 0.0015999107181331462
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.912421463814178
+      euclidean_error: -0.0038218233403755075
+    base_right_marker_pose:
+      angle_rotation: 10.467583980779088
+      euclidean_error: -0.00219562201180179
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.420867863693015
+      euclidean_error: 0.0015709654172227916
+    wrist_top_marker_pose:
+      angle_rotation: 18.720716874342244
+      euclidean_error: -7.389810712266076e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7070098056308685
+      euclidean_error: -0.004290556964670178
+    base_right_marker_pose:
+      angle_rotation: 7.905201443284761
+      euclidean_error: -0.0027776404165449353
+    shoulder_marker_pose:
+      angle_rotation: 15.128547091822517
+      euclidean_error: 0.004844243226020395
+    wrist_inside_marker_pose:
+      angle_rotation: 23.79197855255798
+      euclidean_error: 0.002768268401140861
+    wrist_top_marker_pose:
+      angle_rotation: 15.814429865548219
+      euclidean_error: 0.00109909770770511
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.001476798318055
+      euclidean_error: -0.0035128047991555
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.377691213646724
+      euclidean_error: 0.00436925068926608
+    wrist_inside_marker_pose:
+      angle_rotation: 23.69179309304508
+      euclidean_error: 0.0035033014004611784
+    wrist_top_marker_pose:
+      angle_rotation: 18.566899099361947
+      euclidean_error: 0.0008663152679380115
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0479734389387296
+      euclidean_error: -0.0038206097220943036
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.448865015586062
+      euclidean_error: 0.0056477453741022865
+    wrist_inside_marker_pose:
+      angle_rotation: 20.18694345892925
+      euclidean_error: 0.0019250366888722281
+    wrist_top_marker_pose:
+      angle_rotation: 13.207941041481494
+      euclidean_error: -0.0003237040770203148
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5827696695280946
+      euclidean_error: -0.00385656460394479
+    base_right_marker_pose:
+      angle_rotation: 7.050813810433434
+      euclidean_error: -0.0018331293076905286
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.577393559594896
+      euclidean_error: 0.002211021223710974
+    wrist_top_marker_pose:
+      angle_rotation: 19.20579651175261
+      euclidean_error: -0.000813728103923661
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6777292624830549
+      euclidean_error: -0.003982989480677102
+    base_right_marker_pose:
+      angle_rotation: 4.960006991381691
+      euclidean_error: -0.002901634505692585
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.889469884475936
+      euclidean_error: 0.002790526928506454
+    wrist_top_marker_pose:
+      angle_rotation: 22.429843272985764
+      euclidean_error: 0.0010023060119770388
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0037938318065835475
+    base_right_marker_pose:
+      angle_rotation: 6.048211596238955
+      euclidean_error: -0.0032938940101050473
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.940277096841516
+      euclidean_error: 0.003037227380023211
+    wrist_top_marker_pose:
+      angle_rotation: 19.83289018674086
+      euclidean_error: 3.388330687659202e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7785824589170636
+      euclidean_error: -0.003904064546452757
+    base_right_marker_pose:
+      angle_rotation: 7.927517029144692
+      euclidean_error: -0.0024929104256259382
+    shoulder_marker_pose:
+      angle_rotation: 21.88275489329683
+      euclidean_error: 0.006522349581660425
+    wrist_inside_marker_pose:
+      angle_rotation: 20.028314831467355
+      euclidean_error: 0.0020258873124423538
+    wrist_top_marker_pose:
+      angle_rotation: 16.338980718664796
+      euclidean_error: 0.0006968924740747839
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.950229141138057
+      euclidean_error: -0.0035641761048985643
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 15.745709670913
+      euclidean_error: 0.00606624221816654
+    wrist_inside_marker_pose:
+      angle_rotation: 20.9869747302272
+      euclidean_error: 0.002886588619074093
+    wrist_top_marker_pose:
+      angle_rotation: 21.622852022917904
+      euclidean_error: 0.0013386786457817434
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1763868614434387
+      euclidean_error: -0.003912069209940805
+    base_right_marker_pose:
+      angle_rotation: 9.636648097239842
+      euclidean_error: -0.0021339767680635946
+    shoulder_marker_pose:
+      angle_rotation: 19.631038642353687
+      euclidean_error: 0.006271595214805692
+    wrist_inside_marker_pose:
+      angle_rotation: 19.5830665524966
+      euclidean_error: 0.002449269334976245
+    wrist_top_marker_pose:
+      angle_rotation: 20.239952321428984
+      euclidean_error: -0.0004669233616260149
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8171787060035007
+      euclidean_error: -0.0036186997241812735
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.469694288503668
+      euclidean_error: 0.0013445683815344056
+    wrist_top_marker_pose:
+      angle_rotation: 16.30842766763918
+      euclidean_error: -0.0008808530759167876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.107813273313894
+      euclidean_error: -0.0033241229829799046
+    base_right_marker_pose:
+      angle_rotation: 9.104002902851327
+      euclidean_error: -0.0016254598260885267
+    shoulder_marker_pose:
+      angle_rotation: 21.94755267197537
+      euclidean_error: 0.007324633797572311
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 18.496872856485002
+      euclidean_error: 0.0016883508804645952
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6072609207713753
+      euclidean_error: -0.004108120703778972
+    base_right_marker_pose:
+      angle_rotation: 7.974705963981192
+      euclidean_error: -0.002354162993118858
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.072370299832595
+      euclidean_error: 0.002291138827578143
+    wrist_top_marker_pose:
+      angle_rotation: 17.111584776248424
+      euclidean_error: -0.0005953295014934357
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.742498526206483
+      euclidean_error: -0.0037059672956918366
+    base_right_marker_pose:
+      angle_rotation: 8.424714846810453
+      euclidean_error: -0.002819505277273704
+    shoulder_marker_pose:
+      angle_rotation: 20.975754986092436
+      euclidean_error: 0.0064095089230350455
+    wrist_inside_marker_pose:
+      angle_rotation: 22.50480553633534
+      euclidean_error: 0.0016310102547307803
+    wrist_top_marker_pose:
+      angle_rotation: 17.437504380402036
+      euclidean_error: 0.0007769122279486229
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5000825961720476
+      euclidean_error: -0.0036774663926361084
+    base_right_marker_pose:
+      angle_rotation: 7.440472406269708
+      euclidean_error: -0.002314565981591521
+    shoulder_marker_pose:
+      angle_rotation: 15.750863121283887
+      euclidean_error: 0.005606533866235663
+    wrist_inside_marker_pose:
+      angle_rotation: 24.695548452893167
+      euclidean_error: 0.0029087668767129315
+    wrist_top_marker_pose:
+      angle_rotation: 22.9268040068788
+      euclidean_error: 0.0019253986856887506
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.009420153475161
+      euclidean_error: -0.00258560799300267
+    base_right_marker_pose:
+      angle_rotation: 9.734806740524268
+      euclidean_error: -0.0019675574119735195
+    shoulder_marker_pose:
+      angle_rotation: 21.935339846798186
+      euclidean_error: 0.006187803040020312
+    wrist_inside_marker_pose:
+      angle_rotation: 27.041116280430657
+      euclidean_error: 0.0024986628554697354
+    wrist_top_marker_pose:
+      angle_rotation: 23.269386591705953
+      euclidean_error: 0.0010566022782360074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.419575302844582
+      euclidean_error: -0.003613628227082888
+    base_right_marker_pose:
+      angle_rotation: 7.4317601457207045
+      euclidean_error: -0.002925588741945706
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.06270595925992
+      euclidean_error: 0.003206506237490969
+    wrist_top_marker_pose:
+      angle_rotation: 15.655511201438221
+      euclidean_error: 0.00014273652767049505
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3668053888432996
+      euclidean_error: -0.003980801154281122
+    base_right_marker_pose:
+      angle_rotation: 8.416820000315507
+      euclidean_error: -0.0029094626484320596
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.91776623454142
+      euclidean_error: 0.0021157560506988027
+    wrist_top_marker_pose:
+      angle_rotation: 21.234718556111925
+      euclidean_error: -7.45714883184645e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9689552483410715
+      euclidean_error: -0.00336424422336834
+    base_right_marker_pose:
+      angle_rotation: 4.678431585452536
+      euclidean_error: -0.002816938937284741
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.92076716821211
+      euclidean_error: 0.0023340516723378
+    wrist_top_marker_pose:
+      angle_rotation: 17.08378521620251
+      euclidean_error: 0.0009333464023465465
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.794718631361939
+      euclidean_error: -0.003081747233828369
+    base_right_marker_pose:
+      angle_rotation: 10.456281380591223
+      euclidean_error: -0.001768864284070637
+    shoulder_marker_pose:
+      angle_rotation: 19.16381893833349
+      euclidean_error: 0.006153153028694347
+    wrist_inside_marker_pose:
+      angle_rotation: 23.495835614461132
+      euclidean_error: 0.004218369964989144
+    wrist_top_marker_pose:
+      angle_rotation: 19.466535582262438
+      euclidean_error: 0.001636866513386237
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1996516867747915
+      euclidean_error: -0.0038621119034232265
+    base_right_marker_pose:
+      angle_rotation: 8.88255305852093
+      euclidean_error: -0.0028407172065720854
+    shoulder_marker_pose:
+      angle_rotation: 25.05560147076372
+      euclidean_error: 0.006813767975291429
+    wrist_inside_marker_pose:
+      angle_rotation: 26.70877311260987
+      euclidean_error: 0.0030909669798661055
+    wrist_top_marker_pose:
+      angle_rotation: 23.84265997470899
+      euclidean_error: 0.0017271877098343769
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7637842288888663
+      euclidean_error: -0.0036194001046448987
+    base_right_marker_pose:
+      angle_rotation: 8.49812350488876
+      euclidean_error: -0.0020098051889985147
+    shoulder_marker_pose:
+      angle_rotation: 15.333908562945426
+      euclidean_error: 0.005324046080132594
+    wrist_inside_marker_pose:
+      angle_rotation: 23.788585304619662
+      euclidean_error: 0.002166958974829991
+    wrist_top_marker_pose:
+      angle_rotation: 22.132783385769933
+      euclidean_error: -0.0002941607392583645
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.54308193219809
+      euclidean_error: -0.003282998748240229
+    base_right_marker_pose:
+      angle_rotation: 6.857718788695174
+      euclidean_error: -0.0026381177441385795
+    shoulder_marker_pose:
+      angle_rotation: 21.187094353324305
+      euclidean_error: 0.006593771247101365
+    wrist_inside_marker_pose:
+      angle_rotation: 23.03537017074199
+      euclidean_error: 0.0027974938656673
+    wrist_top_marker_pose:
+      angle_rotation: 19.38936111678743
+      euclidean_error: 0.0009827830931919967
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.108982070880236
+      euclidean_error: -0.00412615690237883
+    base_right_marker_pose:
+      angle_rotation: 6.578061181654506
+      euclidean_error: -0.0025084176116293433
+    shoulder_marker_pose:
+      angle_rotation: 24.3051865273785
+      euclidean_error: 0.004907643683960461
+    wrist_inside_marker_pose:
+      angle_rotation: 21.886034380239398
+      euclidean_error: 0.002446887554625077
+    wrist_top_marker_pose:
+      angle_rotation: 20.154635455746256
+      euclidean_error: -0.00032036095447807167
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.388014450632897
+      euclidean_error: -0.003800476264437469
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.54467490818047
+      euclidean_error: 0.002344236088417273
+    wrist_top_marker_pose:
+      angle_rotation: 20.74580247928072
+      euclidean_error: 0.0013917384569835933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.201724931672307
+      euclidean_error: -0.0030998258179677496
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.8546373509806
+      euclidean_error: 0.0026840902970374225
+    wrist_top_marker_pose:
+      angle_rotation: 15.830373783677354
+      euclidean_error: -6.693117401290749e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6739314494313913
+      euclidean_error: -0.00377770776557651
+    base_right_marker_pose:
+      angle_rotation: 8.325234111499116
+      euclidean_error: -0.002624186295369313
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.96901089381952
+      euclidean_error: 0.0026444935360281363
+    wrist_top_marker_pose:
+      angle_rotation: 19.078621855208546
+      euclidean_error: 0.001164784325273449
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.014194801840989
+      euclidean_error: -0.0035909403942313567
+    base_right_marker_pose:
+      angle_rotation: 7.684153790285564
+      euclidean_error: -0.0025087684749321992
+    shoulder_marker_pose:
+      angle_rotation: 22.076439552816705
+      euclidean_error: 0.006020372841011534
+    wrist_inside_marker_pose:
+      angle_rotation: 24.223860438062562
+      euclidean_error: 0.002817649406470446
+    wrist_top_marker_pose:
+      angle_rotation: 23.05915670941677
+      euclidean_error: 0.00025554380118009146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0613119012325036
+      euclidean_error: -0.004066274920272117
+    base_right_marker_pose:
+      angle_rotation: 5.957922372869517
+      euclidean_error: -0.0026754702800511065
+    shoulder_marker_pose:
+      angle_rotation: 21.32920288106316
+      euclidean_error: 0.005546530470624589
+    wrist_inside_marker_pose:
+      angle_rotation: 20.039764665253468
+      euclidean_error: 0.002059134971184373
+    wrist_top_marker_pose:
+      angle_rotation: 19.716116727430116
+      euclidean_error: -0.0001010113937526258
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3628907426871653
+      euclidean_error: -0.003690330603586145
+    base_right_marker_pose:
+      angle_rotation: 7.41313811614204
+      euclidean_error: -0.002028341450469262
+    shoulder_marker_pose:
+      angle_rotation: 20.498516472945898
+      euclidean_error: 0.0055064359570049515
+    wrist_inside_marker_pose:
+      angle_rotation: 25.77285953889564
+      euclidean_error: 0.0021484927602138937
+    wrist_top_marker_pose:
+      angle_rotation: 20.964047409890412
+      euclidean_error: 0.0009885833947465006
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8855539662411416
+      euclidean_error: -0.0038497357917676167
+    base_right_marker_pose:
+      angle_rotation: 6.802465636785597
+      euclidean_error: -0.0025429680031802127
+    shoulder_marker_pose:
+      angle_rotation: 18.473941273886172
+      euclidean_error: 0.00532304887597479
+    wrist_inside_marker_pose:
+      angle_rotation: 24.291424702381747
+      euclidean_error: 0.0029715378140704463
+    wrist_top_marker_pose:
+      angle_rotation: 20.367048909985538
+      euclidean_error: 0.0015111231973224948
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5601311804117257
+      euclidean_error: -0.003703908716304327
+    base_right_marker_pose:
+      angle_rotation: 6.880149127096875
+      euclidean_error: -0.0027765587673482806
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.715074575992066
+      euclidean_error: 0.003319105229676045
+    wrist_top_marker_pose:
+      angle_rotation: 16.307110167748885
+      euclidean_error: -0.0006525548357105837
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.093013788942536
+      euclidean_error: -0.003982260074216648
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.408580023644596
+      euclidean_error: 0.006129709489328672
+    wrist_inside_marker_pose:
+      angle_rotation: 23.166793251293274
+      euclidean_error: 0.0018469909736400503
+    wrist_top_marker_pose:
+      angle_rotation: 25.371802060809532
+      euclidean_error: 0.0005841691756114376
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.664846478399077
+      euclidean_error: -0.003025606477735532
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.169031263260347
+      euclidean_error: 0.006053732936665113
+    wrist_inside_marker_pose:
+      angle_rotation: 24.118655586566312
+      euclidean_error: 0.0034800276223112547
+    wrist_top_marker_pose:
+      angle_rotation: 19.657343514386373
+      euclidean_error: 0.0013992366223032349
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0749754271292105
+      euclidean_error: -0.0035027917177227197
+    base_right_marker_pose:
+      angle_rotation: 8.784818316969535
+      euclidean_error: -0.0023676585062165634
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.066476405398813
+      euclidean_error: 0.003296284781415415
+    wrist_top_marker_pose:
+      angle_rotation: 20.577439636457086
+      euclidean_error: 0.00044279995603146993
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.205911653225508
+      euclidean_error: -0.0037393711925370887
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.83611862181909
+      euclidean_error: 0.006336140172443772
+    wrist_inside_marker_pose:
+      angle_rotation: 21.474533576137297
+      euclidean_error: 0.0026951630681084637
+    wrist_top_marker_pose:
+      angle_rotation: 20.498906865986186
+      euclidean_error: 0.0015594966522244347
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1100816680703565
+      euclidean_error: -0.0033383330612353213
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.12971308487282
+      euclidean_error: 0.002869115381777476
+    wrist_top_marker_pose:
+      angle_rotation: 19.42767532587182
+      euclidean_error: 0.0005294079434475796
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1934238214420345
+      euclidean_error: -0.0036359363856542926
+    base_right_marker_pose:
+      angle_rotation: 6.860825788349148
+      euclidean_error: -0.0026178222997714773
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.69820042915634
+      euclidean_error: 0.0024836159277478176
+    wrist_top_marker_pose:
+      angle_rotation: 15.148335415964524
+      euclidean_error: -0.0015295743918238847
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.151381239057672
+      euclidean_error: -0.003199589328722219
+    base_right_marker_pose:
+      angle_rotation: 9.803488761941564
+      euclidean_error: -0.0019670139017008426
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.32006955876933
+      euclidean_error: 0.0020792238759355097
+    wrist_top_marker_pose:
+      angle_rotation: 17.8664422891882
+      euclidean_error: 0.0009917655156594929
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.006205896203507
+      euclidean_error: -0.0034070426259315
+    base_right_marker_pose:
+      angle_rotation: 10.225886640571836
+      euclidean_error: -0.002228490361661617
+    shoulder_marker_pose:
+      angle_rotation: 19.90704525406718
+      euclidean_error: 0.006795262002051161
+    wrist_inside_marker_pose:
+      angle_rotation: 26.387152448932444
+      euclidean_error: 0.0017312196917075307
+    wrist_top_marker_pose:
+      angle_rotation: 18.504365242875835
+      euclidean_error: 0.00011254779199787457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.588068015441146
+      euclidean_error: -0.0032137313826428038
+    base_right_marker_pose:
+      angle_rotation: 7.7063954121181135
+      euclidean_error: -0.002396486466334724
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.44296710701822
+      euclidean_error: 0.0026931716240309322
+    wrist_top_marker_pose:
+      angle_rotation: 20.60085685969998
+      euclidean_error: 0.0006077956258967454
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.53725241536145
+      euclidean_error: -0.003277123302009799
+    base_right_marker_pose:
+      angle_rotation: 8.44012675797974
+      euclidean_error: -0.001988556971401878
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.577205133665668
+      euclidean_error: 0.00232304960000973
+    wrist_top_marker_pose:
+      angle_rotation: 18.278032117816103
+      euclidean_error: 0.0008912501228744985
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.918350467454028
+      euclidean_error: -0.003894657171436222
+    base_right_marker_pose:
+      angle_rotation: 6.39461183149704
+      euclidean_error: -0.0017958700295768182
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.32067576468112
+      euclidean_error: 0.0020467557635328593
+    wrist_top_marker_pose:
+      angle_rotation: 19.994485393673223
+      euclidean_error: 0.00023011712285392338
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5306443970947416
+      euclidean_error: -0.003718906643092379
+    base_right_marker_pose:
+      angle_rotation: 10.242631150990833
+      euclidean_error: -0.0020197972978577283
+    shoulder_marker_pose:
+      angle_rotation: 17.99284881055219
+      euclidean_error: 0.004627065312343803
+    wrist_inside_marker_pose:
+      angle_rotation: 22.213809301058856
+      euclidean_error: 0.0027033587508177304
+    wrist_top_marker_pose:
+      angle_rotation: 17.370739504245112
+      euclidean_error: 0.0011750958593168548
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.116985041360586
+      euclidean_error: -0.003245981383469543
+    base_right_marker_pose:
+      angle_rotation: 6.629511963998777
+      euclidean_error: -0.0024004502039610687
+    shoulder_marker_pose:
+      angle_rotation: 20.18195070818721
+      euclidean_error: 0.005124670425497468
+    wrist_inside_marker_pose:
+      angle_rotation: 22.353801026688124
+      euclidean_error: 0.003471829309291241
+    wrist_top_marker_pose:
+      angle_rotation: 17.43764881074446
+      euclidean_error: 0.0007851042814276399
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7296121760897356
+      euclidean_error: -0.003488216444382908
+    base_right_marker_pose:
+      angle_rotation: 8.269924327827724
+      euclidean_error: -0.0020549576542602255
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.951479457666814
+      euclidean_error: 0.0027973786962502967
+    wrist_top_marker_pose:
+      angle_rotation: 21.409995462039692
+      euclidean_error: 0.0012152003564323
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.27825068522003
+      euclidean_error: -0.0038207633308724454
+    base_right_marker_pose:
+      angle_rotation: 9.954791603695204
+      euclidean_error: -0.0011766761534555137
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.9170802219164
+      euclidean_error: 0.0029156372278826836
+    wrist_top_marker_pose:
+      angle_rotation: 19.678943135776283
+      euclidean_error: 0.0013606193106113773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.413787426279069
+      euclidean_error: -0.0036967450477789487
+    base_right_marker_pose:
+      angle_rotation: 7.166492606839573
+      euclidean_error: -0.002606016140499934
+    shoulder_marker_pose:
+      angle_rotation: 20.552934042721397
+      euclidean_error: 0.0060453691937765175
+    wrist_inside_marker_pose:
+      angle_rotation: 25.59522943307419
+      euclidean_error: 0.0026921115208498048
+    wrist_top_marker_pose:
+      angle_rotation: 21.13036067483226
+      euclidean_error: 0.0016829791288255347
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.194781721132078
+      euclidean_error: -0.003707878011123711
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.4625420798951
+      euclidean_error: 0.0019596472016251143
+    wrist_top_marker_pose:
+      angle_rotation: 19.107171701049882
+      euclidean_error: 0.0006842830536967215
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5000238046672343
+      euclidean_error: -0.003191545679329999
+    base_right_marker_pose:
+      angle_rotation: 7.946558968131692
+      euclidean_error: -0.002291718925826136
+    shoulder_marker_pose:
+      angle_rotation: 17.772188172317442
+      euclidean_error: 0.00613827832864855
+    wrist_inside_marker_pose:
+      angle_rotation: 22.56096825397382
+      euclidean_error: 0.0036978081651335426
+    wrist_top_marker_pose:
+      angle_rotation: 19.493967581834614
+      euclidean_error: 0.0016069539417720158
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.216159229930242
+      euclidean_error: -0.0033652745673543594
+    base_right_marker_pose:
+      angle_rotation: 8.444806203238192
+      euclidean_error: -0.0011665061990225878
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.72038583564695
+      euclidean_error: 0.002251202955392939
+    wrist_top_marker_pose:
+      angle_rotation: 18.854749478331918
+      euclidean_error: 0.000966593868543919
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5539520864224343
+      euclidean_error: -0.0036381729191043988
+    base_right_marker_pose:
+      angle_rotation: 8.668727382447978
+      euclidean_error: -0.00280330865119649
+    shoulder_marker_pose:
+      angle_rotation: 17.96089611189935
+      euclidean_error: 0.006133754311920092
+    wrist_inside_marker_pose:
+      angle_rotation: 18.596415837467333
+      euclidean_error: 0.002263934505817744
+    wrist_top_marker_pose:
+      angle_rotation: 14.716065540883209
+      euclidean_error: 0.0004450091268629608
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.545512964829991
+      euclidean_error: -0.0035879621527528105
+    base_right_marker_pose:
+      angle_rotation: 6.9003503284583125
+      euclidean_error: -0.002039229834771006
+    shoulder_marker_pose:
+      angle_rotation: 21.000638417126947
+      euclidean_error: 0.006456703467848324
+    wrist_inside_marker_pose:
+      angle_rotation: 22.393242852902553
+      euclidean_error: 0.002781361602084531
+    wrist_top_marker_pose:
+      angle_rotation: 16.76169383424041
+      euclidean_error: 0.00023062685828689755
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.071333299172002
+      euclidean_error: -0.00358194064418893
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.26651821913137
+      euclidean_error: 0.0066280390887929475
+    wrist_inside_marker_pose:
+      angle_rotation: 21.673425352332146
+      euclidean_error: 0.0029916014865791762
+    wrist_top_marker_pose:
+      angle_rotation: 17.866233410374623
+      euclidean_error: 0.0020953372090498634
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5189728363852293
+      euclidean_error: -0.0035613480765127603
+    base_right_marker_pose:
+      angle_rotation: 10.16565553869896
+      euclidean_error: -0.0018738911576049455
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.984362287348915
+      euclidean_error: 0.0031671353845511563
+    wrist_top_marker_pose:
+      angle_rotation: 19.495198330128215
+      euclidean_error: 0.0015982373108911485
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.157850245977329
+      euclidean_error: -0.002769775765389171
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.698124938525005
+      euclidean_error: 0.002231270246440098
+    wrist_top_marker_pose:
+      angle_rotation: 16.62570286746309
+      euclidean_error: 0.00038196534763490497
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3776591214081484
+      euclidean_error: -0.0034892177288676773
+    base_right_marker_pose:
+      angle_rotation: 7.358892962509717
+      euclidean_error: -0.00190841578477019
+    shoulder_marker_pose:
+      angle_rotation: 21.45147730349734
+      euclidean_error: 0.004958780731445955
+    wrist_inside_marker_pose:
+      angle_rotation: 24.29914355588615
+      euclidean_error: 0.0020884949045035794
+    wrist_top_marker_pose:
+      angle_rotation: 17.64316634958749
+      euclidean_error: -0.0011576533501093111
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.220372583666706
+      euclidean_error: -0.003938365404577149
+    base_right_marker_pose:
+      angle_rotation: 8.732140524037138
+      euclidean_error: -0.002067131854319615
+    shoulder_marker_pose:
+      angle_rotation: 25.049283993738868
+      euclidean_error: 0.007010181521392322
+    wrist_inside_marker_pose:
+      angle_rotation: 24.183263928090078
+      euclidean_error: 0.0025182386282374125
+    wrist_top_marker_pose:
+      angle_rotation: 23.32685103619822
+      euclidean_error: 0.0012943070433252268
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.792392049704466
+      euclidean_error: -0.0032200347586319733
+    base_right_marker_pose:
+      angle_rotation: 9.809185161937403
+      euclidean_error: -0.0024269443434540294
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.781709779948702
+      euclidean_error: 0.002946526569640673
+    wrist_top_marker_pose:
+      angle_rotation: 14.775736370992254
+      euclidean_error: 0.00022642824302998577
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1800087498844403
+      euclidean_error: -0.0037103744427285923
+    base_right_marker_pose:
+      angle_rotation: 7.820600350879593
+      euclidean_error: -0.002159157292820235
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.700588812380463
+      euclidean_error: 0.0034941417359373173
+    wrist_top_marker_pose:
+      angle_rotation: 24.1110321701833
+      euclidean_error: 0.00252295909804523
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.017562599909306
+      euclidean_error: -0.003318176893877478
+    base_right_marker_pose:
+      angle_rotation: 6.638370122371919
+      euclidean_error: -0.0019247990097936984
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.628780916770488
+      euclidean_error: 0.001640020227414718
+    wrist_top_marker_pose:
+      angle_rotation: 14.20794393614259
+      euclidean_error: -0.00016976302532278886
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.3571555242838045
+      euclidean_error: -0.0033946612645974206
+    base_right_marker_pose:
+      angle_rotation: 6.561025235364336
+      euclidean_error: -0.002409709212181421
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 23.070546688973003
+      euclidean_error: 0.0008847235640719875
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.843929447787754
+      euclidean_error: -0.003412925135804157
+    base_right_marker_pose:
+      angle_rotation: 6.63832816924768
+      euclidean_error: -0.002080677741628678
+    shoulder_marker_pose:
+      angle_rotation: 13.65244461092886
+      euclidean_error: 0.005661711754276544
+    wrist_inside_marker_pose:
+      angle_rotation: 20.523262653537454
+      euclidean_error: 0.002947892539181707
+    wrist_top_marker_pose:
+      angle_rotation: 18.47033187647133
+      euclidean_error: 0.0004244229917225173
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4493066603310836
+      euclidean_error: -0.0033848468975653523
+    base_right_marker_pose:
+      angle_rotation: 9.963381539700485
+      euclidean_error: -0.001964026963046095
+    shoulder_marker_pose:
+      angle_rotation: 20.628420193173156
+      euclidean_error: 0.005962696739484352
+    wrist_inside_marker_pose:
+      angle_rotation: 23.36949735898502
+      euclidean_error: 0.0021729727249674147
+    wrist_top_marker_pose:
+      angle_rotation: 17.229467449357667
+      euclidean_error: 0.001287075784117797
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0007902973062657
+      euclidean_error: -0.0038552454713713935
+    base_right_marker_pose:
+      angle_rotation: 8.942284858496683
+      euclidean_error: -0.002119749631621537
+    shoulder_marker_pose:
+      angle_rotation: 21.931534388464797
+      euclidean_error: 0.0067110240755797745
+    wrist_inside_marker_pose:
+      angle_rotation: 26.54345861310094
+      euclidean_error: 0.002282630557632004
+    wrist_top_marker_pose:
+      angle_rotation: 17.45793827793591
+      euclidean_error: 0.0005102499094630231
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.964159700359265
+      euclidean_error: -0.004049085356470528
+    base_right_marker_pose:
+      angle_rotation: 4.513572055126245
+      euclidean_error: -0.002460688043060544
+    shoulder_marker_pose:
+      angle_rotation: 21.618746776088035
+      euclidean_error: 0.004963413800191274
+    wrist_inside_marker_pose:
+      angle_rotation: 23.37459165803124
+      euclidean_error: 0.00181464144823007
+    wrist_top_marker_pose:
+      angle_rotation: 17.537325823119005
+      euclidean_error: -0.0006636221595422986
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.938069502942661
+      euclidean_error: -0.003378563514939814
+    base_right_marker_pose:
+      angle_rotation: 8.181906510084739
+      euclidean_error: -0.0021033085263736373
+    shoulder_marker_pose:
+      angle_rotation: 20.117912097587247
+      euclidean_error: 0.007564625314279372
+    wrist_inside_marker_pose:
+      angle_rotation: 25.40353217972618
+      euclidean_error: 0.0034824157114005105
+    wrist_top_marker_pose:
+      angle_rotation: 20.312794424492008
+      euclidean_error: 0.0016611933666197398
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.072549753837044
+      euclidean_error: -0.0032053435656271834
+    base_right_marker_pose:
+      angle_rotation: 9.136096134103209
+      euclidean_error: -0.0022153952892493
+    shoulder_marker_pose:
+      angle_rotation: 20.558612730700958
+      euclidean_error: 0.0064024517087982735
+    wrist_inside_marker_pose:
+      angle_rotation: 24.773518227914035
+      euclidean_error: 0.0024870065069744207
+    wrist_top_marker_pose:
+      angle_rotation: 19.59774018695468
+      euclidean_error: 0.0014283322832211454
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.531495126490786
+      euclidean_error: -0.003862316160566648
+    base_right_marker_pose:
+      angle_rotation: 9.71554356784259
+      euclidean_error: -0.002167813873442337
+    shoulder_marker_pose:
+      angle_rotation: 23.0049744609764
+      euclidean_error: 0.006355781493462831
+    wrist_inside_marker_pose:
+      angle_rotation: 22.921660568520252
+      euclidean_error: 0.0024430639271787458
+    wrist_top_marker_pose:
+      angle_rotation: 16.829775050527598
+      euclidean_error: 5.6317981520948024e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3975887778095735
+      euclidean_error: -0.003698924109214796
+    base_right_marker_pose:
+      angle_rotation: 7.99214632391539
+      euclidean_error: -0.0025644683101260224
+    shoulder_marker_pose:
+      angle_rotation: 23.535678820987776
+      euclidean_error: 0.006973815309923803
+    wrist_inside_marker_pose:
+      angle_rotation: 24.351680089734543
+      euclidean_error: 0.0033820306010903245
+    wrist_top_marker_pose:
+      angle_rotation: 20.082963511409066
+      euclidean_error: 0.0016989598992518395
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.940132576852711
+      euclidean_error: -0.0033924672585077253
+    base_right_marker_pose:
+      angle_rotation: 8.089885373651867
+      euclidean_error: -0.0019352969684509613
+    shoulder_marker_pose:
+      angle_rotation: 25.786043270190447
+      euclidean_error: 0.006565768788583726
+    wrist_inside_marker_pose:
+      angle_rotation: 22.43085596717322
+      euclidean_error: 0.0029918132119763907
+    wrist_top_marker_pose:
+      angle_rotation: 18.171494487275144
+      euclidean_error: 0.0015316206398253707
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.150104460281079
+      euclidean_error: -0.0036244539086902616
+    base_right_marker_pose:
+      angle_rotation: 7.047852464760964
+      euclidean_error: -0.0025078517168455328
+    shoulder_marker_pose:
+      angle_rotation: 17.46220272827139
+      euclidean_error: 0.005420043391106133
+    wrist_inside_marker_pose:
+      angle_rotation: 20.32298984082772
+      euclidean_error: 0.002640757204723121
+    wrist_top_marker_pose:
+      angle_rotation: 18.863096120169775
+      euclidean_error: 0.0011815185858552457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.659457322449349
+      euclidean_error: -0.003410417503792118
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.140716409116695
+      euclidean_error: 0.004009678309438103
+    wrist_top_marker_pose:
+      angle_rotation: 18.851057128489657
+      euclidean_error: 0.00196190780352401
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.665005337190667
+      euclidean_error: -0.003201812338454735
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.09531272554763
+      euclidean_error: 0.0025530542500201703
+    wrist_top_marker_pose:
+      angle_rotation: 15.251491162921539
+      euclidean_error: 0.0012764130569964394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5380474985690236
+      euclidean_error: -0.0038474271669156623
+    base_right_marker_pose:
+      angle_rotation: 4.3330155627631735
+      euclidean_error: -0.0028138840631788398
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.084013501925035
+      euclidean_error: 0.001289651848092932
+    wrist_top_marker_pose:
+      angle_rotation: 21.42216607034996
+      euclidean_error: -0.0003282729756881597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.115608955521898
+      euclidean_error: -0.003950444817430121
+    base_right_marker_pose:
+      angle_rotation: 6.031560970135376
+      euclidean_error: -0.0018953486849537793
+    shoulder_marker_pose:
+      angle_rotation: 22.580153178844586
+      euclidean_error: 0.006463806906267022
+    wrist_inside_marker_pose:
+      angle_rotation: 21.18290778785073
+      euclidean_error: 0.002595273603673731
+    wrist_top_marker_pose:
+      angle_rotation: 18.946065064059702
+      euclidean_error: 0.00024346647698803014
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.289473450783651
+      euclidean_error: -0.0029959071879408494
+    base_right_marker_pose:
+      angle_rotation: 10.821935439014574
+      euclidean_error: -0.0013088033054895476
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.388313836102117
+      euclidean_error: 0.003801200448560693
+    wrist_top_marker_pose:
+      angle_rotation: 20.971447450336008
+      euclidean_error: 0.0020694432547031516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4579682204295223
+      euclidean_error: -0.0034743468118721976
+    base_right_marker_pose:
+      angle_rotation: 6.816535563326431
+      euclidean_error: -0.0024805376449029692
+    shoulder_marker_pose:
+      angle_rotation: 15.627712696348526
+      euclidean_error: 0.005633902290656634
+    wrist_inside_marker_pose:
+      angle_rotation: 23.239930922709405
+      euclidean_error: 0.0032515869893747773
+    wrist_top_marker_pose:
+      angle_rotation: 19.760405817894892
+      euclidean_error: 0.0008627249926650427
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.255611621574933
+      euclidean_error: -0.0037947291491648993
+    base_right_marker_pose:
+      angle_rotation: 10.80266708369163
+      euclidean_error: -0.0020674630765878943
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.63866946419413
+      euclidean_error: 0.0025538188167598674
+    wrist_top_marker_pose:
+      angle_rotation: 19.7311139402754
+      euclidean_error: 0.0005534365769640504
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.138795621564769
+      euclidean_error: -0.0034988977648762187
+    base_right_marker_pose:
+      angle_rotation: 8.082106550865074
+      euclidean_error: -0.0021309328300055386
+    shoulder_marker_pose:
+      angle_rotation: 21.43482296869505
+      euclidean_error: 0.006707674476322478
+    wrist_inside_marker_pose:
+      angle_rotation: 20.66526182066312
+      euclidean_error: 0.0032608440199529687
+    wrist_top_marker_pose:
+      angle_rotation: 22.467493116252157
+      euclidean_error: 0.0002727656016235924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.030665820529659
+      euclidean_error: -0.003284061608107791
+    base_right_marker_pose:
+      angle_rotation: 6.893450851077979
+      euclidean_error: -0.002482739069741724
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.33000200777031
+      euclidean_error: 0.001999999382475859
+    wrist_top_marker_pose:
+      angle_rotation: 17.36675095181357
+      euclidean_error: -0.0008613952929955593
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6642470754602057
+      euclidean_error: -0.0038189195693431044
+    base_right_marker_pose:
+      angle_rotation: 9.077972562777019
+      euclidean_error: -0.001575776375499105
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.36253539202906
+      euclidean_error: 0.0015900599300832097
+    wrist_top_marker_pose:
+      angle_rotation: 17.484292197425308
+      euclidean_error: 0.0010297938037179266
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.472472447457071
+      euclidean_error: -0.0034699706472772762
+    base_right_marker_pose:
+      angle_rotation: 9.646326138069197
+      euclidean_error: -0.0012881199491189266
+    shoulder_marker_pose:
+      angle_rotation: 20.7972362059513
+      euclidean_error: 0.0060966861088631585
+    wrist_inside_marker_pose:
+      angle_rotation: 22.27637702662444
+      euclidean_error: 0.0024016616323508932
+    wrist_top_marker_pose:
+      angle_rotation: 17.76418933035943
+      euclidean_error: 0.00013050188244367877
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.563476688821386
+      euclidean_error: -0.0032427483468838725
+    base_right_marker_pose:
+      angle_rotation: 8.460794709829639
+      euclidean_error: -0.0016157030031306308
+    shoulder_marker_pose:
+      angle_rotation: 22.77228134064374
+      euclidean_error: 0.005670974544995655
+    wrist_inside_marker_pose:
+      angle_rotation: 21.98746714287314
+      euclidean_error: 0.0028895939791319103
+    wrist_top_marker_pose:
+      angle_rotation: 19.068646926898634
+      euclidean_error: 0.0012536575107068293
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.584567116090598
+      euclidean_error: -0.0036184447700562394
+    base_right_marker_pose:
+      angle_rotation: 4.34724712138377
+      euclidean_error: -0.002394019399940106
+    shoulder_marker_pose:
+      angle_rotation: 19.962340055842613
+      euclidean_error: 0.005601963903828944
+    wrist_inside_marker_pose:
+      angle_rotation: 20.32614415055821
+      euclidean_error: 0.003174724371523996
+    wrist_top_marker_pose:
+      angle_rotation: 16.314747572402272
+      euclidean_error: 0.0020705763638757535
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.526639767323342
+      euclidean_error: -0.003945287285008647
+    base_right_marker_pose:
+      angle_rotation: 10.151334687810957
+      euclidean_error: -0.0015960307718693167
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.956166643618733
+      euclidean_error: 0.0031671500131417174
+    wrist_top_marker_pose:
+      angle_rotation: 24.3976599747887
+      euclidean_error: 0.0024242668525182864
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6911529894146002
+      euclidean_error: -0.0035546549960684404
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.9775049933044
+      euclidean_error: 0.006772290931023495
+    wrist_inside_marker_pose:
+      angle_rotation: 18.98381748186951
+      euclidean_error: 0.0038321544813588737
+    wrist_top_marker_pose:
+      angle_rotation: 14.163793774713566
+      euclidean_error: 0.0007125043219835536
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2089560714159324
+      euclidean_error: -0.0038105821221472436
+    base_right_marker_pose:
+      angle_rotation: 7.077261108210817
+      euclidean_error: -0.0023697115064976737
+    shoulder_marker_pose:
+      angle_rotation: 20.251792195776964
+      euclidean_error: 0.00590649347394534
+    wrist_inside_marker_pose:
+      angle_rotation: 22.047210371614877
+      euclidean_error: 0.002391023348842447
+    wrist_top_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.94534609602739
+      euclidean_error: -0.003913395246099127
+    base_right_marker_pose:
+      angle_rotation: 9.215754197936448
+      euclidean_error: -0.001634069469670596
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.373930772467574
+      euclidean_error: 0.0024224645084586216
+    wrist_top_marker_pose:
+      angle_rotation: 17.252588065317404
+      euclidean_error: 0.0010954594677415885
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.93782077887612
+      euclidean_error: -0.0036350003626220984
+    base_right_marker_pose:
+      angle_rotation: 6.197275812044757
+      euclidean_error: -0.0023825981292027176
+    shoulder_marker_pose:
+      angle_rotation: 18.823646653994764
+      euclidean_error: 0.005917952227991741
+    wrist_inside_marker_pose:
+      angle_rotation: 24.224235862056503
+      euclidean_error: 0.001951276335411145
+    wrist_top_marker_pose:
+      angle_rotation: 21.297006340268535
+      euclidean_error: 0.0004331070397365355
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.010586822350418
+      euclidean_error: -0.003889104992482406
+    base_right_marker_pose:
+      angle_rotation: 10.76687274616717
+      euclidean_error: -0.002027176122144758
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.27240228815527
+      euclidean_error: 0.002259678139730603
+    wrist_top_marker_pose:
+      angle_rotation: 21.71698945494257
+      euclidean_error: 0.0006416010294920671
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3822939497869204
+      euclidean_error: -0.003430954919891427
+    base_right_marker_pose:
+      angle_rotation: 9.303753333568954
+      euclidean_error: -0.0015551953021125664
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.81177494888498
+      euclidean_error: 0.0018115213836277233
+    wrist_top_marker_pose:
+      angle_rotation: 18.69258552828164
+      euclidean_error: 0.00047128515203687105
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9716161412943176
+      euclidean_error: -0.003462480028258663
+    base_right_marker_pose:
+      angle_rotation: 9.75562551604946
+      euclidean_error: -0.0014785573009701292
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.924985720024477
+      euclidean_error: 0.0024964822870587877
+    wrist_top_marker_pose:
+      angle_rotation: 18.4036332618817
+      euclidean_error: 0.001223641461294278
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1527980261022437
+      euclidean_error: -0.0036478175160629123
+    base_right_marker_pose:
+      angle_rotation: 8.437000881108167
+      euclidean_error: -0.0020391383262334806
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.68584951828393
+      euclidean_error: 0.0028768143960762327
+    wrist_top_marker_pose:
+      angle_rotation: 20.65040218542023
+      euclidean_error: 0.0007299508583646919
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.339039989665798
+      euclidean_error: -0.00346771146390612
+    base_right_marker_pose:
+      angle_rotation: 9.228626685660378
+      euclidean_error: -0.0016078493858234788
+    shoulder_marker_pose:
+      angle_rotation: 23.78363562079206
+      euclidean_error: 0.005792298510805427
+    wrist_inside_marker_pose:
+      angle_rotation: 23.083786654031037
+      euclidean_error: 0.0026874298231521765
+    wrist_top_marker_pose:
+      angle_rotation: 16.004771299069755
+      euclidean_error: 0.0008611734929083736
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8717748585229725
+      euclidean_error: -0.0035546960624476265
+    base_right_marker_pose:
+      angle_rotation: 6.800212976827783
+      euclidean_error: -0.0014197452638059493
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.15804542150117
+      euclidean_error: 0.003006822710514445
+    wrist_top_marker_pose:
+      angle_rotation: 19.915173855172664
+      euclidean_error: 0.0012042644979884942
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9918843482710464
+      euclidean_error: -0.003990526614713774
+    base_right_marker_pose:
+      angle_rotation: 6.24209203426637
+      euclidean_error: -0.0026502866180027063
+    shoulder_marker_pose:
+      angle_rotation: 20.317544197563862
+      euclidean_error: 0.004914512220363765
+    wrist_inside_marker_pose:
+      angle_rotation: 21.988492977704002
+      euclidean_error: 0.0019936907539201965
+    wrist_top_marker_pose:
+      angle_rotation: 19.50732006931342
+      euclidean_error: 0.00013467432282787684
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1243984142047516
+      euclidean_error: -0.0037081090879665934
+    base_right_marker_pose:
+      angle_rotation: 5.708143036149464
+      euclidean_error: -0.0022909467393609217
+    shoulder_marker_pose:
+      angle_rotation: 17.421949264467077
+      euclidean_error: 0.0051515721673304204
+    wrist_inside_marker_pose:
+      angle_rotation: 20.914411994225937
+      euclidean_error: 0.002350722150328499
+    wrist_top_marker_pose:
+      angle_rotation: 18.303445768603904
+      euclidean_error: 0.00016257899138349963
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.2635883239981154
+      euclidean_error: -0.003921397366737245
+    base_right_marker_pose:
+      angle_rotation: 8.485823832668823
+      euclidean_error: -0.0020579242445366575
+    shoulder_marker_pose:
+      angle_rotation: 22.587204526404083
+      euclidean_error: 0.006373564985594382
+    wrist_inside_marker_pose:
+      angle_rotation: 26.070954138182845
+      euclidean_error: 0.002885143693111547
+    wrist_top_marker_pose:
+      angle_rotation: 21.74273245499565
+      euclidean_error: 0.0008847336348173362
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0654526981807613
+      euclidean_error: -0.004070587288708238
+    base_right_marker_pose:
+      angle_rotation: 9.678262912241738
+      euclidean_error: -0.002204414979440128
+    shoulder_marker_pose:
+      angle_rotation: 15.544419376033321
+      euclidean_error: 0.005999376987720684
+    wrist_inside_marker_pose:
+      angle_rotation: 22.8879790559519
+      euclidean_error: 0.002670885398526557
+    wrist_top_marker_pose:
+      angle_rotation: 19.151735492547036
+      euclidean_error: 0.0009131747667462387
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.311624153460859
+      euclidean_error: -0.003779344685394981
+    base_right_marker_pose:
+      angle_rotation: 8.716303960290446
+      euclidean_error: -0.002462255681199399
+    shoulder_marker_pose:
+      angle_rotation: 17.256971437083404
+      euclidean_error: 0.006274066989502725
+    wrist_inside_marker_pose:
+      angle_rotation: 25.308961688498403
+      euclidean_error: 0.0030088776372128034
+    wrist_top_marker_pose:
+      angle_rotation: 21.50295131380443
+      euclidean_error: 0.0006737059088971487
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.026900785977379
+      euclidean_error: -0.0037688338309771474
+    base_right_marker_pose:
+      angle_rotation: 7.508132483376352
+      euclidean_error: -0.0016666112092319496
+    shoulder_marker_pose:
+      angle_rotation: 19.814216052528856
+      euclidean_error: 0.006571914375597454
+    wrist_inside_marker_pose:
+      angle_rotation: 23.67491432763066
+      euclidean_error: 0.0027440486474586967
+    wrist_top_marker_pose:
+      angle_rotation: 20.152818907956092
+      euclidean_error: -0.0002128031742865133
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.643990017891007
+      euclidean_error: -0.0034714199654816147
+    base_right_marker_pose:
+      angle_rotation: 8.339350733662478
+      euclidean_error: -0.002172669931110982
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.740407238658054
+      euclidean_error: 0.0024087981481664134
+    wrist_top_marker_pose:
+      angle_rotation: 22.404156755671053
+      euclidean_error: -3.307364610138919e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.383022185146075
+      euclidean_error: -0.0036820364855996157
+    base_right_marker_pose:
+      angle_rotation: 7.271854577518467
+      euclidean_error: -0.002553743328179703
+    shoulder_marker_pose:
+      angle_rotation: 17.840902528780205
+      euclidean_error: 0.0071135796118966255
+    wrist_inside_marker_pose:
+      angle_rotation: 24.290954353049198
+      euclidean_error: 0.0031107910345730128
+    wrist_top_marker_pose:
+      angle_rotation: 17.873481251448847
+      euclidean_error: -0.0005314938967416749
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1375552198192933
+      euclidean_error: -0.003196065016290328
+    base_right_marker_pose:
+      angle_rotation: 6.252490440669605
+      euclidean_error: -0.0013188744405433495
+    shoulder_marker_pose:
+      angle_rotation: 20.979502949609635
+      euclidean_error: 0.0062715190170963275
+    wrist_inside_marker_pose:
+      angle_rotation: 23.73003785945312
+      euclidean_error: 0.0023655527090626904
+    wrist_top_marker_pose:
+      angle_rotation: 15.787970355359219
+      euclidean_error: 7.934552089783331e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1218660278111194
+      euclidean_error: -0.0035633207192917737
+    base_right_marker_pose:
+      angle_rotation: 4.375761056174548
+      euclidean_error: -0.002231310151654231
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.45994024606816
+      euclidean_error: 0.0026236586716266164
+    wrist_top_marker_pose:
+      angle_rotation: 18.109320830931452
+      euclidean_error: -0.0006441375636739854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7076894905311097
+      euclidean_error: -0.0036371479714299992
+    base_right_marker_pose:
+      angle_rotation: 8.403602083479287
+      euclidean_error: -0.0018958087497735754
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.10299521543488
+      euclidean_error: 0.001629925187407677
+    wrist_top_marker_pose:
+      angle_rotation: 19.499243191959057
+      euclidean_error: 0.0009657347422120655
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.621950345065664
+      euclidean_error: -0.0035738547323738157
+    base_right_marker_pose:
+      angle_rotation: 6.781014716925539
+      euclidean_error: -0.0015806077134477015
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.931316232864564
+      euclidean_error: 0.0026422487916887283
+    wrist_top_marker_pose:
+      angle_rotation: 21.57897655925651
+      euclidean_error: 0.001969555114151089
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.507519911060297
+      euclidean_error: -0.0032850780640967248
+    base_right_marker_pose:
+      angle_rotation: 9.173339122421611
+      euclidean_error: -0.0016807945677694835
+    shoulder_marker_pose:
+      angle_rotation: 23.236833485277124
+      euclidean_error: 0.006446658280206963
+    wrist_inside_marker_pose:
+      angle_rotation: 26.887007622196855
+      euclidean_error: 0.0031244008302977466
+    wrist_top_marker_pose:
+      angle_rotation: 20.508887836104787
+      euclidean_error: 0.0009671765270554689
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9030594906817706
+      euclidean_error: -0.0037109549923001195
+    base_right_marker_pose:
+      angle_rotation: 10.847795409714799
+      euclidean_error: -0.0017215719703455035
+    shoulder_marker_pose:
+      angle_rotation: 15.782558667084045
+      euclidean_error: 0.0057369441134687005
+    wrist_inside_marker_pose:
+      angle_rotation: 25.727539304556736
+      euclidean_error: 0.0024928872794743873
+    wrist_top_marker_pose:
+      angle_rotation: 18.562435227141712
+      euclidean_error: -0.00011529353618389138
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7413221214187453
+      euclidean_error: -0.0038237400648980513
+    base_right_marker_pose:
+      angle_rotation: 6.448330288379362
+      euclidean_error: -0.002407858013360409
+    shoulder_marker_pose:
+      angle_rotation: 20.333374850726354
+      euclidean_error: 0.0062457340479740164
+    wrist_inside_marker_pose:
+      angle_rotation: 23.290613374195562
+      euclidean_error: 0.0025354282713422327
+    wrist_top_marker_pose:
+      angle_rotation: 17.509795234684972
+      euclidean_error: 0.00040650479876669365
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.023556764959001
+      euclidean_error: -0.003273082946599226
+    base_right_marker_pose:
+      angle_rotation: 6.496205528614545
+      euclidean_error: -0.002088929480006607
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.873452311827407
+      euclidean_error: 0.002977397524994374
+    wrist_top_marker_pose:
+      angle_rotation: 18.753396873395833
+      euclidean_error: 0.0011674128784778803
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5724380459028597
+      euclidean_error: -0.003606652517088027
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.684789355192738
+      euclidean_error: 0.002193199882511987
+    wrist_top_marker_pose:
+      angle_rotation: 16.30672208450368
+      euclidean_error: 0.0006234671358258392
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9620482189607786
+      euclidean_error: -0.0035570212997775297
+    base_right_marker_pose:
+      angle_rotation: 6.8357697303331575
+      euclidean_error: -0.0019763096872379426
+    shoulder_marker_pose:
+      angle_rotation: 22.65986226669374
+      euclidean_error: 0.006778213227480623
+    wrist_inside_marker_pose:
+      angle_rotation: 21.630395190687494
+      euclidean_error: 0.003154304634264471
+    wrist_top_marker_pose:
+      angle_rotation: 15.839572855670424
+      euclidean_error: 0.0009082887358760061
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.710775399816682
+      euclidean_error: -0.0026862153654662047
+    base_right_marker_pose:
+      angle_rotation: 9.089891991742686
+      euclidean_error: -0.002074259648976118
+    shoulder_marker_pose:
+      angle_rotation: 16.536500407281526
+      euclidean_error: 0.005462817196779546
+    wrist_inside_marker_pose:
+      angle_rotation: 18.771932198091832
+      euclidean_error: 0.0021369853597464905
+    wrist_top_marker_pose:
+      angle_rotation: 16.644349760702003
+      euclidean_error: 0.0006134878788649489
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0222310952158655
+      euclidean_error: -0.0037926950414475247
+    base_right_marker_pose:
+      angle_rotation: 9.153735664650545
+      euclidean_error: -0.001964709822177224
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.39355741476808
+      euclidean_error: 0.002118211502731615
+    wrist_top_marker_pose:
+      angle_rotation: 21.349709816878804
+      euclidean_error: 0.0009398999286318599
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.379999389770357
+      euclidean_error: -0.0032746772380505274
+    base_right_marker_pose:
+      angle_rotation: 8.233737480290582
+      euclidean_error: -0.0021884715174667058
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.428336871690007
+      euclidean_error: 0.002615139381783149
+    wrist_top_marker_pose:
+      angle_rotation: 17.79708953357846
+      euclidean_error: 0.0012467920839134283
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6611747394646725
+      euclidean_error: -0.0030873046809367644
+    base_right_marker_pose:
+      angle_rotation: 8.308104819567452
+      euclidean_error: -0.0010817257553814574
+    shoulder_marker_pose:
+      angle_rotation: 20.647310977814023
+      euclidean_error: 0.0067762034717646635
+    wrist_inside_marker_pose:
+      angle_rotation: 23.556638567377167
+      euclidean_error: 0.002709745502275318
+    wrist_top_marker_pose:
+      angle_rotation: 16.790031684821635
+      euclidean_error: 0.0016371766195439896
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.378355325998994
+      euclidean_error: -0.003274419751173707
+    base_right_marker_pose:
+      angle_rotation: 8.111791919996076
+      euclidean_error: -0.0026899698649769377
+    shoulder_marker_pose:
+      angle_rotation: 16.28746452282851
+      euclidean_error: 0.005794555815347713
+    wrist_inside_marker_pose:
+      angle_rotation: 20.58456088366887
+      euclidean_error: 0.0028949146415190308
+    wrist_top_marker_pose:
+      angle_rotation: 13.651070175203976
+      euclidean_error: -0.00010988201584205548
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.206598244435203
+      euclidean_error: -0.003374420459695604
+    base_right_marker_pose:
+      angle_rotation: 7.142801774140748
+      euclidean_error: -0.0015503955792831592
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.50596834498581
+      euclidean_error: 0.001789452397860769
+    wrist_top_marker_pose:
+      angle_rotation: 18.061658494129034
+      euclidean_error: -0.0011805007063774298
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.751770942803809
+      euclidean_error: -0.003092211664934008
+    base_right_marker_pose:
+      angle_rotation: 9.400372384448616
+      euclidean_error: -0.001523435626798686
+    shoulder_marker_pose:
+      angle_rotation: 19.422075105498028
+      euclidean_error: 0.007029496223913245
+    wrist_inside_marker_pose:
+      angle_rotation: 19.484788269503632
+      euclidean_error: 0.0017368296506932168
+    wrist_top_marker_pose:
+      angle_rotation: 15.634276443314162
+      euclidean_error: -4.2264868667873934e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7637992683469896
+      euclidean_error: -0.003103265679562428
+    base_right_marker_pose:
+      angle_rotation: 7.981857640040866
+      euclidean_error: -0.001391685465764958
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.75570982046132
+      euclidean_error: 0.0025310863394086835
+    wrist_top_marker_pose:
+      angle_rotation: 19.95872713452823
+      euclidean_error: 0.0005845569434853592
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3244829480055675
+      euclidean_error: -0.003662448832135623
+    base_right_marker_pose:
+      angle_rotation: 8.755155268985199
+      euclidean_error: -0.0013553215085772008
+    shoulder_marker_pose:
+      angle_rotation: 20.976316781710054
+      euclidean_error: 0.006613805944082118
+    wrist_inside_marker_pose:
+      angle_rotation: 22.55627669760633
+      euclidean_error: 0.0034627241373617057
+    wrist_top_marker_pose:
+      angle_rotation: 17.810498047315104
+      euclidean_error: 0.0027109684927139055
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.073359843052531
+      euclidean_error: -0.0029703640813241172
+    base_right_marker_pose:
+      angle_rotation: 10.202891345397417
+      euclidean_error: -0.0016685491520842533
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.05106120488863
+      euclidean_error: 0.0030414676269930885
+    wrist_top_marker_pose:
+      angle_rotation: 17.491410228989107
+      euclidean_error: 0.0012149381771198176
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.308135708633876
+      euclidean_error: -0.003340212701991252
+    base_right_marker_pose:
+      angle_rotation: 5.592733060861127
+      euclidean_error: -0.0018291707215261077
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.952383007965366
+      euclidean_error: 0.0024037330804557167
+    wrist_top_marker_pose:
+      angle_rotation: 17.19137391799614
+      euclidean_error: 0.0009277445000384077
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8575997316204502
+      euclidean_error: -0.0038027016161801264
+    base_right_marker_pose:
+      angle_rotation: 6.433413942620199
+      euclidean_error: -0.0023910801166320272
+    shoulder_marker_pose:
+      angle_rotation: 14.590494251712382
+      euclidean_error: 0.00543429704941778
+    wrist_inside_marker_pose:
+      angle_rotation: 22.097468614804185
+      euclidean_error: 0.002422935585067232
+    wrist_top_marker_pose:
+      angle_rotation: 16.767370294724092
+      euclidean_error: 0.0010054642668668734
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7890019549344007
+      euclidean_error: -0.003945355522160909
+    base_right_marker_pose:
+      angle_rotation: 6.079940429000102
+      euclidean_error: -0.002390529118386109
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.57649842268321
+      euclidean_error: 0.0034142702810107117
+    wrist_top_marker_pose:
+      angle_rotation: 21.481021088591568
+      euclidean_error: 0.0010512132192233015
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.905977817059447
+      euclidean_error: -0.0035777731991303297
+    base_right_marker_pose:
+      angle_rotation: 8.103861794973879
+      euclidean_error: -0.0021230703903319936
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.990821628242596
+      euclidean_error: 0.0033496816923596073
+    wrist_top_marker_pose:
+      angle_rotation: 20.195098160231776
+      euclidean_error: 0.001440420470016135
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8794537395764523
+      euclidean_error: -0.0037352356883695315
+    base_right_marker_pose:
+      angle_rotation: 8.117411358453154
+      euclidean_error: -0.0026196400437341616
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.605147072477227
+      euclidean_error: 0.0025742386806663076
+    wrist_top_marker_pose:
+      angle_rotation: 16.282321387431534
+      euclidean_error: 0.00036276231071763476
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.462125400005933
+      euclidean_error: -0.003882277223805408
+    base_right_marker_pose:
+      angle_rotation: 5.152850437471683
+      euclidean_error: -0.002168569545593413
+    shoulder_marker_pose:
+      angle_rotation: 24.12745775599989
+      euclidean_error: 0.006098549364627059
+    wrist_inside_marker_pose:
+      angle_rotation: 25.58385573210875
+      euclidean_error: 0.003246009274659234
+    wrist_top_marker_pose:
+      angle_rotation: 17.52361907195673
+      euclidean_error: 0.0010009475351424602
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.470935269887462
+      euclidean_error: -0.003057880190149076
+    base_right_marker_pose:
+      angle_rotation: 6.568501156505075
+      euclidean_error: -0.0018273206549976884
+    shoulder_marker_pose:
+      angle_rotation: 16.08920473112809
+      euclidean_error: 0.005831982916405409
+    wrist_inside_marker_pose:
+      angle_rotation: 21.63293899366177
+      euclidean_error: 0.003713177966172543
+    wrist_top_marker_pose:
+      angle_rotation: 19.57530163719873
+      euclidean_error: 0.0016222756341233158
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4264010913604288
+      euclidean_error: -0.0037624722355182882
+    base_right_marker_pose:
+      angle_rotation: 8.631806904053525
+      euclidean_error: -0.0019455629706831568
+    shoulder_marker_pose:
+      angle_rotation: 17.310765828147503
+      euclidean_error: 0.006572894672424612
+    wrist_inside_marker_pose:
+      angle_rotation: 22.1252980404013
+      euclidean_error: 0.0028327130676560897
+    wrist_top_marker_pose:
+      angle_rotation: 15.696317115853331
+      euclidean_error: -1.2151889845268826e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.965275706970967
+      euclidean_error: -0.0029051584801141894
+    base_right_marker_pose:
+      angle_rotation: 9.374253108020584
+      euclidean_error: -0.0018153300612370193
+    shoulder_marker_pose:
+      angle_rotation: 20.803249750298274
+      euclidean_error: 0.005245025898959699
+    wrist_inside_marker_pose:
+      angle_rotation: 24.173253483676955
+      euclidean_error: 0.0023506892787567013
+    wrist_top_marker_pose:
+      angle_rotation: 17.50892784846308
+      euclidean_error: 0.0011683692342048246
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.794306169447187
+      euclidean_error: -0.0033173449525909504
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.934683476057273
+      euclidean_error: 0.007758186739723727
+    wrist_inside_marker_pose:
+      angle_rotation: 22.58666694559568
+      euclidean_error: 0.0029083705385990477
+    wrist_top_marker_pose:
+      angle_rotation: 19.47011377061168
+      euclidean_error: 0.0020704255150360007
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8062330020734505
+      euclidean_error: -0.003502059831311133
+    base_right_marker_pose:
+      angle_rotation: 8.15048082467788
+      euclidean_error: -0.002534258484167551
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.105896181372007
+      euclidean_error: 0.0021545256810109326
+    wrist_top_marker_pose:
+      angle_rotation: 20.27091264041423
+      euclidean_error: 0.00012969743398638656
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.37072809070324
+      euclidean_error: -0.0032115803771899376
+    base_right_marker_pose:
+      angle_rotation: 7.4183150320577
+      euclidean_error: -0.0013351175085039024
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.827889913385903
+      euclidean_error: 0.0030297702951825878
+    wrist_top_marker_pose:
+      angle_rotation: 18.152973197348054
+      euclidean_error: 0.0015614529742152827
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.393791160835523
+      euclidean_error: -0.0030199341096101007
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.955873616300472
+      euclidean_error: 0.0029400096178796575
+    wrist_top_marker_pose:
+      angle_rotation: 18.122531569028776
+      euclidean_error: 0.0019415300476183228
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.35226383537091
+      euclidean_error: -0.0036506505223731223
+    base_right_marker_pose:
+      angle_rotation: 8.917318594028847
+      euclidean_error: -0.001811896642979205
+    shoulder_marker_pose:
+      angle_rotation: 16.866960418586572
+      euclidean_error: 0.007248173551325232
+    wrist_inside_marker_pose:
+      angle_rotation: 21.18060373595141
+      euclidean_error: 0.003910738185914697
+    wrist_top_marker_pose:
+      angle_rotation: 13.96524550763456
+      euclidean_error: 0.0007746887640642797
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.149636745236687
+      euclidean_error: -0.003247664258774541
+    base_right_marker_pose:
+      angle_rotation: 8.886090302100705
+      euclidean_error: -0.002386376825027625
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.587147341846283
+      euclidean_error: 0.0020842869751451776
+    wrist_top_marker_pose:
+      angle_rotation: 19.148295074330473
+      euclidean_error: 0.0009965909611155954
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.929074454000523
+      euclidean_error: -0.00343957895467073
+    base_right_marker_pose:
+      angle_rotation: 6.707628172523019
+      euclidean_error: -0.0018420273494840211
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.20974469759712
+      euclidean_error: 0.00348240745809425
+    wrist_top_marker_pose:
+      angle_rotation: 16.84406737420204
+      euclidean_error: 0.0002475082282545893
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.231934575458885
+      euclidean_error: -0.00367269443827134
+    base_right_marker_pose:
+      angle_rotation: 5.959859835001142
+      euclidean_error: -0.0024569826359343017
+    shoulder_marker_pose:
+      angle_rotation: 19.479055960070422
+      euclidean_error: 0.006616953013854343
+    wrist_inside_marker_pose:
+      angle_rotation: 21.600981640971543
+      euclidean_error: 0.002664274623244811
+    wrist_top_marker_pose:
+      angle_rotation: 16.519340194574962
+      euclidean_error: 0.00042237007819601047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.858540955620765
+      euclidean_error: -0.0034160890060991322
+    base_right_marker_pose:
+      angle_rotation: 7.560288452404535
+      euclidean_error: -0.0011773463751314495
+    shoulder_marker_pose:
+      angle_rotation: 17.305699551869466
+      euclidean_error: 0.00676349156137368
+    wrist_inside_marker_pose:
+      angle_rotation: 23.604144859629795
+      euclidean_error: 0.00301958973608929
+    wrist_top_marker_pose:
+      angle_rotation: 19.5227146537461
+      euclidean_error: 0.0017851220108561217
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.722437615097384
+      euclidean_error: -0.003728761099135669
+    base_right_marker_pose:
+      angle_rotation: 8.398602253078861
+      euclidean_error: -0.001656248923790682
+    shoulder_marker_pose:
+      angle_rotation: 18.990650399605368
+      euclidean_error: 0.007326985646062045
+    wrist_inside_marker_pose:
+      angle_rotation: 23.0484887654459
+      euclidean_error: 0.0023338311257667943
+    wrist_top_marker_pose:
+      angle_rotation: 20.41507239528439
+      euclidean_error: 0.0014333939989745748
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.206746577722831
+      euclidean_error: -0.003344452742120918
+    base_right_marker_pose:
+      angle_rotation: 5.476250995645399
+      euclidean_error: -0.0024737873515718878
+    shoulder_marker_pose:
+      angle_rotation: 22.57359793742082
+      euclidean_error: 0.006543438594458939
+    wrist_inside_marker_pose:
+      angle_rotation: 23.255818372351502
+      euclidean_error: 0.002900090377961906
+    wrist_top_marker_pose:
+      angle_rotation: 17.04698633778783
+      euclidean_error: -0.0002822015369533526
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.046839706777469
+      euclidean_error: -0.0032910006215013388
+    base_right_marker_pose:
+      angle_rotation: 6.364519093334691
+      euclidean_error: -0.0028639481169207004
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.64676793361068
+      euclidean_error: 0.0031519715591757924
+    wrist_top_marker_pose:
+      angle_rotation: 23.513057118698303
+      euclidean_error: 0.0008325538208230343
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.883329791794328
+      euclidean_error: -0.002290839411512313
+    base_right_marker_pose:
+      angle_rotation: 8.691085512067549
+      euclidean_error: -0.001573034395797368
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.773845964506926
+      euclidean_error: 0.00292259254185967
+    wrist_top_marker_pose:
+      angle_rotation: 15.277191814213637
+      euclidean_error: -8.294816402387717e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.0686973190067155
+      euclidean_error: -0.0030018124372707122
+    base_right_marker_pose:
+      angle_rotation: 10.13410891282504
+      euclidean_error: -0.0016006407651446564
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.077961297696664
+      euclidean_error: 0.0031330288770035075
+    wrist_top_marker_pose:
+      angle_rotation: 17.898879531131517
+      euclidean_error: 0.0015857961117313746
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.766193128048458
+      euclidean_error: -0.002976540111003012
+    base_right_marker_pose:
+      angle_rotation: 6.963295540231908
+      euclidean_error: -0.002283558544278086
+    shoulder_marker_pose:
+      angle_rotation: 16.320168072679166
+      euclidean_error: 0.005530077080009743
+    wrist_inside_marker_pose:
+      angle_rotation: 24.61583159951974
+      euclidean_error: 0.002399345098376471
+    wrist_top_marker_pose:
+      angle_rotation: 21.06133780822382
+      euclidean_error: 0.001012356985955698
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6953046794539883
+      euclidean_error: -0.0038422430626505744
+    base_right_marker_pose:
+      angle_rotation: 8.629216283734477
+      euclidean_error: -0.0012513298998956257
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.437767950885945
+      euclidean_error: 0.002494262870110897
+    wrist_top_marker_pose:
+      angle_rotation: 18.224234772785767
+      euclidean_error: 0.0004126807515513198
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3209603413201534
+      euclidean_error: -0.003878115913213076
+    base_right_marker_pose:
+      angle_rotation: 7.478041038952473
+      euclidean_error: -0.002129772853686429
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.85393106999866
+      euclidean_error: 0.0026267557927346363
+    wrist_top_marker_pose:
+      angle_rotation: 19.528098777134552
+      euclidean_error: 0.0007101833217351139
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5209793686116297
+      euclidean_error: -0.0032055596272452247
+    base_right_marker_pose:
+      angle_rotation: 7.5088338555646255
+      euclidean_error: -0.0012167233051196824
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.489055020229124
+      euclidean_error: 0.0022868889298780504
+    wrist_top_marker_pose:
+      angle_rotation: 15.008484903244629
+      euclidean_error: -0.0008808760983178843
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.87753860471953
+      euclidean_error: -0.0034284165679727696
+    base_right_marker_pose:
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+      euclidean_error: -0.0015323434509323386
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.39054342950177
+      euclidean_error: 0.0035566478145924174
+    wrist_top_marker_pose:
+      angle_rotation: 16.168705354086317
+      euclidean_error: 0.001315978873241641
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.98839594496644
+      euclidean_error: -0.0033562551737507107
+    base_right_marker_pose:
+      angle_rotation: 7.469340463311202
+      euclidean_error: -0.001793482497078669
+    shoulder_marker_pose:
+      angle_rotation: 23.13401934638726
+      euclidean_error: 0.007312832200382924
+    wrist_inside_marker_pose:
+      angle_rotation: 21.503302750398902
+      euclidean_error: 0.002531285427974317
+    wrist_top_marker_pose:
+      angle_rotation: 15.578586141024168
+      euclidean_error: 0.0011670664135097208
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5519329738289573
+      euclidean_error: -0.0036707877069487305
+    base_right_marker_pose:
+      angle_rotation: 9.140213745023546
+      euclidean_error: -0.001983558434358268
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.46499670802318
+      euclidean_error: 0.002283150991750138
+    wrist_top_marker_pose:
+      angle_rotation: 16.56371614267964
+      euclidean_error: -4.9645341269721754e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9328294103367143
+      euclidean_error: -0.0034949716351151405
+    base_right_marker_pose:
+      angle_rotation: 6.0680335283529265
+      euclidean_error: -0.002418806740214663
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.103296308927543
+      euclidean_error: 0.0028107224277658105
+    wrist_top_marker_pose:
+      angle_rotation: 16.274505923928306
+      euclidean_error: 0.00034708130179117447
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6590548112167682
+      euclidean_error: -0.003356669379590338
+    base_right_marker_pose:
+      angle_rotation: 7.353081343930058
+      euclidean_error: -0.002121333070004061
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.26936650801973
+      euclidean_error: 0.0020795350322551087
+    wrist_top_marker_pose:
+      angle_rotation: 21.160250471922968
+      euclidean_error: 0.0005841037872215127
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.275669721183686
+      euclidean_error: -0.003419853975477505
+    base_right_marker_pose:
+      angle_rotation: 9.373284424347894
+      euclidean_error: -0.0018344516387438503
+    shoulder_marker_pose:
+      angle_rotation: 19.087859019521456
+      euclidean_error: 0.006216015870318614
+    wrist_inside_marker_pose:
+      angle_rotation: 25.698505191993103
+      euclidean_error: 0.0030578930276279337
+    wrist_top_marker_pose:
+      angle_rotation: 13.882470993554403
+      euclidean_error: 0.0008442666190322523
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1943039663304638
+      euclidean_error: -0.0037115777974502384
+    base_right_marker_pose:
+      angle_rotation: 10.027529281217447
+      euclidean_error: -0.002264739273077576
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.6164775246834
+      euclidean_error: 0.0021168181897405214
+    wrist_top_marker_pose:
+      angle_rotation: 18.28526124849135
+      euclidean_error: -0.0007528800118818957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.522097451732989
+      euclidean_error: -0.0027623918198230735
+    base_right_marker_pose:
+      angle_rotation: 8.791917023971939
+      euclidean_error: -0.002044018445490847
+    shoulder_marker_pose:
+      angle_rotation: 19.073778001070057
+      euclidean_error: 0.006599308281186156
+    wrist_inside_marker_pose:
+      angle_rotation: 24.133488443411636
+      euclidean_error: 0.002780510405645975
+    wrist_top_marker_pose:
+      angle_rotation: 20.917568697149644
+      euclidean_error: -0.00023060449411294037
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.7521912277359295
+      euclidean_error: -0.002513614385558749
+    base_right_marker_pose:
+      angle_rotation: 10.5609222102084
+      euclidean_error: -0.0019748993006498683
+    shoulder_marker_pose:
+      angle_rotation: 18.00570093467897
+      euclidean_error: 0.005653374420949819
+    wrist_inside_marker_pose:
+      angle_rotation: 23.664288317773927
+      euclidean_error: 0.0037890299295237906
+    wrist_top_marker_pose:
+      angle_rotation: 19.96053992557624
+      euclidean_error: 0.0020457701067834178
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5797106088672774
+      euclidean_error: -0.003799091635142249
+    base_right_marker_pose:
+      angle_rotation: 7.1945820870990564
+      euclidean_error: -0.002230815894108562
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.818744302284625
+      euclidean_error: 0.0031761918483799167
+    wrist_top_marker_pose:
+      angle_rotation: 22.68777660789492
+      euclidean_error: 0.0014255536851885964
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.632323437770516
+      euclidean_error: -0.003685141914367085
+    base_right_marker_pose:
+      angle_rotation: 10.536930360693109
+      euclidean_error: -0.0009474659143948738
+    shoulder_marker_pose:
+      angle_rotation: 22.082536030137483
+      euclidean_error: 0.00697861984795789
+    wrist_inside_marker_pose:
+      angle_rotation: 23.31008604943871
+      euclidean_error: 0.002568926633524704
+    wrist_top_marker_pose:
+      angle_rotation: 20.011335409182134
+      euclidean_error: 0.00026406515510613016
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.344053311480094
+      euclidean_error: -0.0036764729830289777
+    base_right_marker_pose:
+      angle_rotation: 10.051912326298396
+      euclidean_error: -0.0021302447817940218
+    shoulder_marker_pose:
+      angle_rotation: 19.028925331217433
+      euclidean_error: 0.006949420858922584
+    wrist_inside_marker_pose:
+      angle_rotation: 24.149038568371157
+      euclidean_error: 0.002946940525135555
+    wrist_top_marker_pose:
+      angle_rotation: 15.19504989056428
+      euclidean_error: -0.0002515279987391761
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9173404203457385
+      euclidean_error: -0.003279560235744383
+    base_right_marker_pose:
+      angle_rotation: 6.575033386484056
+      euclidean_error: -0.0020051572405505036
+    shoulder_marker_pose:
+      angle_rotation: 20.66307693015326
+      euclidean_error: 0.005810028796185307
+    wrist_inside_marker_pose:
+      angle_rotation: 23.807788468242805
+      euclidean_error: 0.0018685850593003206
+    wrist_top_marker_pose:
+      angle_rotation: 17.60623216784406
+      euclidean_error: -3.496320302642797e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.857779098695958
+      euclidean_error: -0.0035069623181576137
+    base_right_marker_pose:
+      angle_rotation: 9.802292733973252
+      euclidean_error: -0.0016554093530702918
+    shoulder_marker_pose:
+      angle_rotation: 19.867964677590308
+      euclidean_error: 0.005132997631683733
+    wrist_inside_marker_pose:
+      angle_rotation: 23.07594243866007
+      euclidean_error: 0.0014389560047052274
+    wrist_top_marker_pose:
+      angle_rotation: 17.82955913493648
+      euclidean_error: -0.0006972567444408773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.650958881888802
+      euclidean_error: -0.003096824129822595
+    base_right_marker_pose:
+      angle_rotation: 8.851044869499576
+      euclidean_error: -0.0015003194443882206
+    shoulder_marker_pose:
+      angle_rotation: 20.52035625162311
+      euclidean_error: 0.006612089938948906
+    wrist_inside_marker_pose:
+      angle_rotation: 24.2713601303364
+      euclidean_error: 0.0027791038776708854
+    wrist_top_marker_pose:
+      angle_rotation: 14.329086176783145
+      euclidean_error: 0.0007103439374356313
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.017330100226031
+      euclidean_error: -0.0030065101105921643
+    base_right_marker_pose:
+      angle_rotation: 6.861217531623833
+      euclidean_error: -0.0017157757422909814
+    shoulder_marker_pose:
+      angle_rotation: 21.69994465762068
+      euclidean_error: 0.007350178712805522
+    wrist_inside_marker_pose:
+      angle_rotation: 21.623062414200476
+      euclidean_error: 0.0033129333519809068
+    wrist_top_marker_pose:
+      angle_rotation: 19.67946065695046
+      euclidean_error: 0.0024393454071286458
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5863007146168546
+      euclidean_error: -0.0036166047784629285
+    base_right_marker_pose:
+      angle_rotation: 9.932639305804711
+      euclidean_error: -0.0020529900071746265
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.720656842368584
+      euclidean_error: 0.0029120028305917867
+    wrist_top_marker_pose:
+      angle_rotation: 20.565707286932028
+      euclidean_error: 0.001683113840172612
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.746978584326171
+      euclidean_error: -0.0030018668860503084
+    base_right_marker_pose:
+      angle_rotation: 7.024648651393492
+      euclidean_error: -0.001962098686409952
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.602157893968425
+      euclidean_error: 0.0018055136718815312
+    wrist_top_marker_pose:
+      angle_rotation: 15.731031662282277
+      euclidean_error: -0.000348016541367846
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.285479648634701
+      euclidean_error: -0.003848013824331309
+    base_right_marker_pose:
+      angle_rotation: 9.120936968201828
+      euclidean_error: -0.001801454045264106
+    shoulder_marker_pose:
+      angle_rotation: 22.267374238842404
+      euclidean_error: 0.006720437455497885
+    wrist_inside_marker_pose:
+      angle_rotation: 23.987316689848363
+      euclidean_error: 0.0031402577966969103
+    wrist_top_marker_pose:
+      angle_rotation: 22.746011843403384
+      euclidean_error: 0.0015343949165443904
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.620588040186292
+      euclidean_error: -0.0029667219309192916
+    base_right_marker_pose:
+      angle_rotation: 9.832500363720342
+      euclidean_error: -0.000958357858402703
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.015884818116465
+      euclidean_error: 0.0027436982463857618
+    wrist_top_marker_pose:
+      angle_rotation: 18.728240832467602
+      euclidean_error: 0.0026504369161414187
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6442300971552006
+      euclidean_error: -0.003366398386140501
+    base_right_marker_pose:
+      angle_rotation: 8.955444333952112
+      euclidean_error: -0.0012408843598368247
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.01198151816602
+      euclidean_error: 0.003575402032422348
+    wrist_top_marker_pose:
+      angle_rotation: 22.797115447585263
+      euclidean_error: 0.0009029029234310926
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.564272503973025
+      euclidean_error: -0.0030262694659408673
+    base_right_marker_pose:
+      angle_rotation: 10.140134930413362
+      euclidean_error: -0.00221527329632476
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.712347141293254
+      euclidean_error: 0.001449403849290487
+    wrist_top_marker_pose:
+      angle_rotation: 13.383130035767218
+      euclidean_error: -0.00018102562348620843
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.509194285076162
+      euclidean_error: -0.00303561403828867
+    base_right_marker_pose:
+      angle_rotation: 7.569869507287374
+      euclidean_error: -0.000986618423552521
+    shoulder_marker_pose:
+      angle_rotation: 19.55097154411762
+      euclidean_error: 0.006508509819220132
+    wrist_inside_marker_pose:
+      angle_rotation: 22.662467518123677
+      euclidean_error: 0.0024906705557048436
+    wrist_top_marker_pose:
+      angle_rotation: 20.37831616015435
+      euclidean_error: 0.0011241711917686636
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.650310530222627
+      euclidean_error: -0.0035318868889080424
+    base_right_marker_pose:
+      angle_rotation: 9.230461770472946
+      euclidean_error: -0.0016930199774786159
+    shoulder_marker_pose:
+      angle_rotation: 21.298332280761148
+      euclidean_error: 0.006454588003990347
+    wrist_inside_marker_pose:
+      angle_rotation: 21.231808609483103
+      euclidean_error: 0.0020906114356771255
+    wrist_top_marker_pose:
+      angle_rotation: 23.404829264871598
+      euclidean_error: -4.988871309274945e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.62817145288391
+      euclidean_error: -0.0032271056036786705
+    base_right_marker_pose:
+      angle_rotation: 7.778077294919333
+      euclidean_error: -0.0008362481156383161
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.511610180149702
+      euclidean_error: 0.0033388203263837735
+    wrist_top_marker_pose:
+      angle_rotation: 17.21560195737438
+      euclidean_error: 0.0009552165149724345
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.650298823760505
+      euclidean_error: -0.003325508116749698
+    base_right_marker_pose:
+      angle_rotation: 8.499318773006145
+      euclidean_error: -0.002147469308366623
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.4800753155733
+      euclidean_error: 0.0026430918764192013
+    wrist_top_marker_pose:
+      angle_rotation: 12.623948443171903
+      euclidean_error: 0.0008821755453247704
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.632567000275064
+      euclidean_error: -0.0030942891252681015
+    base_right_marker_pose:
+      angle_rotation: 9.323687025396636
+      euclidean_error: -0.0006661383620548689
+    shoulder_marker_pose:
+      angle_rotation: 20.483581820715468
+      euclidean_error: 0.007606323022459005
+    wrist_inside_marker_pose:
+      angle_rotation: 22.138957685829936
+      euclidean_error: 0.0024929773658382004
+    wrist_top_marker_pose:
+      angle_rotation: 16.836133016392385
+      euclidean_error: 0.0004947984638791203
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.660451497458676
+      euclidean_error: -0.0037132891796520795
+    base_right_marker_pose:
+      angle_rotation: 7.69615053043584
+      euclidean_error: -0.001834973203573842
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.373474594621804
+      euclidean_error: 0.002451749100058853
+    wrist_top_marker_pose:
+      angle_rotation: 15.899545563720558
+      euclidean_error: -9.32972533344012e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.036188705456927
+      euclidean_error: -0.00361914877369629
+    base_right_marker_pose:
+      angle_rotation: 7.608170969894165
+      euclidean_error: -0.001375883027348146
+    shoulder_marker_pose:
+      angle_rotation: 17.905155062838553
+      euclidean_error: 0.006852138608950065
+    wrist_inside_marker_pose:
+      angle_rotation: 22.11658386125317
+      euclidean_error: 0.002878906041855256
+    wrist_top_marker_pose:
+      angle_rotation: 17.0900281618148
+      euclidean_error: 0.0006445514330917224
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6945135606613424
+      euclidean_error: -0.0034739556178483566
+    base_right_marker_pose:
+      angle_rotation: 7.419956226891079
+      euclidean_error: -0.0020278488971444686
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.56100503750021
+      euclidean_error: 0.0018725116229638683
+    wrist_top_marker_pose:
+      angle_rotation: 17.219619109248015
+      euclidean_error: 0.0004506889017347193
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.254367979667559
+      euclidean_error: -0.00260951101745166
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 18.04568564597584
+      euclidean_error: 0.006717372432295532
+    wrist_inside_marker_pose:
+      angle_rotation: 24.299488776020286
+      euclidean_error: 0.0026667531687406543
+    wrist_top_marker_pose:
+      angle_rotation: 20.224086420257425
+      euclidean_error: 0.000671733951303044
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.032940729311928
+      euclidean_error: -0.0036242029582844726
+    base_right_marker_pose:
+      angle_rotation: 8.240335061330564
+      euclidean_error: -0.001607558385220642
+    shoulder_marker_pose:
+      angle_rotation: 19.245596995895635
+      euclidean_error: 0.007099025024779215
+    wrist_inside_marker_pose:
+      angle_rotation: 24.39286054881421
+      euclidean_error: 0.003132742319457038
+    wrist_top_marker_pose:
+      angle_rotation: 19.15297412600779
+      euclidean_error: 0.001767864574193978
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1653758961055485
+      euclidean_error: -0.003801507765665124
+    base_right_marker_pose:
+      angle_rotation: 7.798316025879956
+      euclidean_error: -0.0015863449945483499
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.081558404019777
+      euclidean_error: 0.0025193647082133452
+    wrist_top_marker_pose:
+      angle_rotation: 16.516104657161453
+      euclidean_error: 0.00048138997884539236
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1979719175743453
+      euclidean_error: -0.0036689446862211428
+    base_right_marker_pose:
+      angle_rotation: 5.959509407352249
+      euclidean_error: -0.002513515184689785
+    shoulder_marker_pose:
+      angle_rotation: 22.83867593520318
+      euclidean_error: 0.006864611477755522
+    wrist_inside_marker_pose:
+      angle_rotation: 23.759496585781964
+      euclidean_error: 0.00238867116794661
+    wrist_top_marker_pose:
+      angle_rotation: 16.66262867046516
+      euclidean_error: 0.0015930237895710464
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8076714478597293
+      euclidean_error: -0.0034082965380929364
+    base_right_marker_pose:
+      angle_rotation: 7.611694557680152
+      euclidean_error: -0.0019155481787688222
+    shoulder_marker_pose:
+      angle_rotation: 17.068551506109028
+      euclidean_error: 0.005263095246448968
+    wrist_inside_marker_pose:
+      angle_rotation: 23.71111875215669
+      euclidean_error: 0.0019044611747948137
+    wrist_top_marker_pose:
+      angle_rotation: 22.02733651332199
+      euclidean_error: 0.00048159949465331753
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1793152566883824
+      euclidean_error: -0.0036323067925450037
+    base_right_marker_pose:
+      angle_rotation: 8.493599714430399
+      euclidean_error: -0.0012637456581747752
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.157488630285474
+      euclidean_error: 0.004059447938477123
+    wrist_top_marker_pose:
+      angle_rotation: 18.119418539845025
+      euclidean_error: 0.0003707857381446411
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.536719909764707
+      euclidean_error: -0.003934415182139439
+    base_right_marker_pose:
+      angle_rotation: 6.716639905563156
+      euclidean_error: -0.0021192969107802773
+    shoulder_marker_pose:
+      angle_rotation: 22.641137190935044
+      euclidean_error: 0.006469567982445468
+    wrist_inside_marker_pose:
+      angle_rotation: 18.81552522945276
+      euclidean_error: 0.002637462923160805
+    wrist_top_marker_pose:
+      angle_rotation: 18.596109301948783
+      euclidean_error: -0.00030171073701634743
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.781590426194258
+      euclidean_error: -0.0034325842542495266
+    base_right_marker_pose:
+      angle_rotation: 7.959893747100747
+      euclidean_error: -0.0022169294466951595
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.876964305041
+      euclidean_error: 0.0026653177536420936
+    wrist_top_marker_pose:
+      angle_rotation: 18.219088487026642
+      euclidean_error: 0.0009022588633169626
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.792800672788118
+      euclidean_error: -0.0030462781091942226
+    base_right_marker_pose:
+      angle_rotation: 9.457006704012324
+      euclidean_error: -0.002435491298863557
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.451433443518148
+      euclidean_error: 0.0027340588399005217
+    wrist_top_marker_pose:
+      angle_rotation: 14.436845983559829
+      euclidean_error: 0.0006631412533117942
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.9350546351886795
+      euclidean_error: -0.0029180698410546935
+    base_right_marker_pose:
+      angle_rotation: 9.529720499342066
+      euclidean_error: -0.0013346867990968736
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.11069933251323
+      euclidean_error: 0.0027662650261930377
+    wrist_top_marker_pose:
+      angle_rotation: 16.744082181099003
+      euclidean_error: 0.0008805540687926161
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.962421444238428
+      euclidean_error: -0.003544354326037835
+    base_right_marker_pose:
+      angle_rotation: 10.562803972489565
+      euclidean_error: -0.0006693665657028225
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.2018436740694
+      euclidean_error: 0.0031848247172068245
+    wrist_top_marker_pose:
+      angle_rotation: 20.473207952802866
+      euclidean_error: 0.0006257144016892369
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5782718030051632
+      euclidean_error: -0.0036621372078744496
+    base_right_marker_pose:
+      angle_rotation: 7.699020844123073
+      euclidean_error: -0.0013859068432080512
+    shoulder_marker_pose:
+      angle_rotation: 14.541358444898645
+      euclidean_error: 0.005682540752979914
+    wrist_inside_marker_pose:
+      angle_rotation: 23.96005218327345
+      euclidean_error: 0.0017536568855817114
+    wrist_top_marker_pose:
+      angle_rotation: 18.76217719033719
+      euclidean_error: -0.0006516892201895441
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5609683214099914
+      euclidean_error: -0.0032890589648163493
+    base_right_marker_pose:
+      angle_rotation: 10.14107278354794
+      euclidean_error: -0.0013355044486277334
+    shoulder_marker_pose:
+      angle_rotation: 20.355640306502718
+      euclidean_error: 0.005973159781326731
+    wrist_inside_marker_pose:
+      angle_rotation: 25.50096191759181
+      euclidean_error: 0.0021984948412203664
+    wrist_top_marker_pose:
+      angle_rotation: 15.852821287269705
+      euclidean_error: 0.0005098661863434106
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.938122410353607
+      euclidean_error: -0.0031525675820331944
+    base_right_marker_pose:
+      angle_rotation: 8.282903688231182
+      euclidean_error: -0.002389595335598682
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.409678164420733
+      euclidean_error: 0.003388113458116959
+    wrist_top_marker_pose:
+      angle_rotation: 21.299371071585195
+      euclidean_error: 0.0021822415134219453
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.434269284461055
+      euclidean_error: -0.0034623117340576437
+    base_right_marker_pose:
+      angle_rotation: 7.610844788470143
+      euclidean_error: -0.0009933994627597809
+    shoulder_marker_pose:
+      angle_rotation: 16.386521663446548
+      euclidean_error: 0.007247030798362641
+    wrist_inside_marker_pose:
+      angle_rotation: 26.923367531362427
+      euclidean_error: 0.0035908791024649167
+    wrist_top_marker_pose:
+      angle_rotation: 14.73883807697359
+      euclidean_error: 0.0005600775717701234
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5311926206913893
+      euclidean_error: -0.0037341147887868242
+    base_right_marker_pose:
+      angle_rotation: 8.825527665582884
+      euclidean_error: -0.0019429107564207238
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.031807426408925
+      euclidean_error: 0.00391107584477246
+    wrist_top_marker_pose:
+      angle_rotation: 22.50260267351335
+      euclidean_error: 0.0014587627774562684
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.621109204908673
+      euclidean_error: -0.003105892926405396
+    base_right_marker_pose:
+      angle_rotation: 11.786520736995877
+      euclidean_error: -0.0013932035742315607
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.465223861109482
+      euclidean_error: 0.0019626253887085054
+    wrist_top_marker_pose:
+      angle_rotation: 18.709029961139375
+      euclidean_error: -0.0005015977626826595
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.722786401903388
+      euclidean_error: -0.0035876207463507725
+    base_right_marker_pose:
+      angle_rotation: 5.974184266926054
+      euclidean_error: -0.0013236702147875201
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.65512002044719
+      euclidean_error: 0.0028269032786691906
+    wrist_top_marker_pose:
+      angle_rotation: 18.31557579683296
+      euclidean_error: 0.000809930218083732
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.274408589439977
+      euclidean_error: -0.0028419166950417463
+    base_right_marker_pose:
+      angle_rotation: 10.41563874920843
+      euclidean_error: -0.0017973352724754976
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.28238136447181
+      euclidean_error: 0.0032508663361929813
+    wrist_top_marker_pose:
+      angle_rotation: 17.54980490639462
+      euclidean_error: 0.0010412954260776708
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.618851821716859
+      euclidean_error: -0.003247074389643889
+    base_right_marker_pose:
+      angle_rotation: 8.330802431228369
+      euclidean_error: -0.0022460457714233995
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.165336619884833
+      euclidean_error: 0.003380509023998335
+    wrist_top_marker_pose:
+      angle_rotation: 15.315393724725007
+      euclidean_error: -7.580948886221073e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9525721059485694
+      euclidean_error: -0.0031730403914675964
+    base_right_marker_pose:
+      angle_rotation: 8.287826913932621
+      euclidean_error: -0.0012286496969298177
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.814287312371057
+      euclidean_error: 0.002648895139641172
+    wrist_top_marker_pose:
+      angle_rotation: 15.862551985921018
+      euclidean_error: 0.0012915485693415496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2066478558264144
+      euclidean_error: -0.003219966142311015
+    base_right_marker_pose:
+      angle_rotation: 8.664961488728023
+      euclidean_error: -0.0007955373489443307
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.948796371148095
+      euclidean_error: 0.00251494122984397
+    wrist_top_marker_pose:
+      angle_rotation: 20.952584097323967
+      euclidean_error: 0.0007316739801281891
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4945721890805195
+      euclidean_error: -0.003777199745702231
+    base_right_marker_pose:
+      angle_rotation: 7.479912966149783
+      euclidean_error: -0.0019400267192453136
+    shoulder_marker_pose:
+      angle_rotation: 17.346018483802123
+      euclidean_error: 0.006973483102316269
+    wrist_inside_marker_pose:
+      angle_rotation: 22.55406385804564
+      euclidean_error: 0.0026024393836299176
+    wrist_top_marker_pose:
+      angle_rotation: 17.437627937428356
+      euclidean_error: -0.0009498875798883422
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.517065991128728
+      euclidean_error: -0.0033147120671588315
+    base_right_marker_pose:
+      angle_rotation: 11.341930771386314
+      euclidean_error: -0.0015105450995706038
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.326182601353928
+      euclidean_error: 0.0028832945424351886
+    wrist_top_marker_pose:
+      angle_rotation: 17.453367361011527
+      euclidean_error: 0.0007144679097057516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9093683187957033
+      euclidean_error: -0.0034292161832688572
+    base_right_marker_pose:
+      angle_rotation: 8.733474678864717
+      euclidean_error: -0.0013365767312614185
+    shoulder_marker_pose:
+      angle_rotation: 22.715372068321567
+      euclidean_error: 0.007307925415224181
+    wrist_inside_marker_pose:
+      angle_rotation: 22.665923281801444
+      euclidean_error: 0.0013991897029045353
+    wrist_top_marker_pose:
+      angle_rotation: 19.232265799981835
+      euclidean_error: -0.0004684242128837335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0622237929111193
+      euclidean_error: -0.0038220290631980625
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 17.11407073540338
+      euclidean_error: 0.006556389413761687
+    wrist_inside_marker_pose:
+      angle_rotation: 23.115746683922115
+      euclidean_error: 0.0028351077231534294
+    wrist_top_marker_pose:
+      angle_rotation: 16.2590090161145
+      euclidean_error: 0.0007369654223962074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.134769971299906
+      euclidean_error: -0.0032564786883304553
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 19.62311536979554
+      euclidean_error: 0.007583758372046279
+    wrist_inside_marker_pose:
+      angle_rotation: 20.46213409947715
+      euclidean_error: 0.0035807531844208595
+    wrist_top_marker_pose:
+      angle_rotation: 17.915189180813716
+      euclidean_error: 0.000905778196025997
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.236360521737023
+      euclidean_error: -0.0031441175367084018
+    base_right_marker_pose:
+      angle_rotation: 5.0246923568301405
+      euclidean_error: -0.0008369194162666238
+    shoulder_marker_pose:
+      angle_rotation: 19.158404872118197
+      euclidean_error: 0.006026311007274243
+    wrist_inside_marker_pose:
+      angle_rotation: 22.222410813096015
+      euclidean_error: 0.002532611887691827
+    wrist_top_marker_pose:
+      angle_rotation: 15.453858547657106
+      euclidean_error: 0.0006637068747193942
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.963773246501734
+      euclidean_error: -0.0032132285340840117
+    base_right_marker_pose:
+      angle_rotation: 7.856168318051993
+      euclidean_error: -0.0008342432110128861
+    shoulder_marker_pose:
+      angle_rotation: 16.491092674877343
+      euclidean_error: 0.006732863580442672
+    wrist_inside_marker_pose:
+      angle_rotation: 22.99768449161532
+      euclidean_error: 0.0027961318090488074
+    wrist_top_marker_pose:
+      angle_rotation: 17.160759081296206
+      euclidean_error: 0.0013662192992086597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.025377536433804
+      euclidean_error: -0.003483210463708697
+    base_right_marker_pose:
+      angle_rotation: 7.526590223498115
+      euclidean_error: -0.00211345187200751
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.245085777718227
+      euclidean_error: 0.0023554809798057574
+    wrist_top_marker_pose:
+      angle_rotation: 13.660981788621259
+      euclidean_error: -0.0003580247217094268
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.807066891399323
+      euclidean_error: -0.003561652113861946
+    base_right_marker_pose:
+      angle_rotation: 6.662126497052093
+      euclidean_error: -0.0014027576296906652
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.441443542774994
+      euclidean_error: 0.0025967257785786124
+    wrist_top_marker_pose:
+      angle_rotation: 16.22994863120988
+      euclidean_error: 0.00040375952143911764
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.657062268233709
+      euclidean_error: -0.002938741571365089
+    base_right_marker_pose:
+      angle_rotation: 9.23651772363076
+      euclidean_error: -0.0020983757742280007
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.48569710344237
+      euclidean_error: 0.00233494414655
+    wrist_top_marker_pose:
+      angle_rotation: 18.530317599816737
+      euclidean_error: 0.0007706059953372923
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.819673719230677
+      euclidean_error: -0.0033361252266409513
+    base_right_marker_pose:
+      angle_rotation: 5.763962649207537
+      euclidean_error: -0.0014671883242859396
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.352810295483724
+      euclidean_error: 0.0014271909976800723
+    wrist_top_marker_pose:
+      angle_rotation: 14.428445914414839
+      euclidean_error: 7.28304347904496e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7905687782017634
+      euclidean_error: -0.003440684018324869
+    base_right_marker_pose:
+      angle_rotation: 7.085072621904555
+      euclidean_error: -0.0013969076412002623
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.44851855138829
+      euclidean_error: 0.004146906197400324
+    wrist_top_marker_pose:
+      angle_rotation: 21.654848312524162
+      euclidean_error: 0.0014270801933431443
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.066623738536393
+      euclidean_error: -0.003075745449849232
+    base_right_marker_pose:
+      angle_rotation: 9.408633464792013
+      euclidean_error: -0.0017704719697339
+    shoulder_marker_pose:
+      angle_rotation: 22.415720510486356
+      euclidean_error: 0.0066432822372374245
+    wrist_inside_marker_pose:
+      angle_rotation: 21.497295922051812
+      euclidean_error: 0.0027205168546707847
+    wrist_top_marker_pose:
+      angle_rotation: 16.86449803099151
+      euclidean_error: -8.888103139748083e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5087803909181403
+      euclidean_error: -0.0035698403011861224
+    base_right_marker_pose:
+      angle_rotation: 10.066211197137514
+      euclidean_error: -0.0013891633595214392
+    shoulder_marker_pose:
+      angle_rotation: 18.04329932596807
+      euclidean_error: 0.007191213703706234
+    wrist_inside_marker_pose:
+      angle_rotation: 21.489181776926483
+      euclidean_error: 0.0025344957969616333
+    wrist_top_marker_pose:
+      angle_rotation: 14.155377747132693
+      euclidean_error: -9.501839632231057e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6976549979234576
+      euclidean_error: -0.0031634449933917175
+    base_right_marker_pose:
+      angle_rotation: 6.280705768035306
+      euclidean_error: -0.001285786327238525
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.98090669554445
+      euclidean_error: 0.003001096006855941
+    wrist_top_marker_pose:
+      angle_rotation: 11.60219419453036
+      euclidean_error: -0.0009723173062901047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.384835510135188
+      euclidean_error: -0.0033135341249130867
+    base_right_marker_pose:
+      angle_rotation: 7.597677755582598
+      euclidean_error: -0.001425382179835566
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.332343615113558
+      euclidean_error: 0.002527628134851523
+    wrist_top_marker_pose:
+      angle_rotation: 16.904569219142285
+      euclidean_error: 0.000486090493538871
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.542972682312002
+      euclidean_error: -0.0037747757924039282
+    base_right_marker_pose:
+      angle_rotation: 8.888551305753056
+      euclidean_error: -0.0010771124116953912
+    shoulder_marker_pose:
+      angle_rotation: 18.93854923505783
+      euclidean_error: 0.006506322298359013
+    wrist_inside_marker_pose:
+      angle_rotation: 23.765024949134922
+      euclidean_error: 0.0033729027200081196
+    wrist_top_marker_pose:
+      angle_rotation: 18.915491234640147
+      euclidean_error: 0.0020765073702745385
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.78788996600219
+      euclidean_error: -0.003447933712157014
+    base_right_marker_pose:
+      angle_rotation: 7.398815782002234
+      euclidean_error: -0.0017291414556251938
+    shoulder_marker_pose:
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+      euclidean_error: 0.006811470942794551
+    wrist_inside_marker_pose:
+      angle_rotation: 26.17180366071486
+      euclidean_error: 0.002960957279789622
+    wrist_top_marker_pose:
+      angle_rotation: 19.50149432579474
+      euclidean_error: 0.0014137992312754921
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4852983787282223
+      euclidean_error: -0.0036745762054345432
+    base_right_marker_pose:
+      angle_rotation: 12.735867335526736
+      euclidean_error: -0.001764304688163354
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 17.040387127052853
+      euclidean_error: 0.0005990720793322968
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.528920941652896
+      euclidean_error: -0.0027596069799785683
+    base_right_marker_pose:
+      angle_rotation: 9.124374327884322
+      euclidean_error: -0.0013912471133040727
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.620346840212523
+      euclidean_error: 0.003579392478615162
+    wrist_top_marker_pose:
+      angle_rotation: 14.814657744650507
+      euclidean_error: 0.0008605340436186326
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.010900380219518
+      euclidean_error: -0.002312540292699228
+    base_right_marker_pose:
+      angle_rotation: 9.58318371593015
+      euclidean_error: -0.00154820492160479
+    shoulder_marker_pose:
+      angle_rotation: 19.37997526682884
+      euclidean_error: 0.006112937964837695
+    wrist_inside_marker_pose:
+      angle_rotation: 22.10335144304326
+      euclidean_error: 0.0036404563893112085
+    wrist_top_marker_pose:
+      angle_rotation: 13.190738744226408
+      euclidean_error: 0.0005220283322210362
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4535522703439367
+      euclidean_error: -0.0036978853818525614
+    base_right_marker_pose:
+      angle_rotation: 7.596765036148307
+      euclidean_error: -0.002445807674056333
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 15.416322618217244
+      euclidean_error: 0.0023217235157375615
+    wrist_top_marker_pose:
+      angle_rotation: 18.70733445762706
+      euclidean_error: 0.0001046084158763394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.167561145673894
+      euclidean_error: -0.0033688730992020854
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 22.368829331472693
+      euclidean_error: 0.007488609022381687
+    wrist_inside_marker_pose:
+      angle_rotation: 22.477140047191575
+      euclidean_error: 0.0032170806091377235
+    wrist_top_marker_pose:
+      angle_rotation: 20.213430691512833
+      euclidean_error: 0.0014638449248195462
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.089329677809004
+      euclidean_error: -0.0032288660556151205
+    base_right_marker_pose:
+      angle_rotation: 8.636404856311309
+      euclidean_error: -0.0015442553306344031
+    shoulder_marker_pose:
+      angle_rotation: 22.98626927163585
+      euclidean_error: 0.007262207424547307
+    wrist_inside_marker_pose:
+      angle_rotation: 24.19612216462404
+      euclidean_error: 0.0035222902905835962
+    wrist_top_marker_pose:
+      angle_rotation: 18.6537751057778
+      euclidean_error: 0.0011532094016988292
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.806631083952979
+      euclidean_error: -0.0032154692812182972
+    base_right_marker_pose:
+      angle_rotation: 11.33929958593687
+      euclidean_error: -0.0012223486948204076
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.946235897684964
+      euclidean_error: 0.002383682859632197
+    wrist_top_marker_pose:
+      angle_rotation: 18.158648358123955
+      euclidean_error: 0.0009893799208843257
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6595192487200725
+      euclidean_error: -0.0030198855362594257
+    base_right_marker_pose:
+      angle_rotation: 8.42343312426245
+      euclidean_error: -0.0014539183105358733
+    shoulder_marker_pose:
+      angle_rotation: 21.72132977939138
+      euclidean_error: 0.006624902348351003
+    wrist_inside_marker_pose:
+      angle_rotation: 24.66547342267884
+      euclidean_error: 0.002495668838710774
+    wrist_top_marker_pose:
+      angle_rotation: 17.15586554002519
+      euclidean_error: 0.00040551739545502397
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8539573407856853
+      euclidean_error: -0.0032346948029718936
+    base_right_marker_pose:
+      angle_rotation: 8.35680786682484
+      euclidean_error: -0.0014450336324920432
+    shoulder_marker_pose:
+      angle_rotation: 19.939078539278125
+      euclidean_error: 0.006392267937366802
+    wrist_inside_marker_pose:
+      angle_rotation: 22.083355474223488
+      euclidean_error: 0.0019612700978467457
+    wrist_top_marker_pose:
+      angle_rotation: 25.007014069043727
+      euclidean_error: 0.0007741615497075527
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5002845559742783
+      euclidean_error: -0.0033541433889571204
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.035446540185138
+      euclidean_error: 0.003064363921223112
+    wrist_top_marker_pose:
+      angle_rotation: 20.976469771442638
+      euclidean_error: 0.0027556869442825205
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9944830432258116
+      euclidean_error: -0.003268453334093757
+    base_right_marker_pose:
+      angle_rotation: 9.748451497132084
+      euclidean_error: -0.0009290519817419796
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.854243386159947
+      euclidean_error: 0.002744487917291649
+    wrist_top_marker_pose:
+      angle_rotation: 15.14784752014339
+      euclidean_error: 0.0010842045017448454
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.671411369807883
+      euclidean_error: -0.003028605205999124
+    base_right_marker_pose:
+      angle_rotation: 10.106886138033413
+      euclidean_error: -0.001980497880247678
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.45528645606115
+      euclidean_error: 0.0026203520566698835
+    wrist_top_marker_pose:
+      angle_rotation: 20.475927870208412
+      euclidean_error: 0.0017201963228139494
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1198459965232175
+      euclidean_error: -0.0035816749223612776
+    base_right_marker_pose:
+      angle_rotation: 8.006257481802981
+      euclidean_error: -0.0021548614712243452
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.558827501168228
+      euclidean_error: 0.002029071852208242
+    wrist_top_marker_pose:
+      angle_rotation: 17.86816611922853
+      euclidean_error: 0.0015083305476880637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1437068720789716
+      euclidean_error: -0.0035095958276361028
+    base_right_marker_pose:
+      angle_rotation: 5.952971519966481
+      euclidean_error: -0.0015791984348503263
+    shoulder_marker_pose:
+      angle_rotation: 16.35051760408023
+      euclidean_error: 0.006488234461380915
+    wrist_inside_marker_pose:
+      angle_rotation: 20.805398000912856
+      euclidean_error: 0.001469713655747329
+    wrist_top_marker_pose:
+      angle_rotation: 15.824321418531955
+      euclidean_error: -3.292742738192356e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.036035414613654
+      euclidean_error: -0.0031768656631123715
+    base_right_marker_pose:
+      angle_rotation: 9.362046792051908
+      euclidean_error: -0.0014453818534782004
+    shoulder_marker_pose:
+      angle_rotation: 17.413691865303377
+      euclidean_error: 0.006474392619540081
+    wrist_inside_marker_pose:
+      angle_rotation: 21.630798997088228
+      euclidean_error: 0.0027195490570348646
+    wrist_top_marker_pose:
+      angle_rotation: 18.173959618280424
+      euclidean_error: 0.0019926252085623597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.849632469744661
+      euclidean_error: -0.003224443447956471
+    base_right_marker_pose:
+      angle_rotation: 10.418206985460053
+      euclidean_error: -0.0018257368460308232
+    shoulder_marker_pose:
+      angle_rotation: 17.72720783153904
+      euclidean_error: 0.00546592979095939
+    wrist_inside_marker_pose:
+      angle_rotation: 23.282292526255702
+      euclidean_error: 0.0035346580163838626
+    wrist_top_marker_pose:
+      angle_rotation: 19.024095294368028
+      euclidean_error: 0.0009668762305498069
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.082246514401764
+      euclidean_error: -0.0035707257959142202
+    base_right_marker_pose:
+      angle_rotation: 7.590223610189593
+      euclidean_error: -0.002110425040467878
+    shoulder_marker_pose:
+      angle_rotation: 21.9444892647133
+      euclidean_error: 0.006283979860993938
+    wrist_inside_marker_pose:
+      angle_rotation: 25.09802831167867
+      euclidean_error: 0.0028750779808736082
+    wrist_top_marker_pose:
+      angle_rotation: 16.34867313113619
+      euclidean_error: 0.001526773784205404
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.077798013845385
+      euclidean_error: -0.0032440188082024646
+    base_right_marker_pose:
+      angle_rotation: 6.449097842279885
+      euclidean_error: -0.0016694281566460578
+    shoulder_marker_pose:
+      angle_rotation: 20.590182871938577
+      euclidean_error: 0.006046329601825273
+    wrist_inside_marker_pose:
+      angle_rotation: 22.40081178593926
+      euclidean_error: 0.0024123286001421773
+    wrist_top_marker_pose:
+      angle_rotation: 22.159109745742786
+      euclidean_error: 0.00010919869158820816
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.6144892151124015
+      euclidean_error: -0.002780166174624177
+    base_right_marker_pose:
+      angle_rotation: 6.715941922454787
+      euclidean_error: -0.000998439770767523
+    shoulder_marker_pose:
+      angle_rotation: 10.761060288967814
+      euclidean_error: 0.0056918478100241865
+    wrist_inside_marker_pose:
+      angle_rotation: 22.344203947079485
+      euclidean_error: 0.003138867380870325
+    wrist_top_marker_pose:
+      angle_rotation: 18.69303592243266
+      euclidean_error: 0.0004306320141123088
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.969347552763071
+      euclidean_error: -0.0027007967979107983
+    base_right_marker_pose:
+      angle_rotation: 8.77549665991474
+      euclidean_error: -0.0023117162215441356
+    shoulder_marker_pose:
+      angle_rotation: 17.72987541053128
+      euclidean_error: 0.005995033251658732
+    wrist_inside_marker_pose:
+      angle_rotation: 19.053104471239543
+      euclidean_error: 0.0019409130590687385
+    wrist_top_marker_pose:
+      angle_rotation: 17.171727758390688
+      euclidean_error: -1.547811757496298e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8077449887300605
+      euclidean_error: -0.003565728050800465
+    base_right_marker_pose:
+      angle_rotation: 6.711013772299995
+      euclidean_error: -0.0013788252399447032
+    shoulder_marker_pose:
+      angle_rotation: 17.490791427069162
+      euclidean_error: 0.0066909822848030265
+    wrist_inside_marker_pose:
+      angle_rotation: 23.400347859011713
+      euclidean_error: 0.0028038430311201346
+    wrist_top_marker_pose:
+      angle_rotation: 17.058081674377842
+      euclidean_error: 0.00020783892737463727
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3700320108865336
+      euclidean_error: -0.003313263452311088
+    base_right_marker_pose:
+      angle_rotation: 10.848499304104337
+      euclidean_error: -0.001432897352254825
+    shoulder_marker_pose:
+      angle_rotation: 17.181671280347384
+      euclidean_error: 0.005960991174744024
+    wrist_inside_marker_pose:
+      angle_rotation: 24.17528620355954
+      euclidean_error: 0.0031504717172363694
+    wrist_top_marker_pose:
+      angle_rotation: 17.997800652675775
+      euclidean_error: 0.0013111000895533742
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.474427049301814
+      euclidean_error: -0.002858670447862144
+    base_right_marker_pose:
+      angle_rotation: 7.0640369635011755
+      euclidean_error: -0.001611030714781525
+    shoulder_marker_pose:
+      angle_rotation: 20.928735238090262
+      euclidean_error: 0.006478370790300447
+    wrist_inside_marker_pose:
+      angle_rotation: 19.359028709869186
+      euclidean_error: 0.0022800935801519095
+    wrist_top_marker_pose:
+      angle_rotation: 14.329037603456813
+      euclidean_error: 0.0006804427878401853
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.137185552597741
+      euclidean_error: -0.0036417196084431724
+    base_right_marker_pose:
+      angle_rotation: 9.443726831813217
+      euclidean_error: -0.0016765023315601368
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.404774918021168
+      euclidean_error: 0.0024248427145535656
+    wrist_top_marker_pose:
+      angle_rotation: 22.45639494397105
+      euclidean_error: 0.00017634842676284013
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.480827958418404
+      euclidean_error: -0.0030512515294773834
+    base_right_marker_pose:
+      angle_rotation: 7.221158978560923
+      euclidean_error: -0.002356351322657546
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.104158032381033
+      euclidean_error: 0.0029220041561385246
+    wrist_top_marker_pose:
+      angle_rotation: 12.143999400574355
+      euclidean_error: -0.00037378940029975105
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.273239302149037
+      euclidean_error: -0.0035407776136042735
+    base_right_marker_pose:
+      angle_rotation: 8.28133099943464
+      euclidean_error: -0.001349235813516203
+    shoulder_marker_pose:
+      angle_rotation: 21.750231251950733
+      euclidean_error: 0.006725999724958798
+    wrist_inside_marker_pose:
+      angle_rotation: 22.407203903562152
+      euclidean_error: 0.0023537995631521813
+    wrist_top_marker_pose:
+      angle_rotation: 18.166936151649956
+      euclidean_error: -0.00023039896285348416
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.718467986612407
+      euclidean_error: -0.0030470728520725077
+    base_right_marker_pose:
+      angle_rotation: 9.108475133203363
+      euclidean_error: -0.001890710865315448
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.473609391853778
+      euclidean_error: 0.002739350477496849
+    wrist_top_marker_pose:
+      angle_rotation: 19.09074578669137
+      euclidean_error: 0.0014209585615939657
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9251991611247163
+      euclidean_error: -0.0036204762371205845
+    base_right_marker_pose:
+      angle_rotation: 7.788299573574765
+      euclidean_error: -0.0013038844253210335
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.820337824701753
+      euclidean_error: 0.002349936735633662
+    wrist_top_marker_pose:
+      angle_rotation: 21.355143863772653
+      euclidean_error: 0.0006079427257302816
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4533976902537744
+      euclidean_error: -0.0037852446260555617
+    base_right_marker_pose:
+      angle_rotation: 7.160032032419393
+      euclidean_error: -0.0021755238959806356
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.09580956986342
+      euclidean_error: 0.002601679311256877
+    wrist_top_marker_pose:
+      angle_rotation: 19.96937105590446
+      euclidean_error: -5.3008434608314836e-05
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0035923373813955273
+    base_right_marker_pose:
+      angle_rotation: 12.277399431589172
+      euclidean_error: -0.0011497688196738798
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.929489430028298
+      euclidean_error: 0.00241799423362965
+    wrist_top_marker_pose:
+      angle_rotation: 19.572601350873573
+      euclidean_error: 0.001539362812413625
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.849357966245617
+      euclidean_error: -0.0034790696684676714
+    base_right_marker_pose:
+      angle_rotation: 8.766630269377856
+      euclidean_error: -0.0016687780219704074
+    shoulder_marker_pose:
+      angle_rotation: 18.720213000465076
+      euclidean_error: 0.006475323449067871
+    wrist_inside_marker_pose:
+      angle_rotation: 21.93789173858142
+      euclidean_error: 0.003136815558890116
+    wrist_top_marker_pose:
+      angle_rotation: 19.628049202068734
+      euclidean_error: -9.062572217521936e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.485210416284756
+      euclidean_error: -0.002799889232337538
+    base_right_marker_pose:
+      angle_rotation: 9.338002729079484
+      euclidean_error: -0.0015442208914336897
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.95150953158445
+      euclidean_error: 0.002912302231043773
+    wrist_top_marker_pose:
+      angle_rotation: 17.256685395901773
+      euclidean_error: 0.00034196710735301394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.417924076285266
+      euclidean_error: -0.003234305647432434
+    base_right_marker_pose:
+      angle_rotation: 9.673321726484664
+      euclidean_error: -0.0014653948867167088
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.05872136131543
+      euclidean_error: 0.0035608552331428678
+    wrist_top_marker_pose:
+      angle_rotation: 17.69418491969221
+      euclidean_error: 0.00045409163996856794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.483117064992687
+      euclidean_error: -0.0033305107389545174
+    base_right_marker_pose:
+      angle_rotation: 9.67064035527606
+      euclidean_error: -0.0015186689566820677
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.93015119382588
+      euclidean_error: 0.002117870606203942
+    wrist_top_marker_pose:
+      angle_rotation: 17.66991058345177
+      euclidean_error: -0.00031920931175888345
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.06703146427191
+      euclidean_error: -0.003385448753800313
+    base_right_marker_pose:
+      angle_rotation: 11.689771807338099
+      euclidean_error: -0.0009313754031594623
+    shoulder_marker_pose:
+      angle_rotation: 17.802589142620924
+      euclidean_error: 0.007381440311403198
+    wrist_inside_marker_pose:
+      angle_rotation: 19.17271411949873
+      euclidean_error: 0.0030871301873557355
+    wrist_top_marker_pose:
+      angle_rotation: 19.17009798481702
+      euclidean_error: 0.0013645985627124269
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.232585371834058
+      euclidean_error: -0.0029946575920456464
+    base_right_marker_pose:
+      angle_rotation: 9.126756352244389
+      euclidean_error: -0.0010378217239133125
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.600866094661196
+      euclidean_error: 0.002851904462010557
+    wrist_top_marker_pose:
+      angle_rotation: 16.70498383780085
+      euclidean_error: 0.0011761817557968124
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.2807105423138845
+      euclidean_error: -0.0030215327317164586
+    base_right_marker_pose:
+      angle_rotation: 6.570962227416949
+      euclidean_error: -0.0014679764476690504
+    shoulder_marker_pose:
+      angle_rotation: 21.934162318416966
+      euclidean_error: 0.007289475731555695
+    wrist_inside_marker_pose:
+      angle_rotation: 22.812908234542213
+      euclidean_error: 0.0038140452744886977
+    wrist_top_marker_pose:
+      angle_rotation: 20.451065013484886
+      euclidean_error: 0.0011030889297514168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.561034029221234
+      euclidean_error: -0.003309913348864102
+    base_right_marker_pose:
+      angle_rotation: 4.934097460223941
+      euclidean_error: -0.0020454601042603215
+    shoulder_marker_pose:
+      angle_rotation: 14.930149894334113
+      euclidean_error: 0.005320957431248385
+    wrist_inside_marker_pose:
+      angle_rotation: 24.84086058266444
+      euclidean_error: 0.0022765070341967952
+    wrist_top_marker_pose:
+      angle_rotation: 21.695083288800323
+      euclidean_error: 0.0007014772424017712
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6219110141315114
+      euclidean_error: -0.003545046800951468
+    base_right_marker_pose:
+      angle_rotation: 9.65047547680006
+      euclidean_error: -0.0008533380527959711
+    shoulder_marker_pose:
+      angle_rotation: 17.193889494900223
+      euclidean_error: 0.006155443619635381
+    wrist_inside_marker_pose:
+      angle_rotation: 25.761713030607442
+      euclidean_error: 0.002290448988719773
+    wrist_top_marker_pose:
+      angle_rotation: 16.567155458270957
+      euclidean_error: 0.001067514032476402
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.114310544501284
+      euclidean_error: -0.0031410137563948615
+    base_right_marker_pose:
+      angle_rotation: 10.538801064808258
+      euclidean_error: -0.0016043075466283252
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.61612213338688
+      euclidean_error: 0.0027743556693433646
+    wrist_top_marker_pose:
+      angle_rotation: 21.385162952820437
+      euclidean_error: 0.0010065639179266395
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.504766940406934
+      euclidean_error: -0.0034917899965188903
+    base_right_marker_pose:
+      angle_rotation: 6.931536669424595
+      euclidean_error: -0.0016822711870683182
+    shoulder_marker_pose:
+      angle_rotation: 19.933391101929615
+      euclidean_error: 0.006508034080880076
+    wrist_inside_marker_pose:
+      angle_rotation: 25.95453544482524
+      euclidean_error: 0.003133645991159062
+    wrist_top_marker_pose:
+      angle_rotation: 21.805061763633546
+      euclidean_error: 0.0013957990824705613
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.927959286814214
+      euclidean_error: -0.0036364323860679226
+    base_right_marker_pose:
+      angle_rotation: 9.443039713340946
+      euclidean_error: -0.0024315802839316447
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.546681387156248
+      euclidean_error: 0.0036800600294875085
+    wrist_top_marker_pose:
+      angle_rotation: 20.100179493850657
+      euclidean_error: 0.0010640741770877593
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.935519903679615
+      euclidean_error: -0.0031162028438088685
+    base_right_marker_pose:
+      angle_rotation: 9.243703758398539
+      euclidean_error: -0.002092554955419046
+    shoulder_marker_pose:
+      angle_rotation: 20.445836576666192
+      euclidean_error: 0.006499716448273296
+    wrist_inside_marker_pose:
+      angle_rotation: 17.92431089824176
+      euclidean_error: 0.0020148925042380306
+    wrist_top_marker_pose:
+      angle_rotation: 19.907291572931662
+      euclidean_error: 0.00046990935285384783
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0750324437714225
+      euclidean_error: -0.0036337339515046807
+    base_right_marker_pose:
+      angle_rotation: 8.288076232258025
+      euclidean_error: -0.0014336672941234196
+    shoulder_marker_pose:
+      angle_rotation: 21.764347305853754
+      euclidean_error: 0.007302120493953623
+    wrist_inside_marker_pose:
+      angle_rotation: 27.720918472363977
+      euclidean_error: 0.0037696286985401395
+    wrist_top_marker_pose:
+      angle_rotation: 23.378489114574684
+      euclidean_error: 0.0014695992451562168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.376338410193836
+      euclidean_error: -0.0030542765066459143
+    base_right_marker_pose:
+      angle_rotation: 9.61450949840987
+      euclidean_error: -0.001360479019237637
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.307512590611346
+      euclidean_error: 0.003122957741467647
+    wrist_top_marker_pose:
+      angle_rotation: 19.1347813575834
+      euclidean_error: 0.001992391052827003
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.299662553062143
+      euclidean_error: -0.0030377056082000475
+    base_right_marker_pose:
+      angle_rotation: 8.16962881713019
+      euclidean_error: -0.002009609299047921
+    shoulder_marker_pose:
+      angle_rotation: 17.89340735215247
+      euclidean_error: 0.005894665401182775
+    wrist_inside_marker_pose:
+      angle_rotation: 19.239940508934552
+      euclidean_error: 0.0021861373210601
+    wrist_top_marker_pose:
+      angle_rotation: 20.04296554151003
+      euclidean_error: 0.0004513583427536716
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9173598544470942
+      euclidean_error: -0.00338291176991512
+    base_right_marker_pose:
+      angle_rotation: 9.296273543170674
+      euclidean_error: -0.0014127830612846726
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.043789413642013
+      euclidean_error: 0.0026461811629016063
+    wrist_top_marker_pose:
+      angle_rotation: 20.623361737384077
+      euclidean_error: 0.00035089297295520794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9540286033190295
+      euclidean_error: -0.0034970566609463516
+    base_right_marker_pose:
+      angle_rotation: 8.898497391976917
+      euclidean_error: -0.002375792033848856
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.120300192829312
+      euclidean_error: 0.003677864811829079
+    wrist_top_marker_pose:
+      angle_rotation: 22.992915161674635
+      euclidean_error: 0.0007393221893399193
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.755689610603067
+      euclidean_error: -0.003827613014389608
+    base_right_marker_pose:
+      angle_rotation: 9.59575850446603
+      euclidean_error: -0.0005940781129925021
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.29603908843188
+      euclidean_error: 0.002428528465167723
+    wrist_top_marker_pose:
+      angle_rotation: 20.13585680073771
+      euclidean_error: 0.0014041124738520816
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.113390778458398
+      euclidean_error: -0.003269856465566323
+    base_right_marker_pose:
+      angle_rotation: 8.267400666745406
+      euclidean_error: -0.0019123993205163448
+    shoulder_marker_pose:
+      angle_rotation: 18.862853086839834
+      euclidean_error: 0.0068508750771967275
+    wrist_inside_marker_pose:
+      angle_rotation: 25.46683092639561
+      euclidean_error: 0.002906208090283413
+    wrist_top_marker_pose:
+      angle_rotation: 15.764734790390058
+      euclidean_error: 0.0014844430124284491
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.098804906632588
+      euclidean_error: -0.003451560957786204
+    base_right_marker_pose:
+      angle_rotation: 7.948844695021703
+      euclidean_error: -0.0012976290938025992
+    shoulder_marker_pose:
+      angle_rotation: 16.462941551996884
+      euclidean_error: 0.00480838891940738
+    wrist_inside_marker_pose:
+      angle_rotation: 22.53786484012784
+      euclidean_error: 0.003217920561569665
+    wrist_top_marker_pose:
+      angle_rotation: 14.11911588299969
+      euclidean_error: 0.0005232577039466779
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0853626853743092
+      euclidean_error: -0.0038570892944751467
+    base_right_marker_pose:
+      angle_rotation: 10.71655279507091
+      euclidean_error: -0.0011937546507203578
+    shoulder_marker_pose:
+      angle_rotation: 17.001930539305008
+      euclidean_error: 0.005852423215027658
+    wrist_inside_marker_pose:
+      angle_rotation: 24.579486080165736
+      euclidean_error: 0.0029957531666164883
+    wrist_top_marker_pose:
+      angle_rotation: 19.598187672057193
+      euclidean_error: 0.0011741106408748037
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.596209781193974
+      euclidean_error: -0.0030368252532353424
+    base_right_marker_pose:
+      angle_rotation: 8.617813127803418
+      euclidean_error: -0.0019913951334626923
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.946495224095827
+      euclidean_error: 0.002272487829304226
+    wrist_top_marker_pose:
+      angle_rotation: 19.630868634305916
+      euclidean_error: 0.00011899918011626376
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.195138174870936
+      euclidean_error: -0.0033748729789414567
+    base_right_marker_pose:
+      angle_rotation: 7.040427192011577
+      euclidean_error: -0.0016264065338508216
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.188017618855174
+      euclidean_error: 0.003625058281033433
+    wrist_top_marker_pose:
+      angle_rotation: 24.24892922480651
+      euclidean_error: 0.002333598247765911
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.610970224541073
+      euclidean_error: -0.003306601685234445
+    base_right_marker_pose:
+      angle_rotation: 7.278469978421141
+      euclidean_error: -0.0021244666082571584
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.340988589234087
+      euclidean_error: 0.0020786406456810846
+    wrist_top_marker_pose:
+      angle_rotation: 15.65074430632506
+      euclidean_error: -3.980240207279717e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.530593665942086
+      euclidean_error: -0.003737026258692877
+    base_right_marker_pose:
+      angle_rotation: 9.355948941277367
+      euclidean_error: -0.0012611590429699726
+    shoulder_marker_pose:
+      angle_rotation: 22.393599308573968
+      euclidean_error: 0.0067837854319775515
+    wrist_inside_marker_pose:
+      angle_rotation: 23.911529504311453
+      euclidean_error: 0.003702857167266038
+    wrist_top_marker_pose:
+      angle_rotation: 15.602359143374295
+      euclidean_error: 0.0005325612549045289
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.442625732251416
+      euclidean_error: -0.003719981620023849
+    base_right_marker_pose:
+      angle_rotation: 9.066776750707412
+      euclidean_error: -0.0019221307157216705
+    shoulder_marker_pose:
+      angle_rotation: 20.349424872285127
+      euclidean_error: 0.0063920640077950175
+    wrist_inside_marker_pose:
+      angle_rotation: 20.02341058699767
+      euclidean_error: 0.002571879301716762
+    wrist_top_marker_pose:
+      angle_rotation: 14.394250340731881
+      euclidean_error: 0.0008311894081993731
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.090857019556898
+      euclidean_error: -0.003056040615813438
+    base_right_marker_pose:
+      angle_rotation: 8.527166737978526
+      euclidean_error: -0.0011855961047794183
+    shoulder_marker_pose:
+      angle_rotation: 22.369802112667898
+      euclidean_error: 0.0070084875959537385
+    wrist_inside_marker_pose:
+      angle_rotation: 19.446093909820707
+      euclidean_error: 0.0022036334744315322
+    wrist_top_marker_pose:
+      angle_rotation: 16.15973235940392
+      euclidean_error: 0.0006340402160707193
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.622866682955466
+      euclidean_error: -0.0032160373876807258
+    base_right_marker_pose:
+      angle_rotation: 7.4355102668642274
+      euclidean_error: -0.0015608754171471118
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.434026184513332
+      euclidean_error: 0.004214618810864268
+    wrist_top_marker_pose:
+      angle_rotation: 20.20522078703042
+      euclidean_error: 0.000592983293477678
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.622253004842754
+      euclidean_error: -0.002479258626406411
+    base_right_marker_pose:
+      angle_rotation: 9.496244421578973
+      euclidean_error: -0.0011044910512156836
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.65883053775638
+      euclidean_error: 0.003027757322707103
+    wrist_top_marker_pose:
+      angle_rotation: 16.292437822911378
+      euclidean_error: 0.0004875157503764216
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.252471318989687
+      euclidean_error: -0.0030770569794837943
+    base_right_marker_pose:
+      angle_rotation: 7.267321788244943
+      euclidean_error: -0.0009128472267559973
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.470735548699988
+      euclidean_error: 0.002637339635137015
+    wrist_top_marker_pose:
+      angle_rotation: 19.967672467524967
+      euclidean_error: 0.0019859405243591866
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.886576896548477
+      euclidean_error: -0.003372268909980436
+    base_right_marker_pose:
+      angle_rotation: 7.513897214406935
+      euclidean_error: -0.001510777776558725
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.041371222802738
+      euclidean_error: 0.002688806294415813
+    wrist_top_marker_pose:
+      angle_rotation: 19.091964077463576
+      euclidean_error: -0.00010432867214582586
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.701935547223488
+      euclidean_error: -0.0032329288784194166
+    base_right_marker_pose:
+      angle_rotation: 11.009191217407842
+      euclidean_error: -0.00042089050574423137
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.590303802743247
+      euclidean_error: 0.0029985587753892373
+    wrist_top_marker_pose:
+      angle_rotation: 22.18770493300515
+      euclidean_error: 0.0014553021176555436
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6073582983415537
+      euclidean_error: -0.0037352972486662805
+    base_right_marker_pose:
+      angle_rotation: 8.792631227466124
+      euclidean_error: -0.0014572615227131935
+    shoulder_marker_pose:
+      angle_rotation: 16.277142747358138
+      euclidean_error: 0.006473953351159412
+    wrist_inside_marker_pose:
+      angle_rotation: 25.83908270264203
+      euclidean_error: 0.003294174690750218
+    wrist_top_marker_pose:
+      angle_rotation: 19.954572520101568
+      euclidean_error: 0.0008613963598451679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.635035957973758
+      euclidean_error: -0.0031405518044160807
+    base_right_marker_pose:
+      angle_rotation: 9.14617712438627
+      euclidean_error: -0.0011388764985957867
+    shoulder_marker_pose:
+      angle_rotation: 21.88439877032982
+      euclidean_error: 0.005430775245482411
+    wrist_inside_marker_pose:
+      angle_rotation: 20.97891165543974
+      euclidean_error: 0.0019282964584145246
+    wrist_top_marker_pose:
+      angle_rotation: 19.544803440651837
+      euclidean_error: 3.7308898645838084e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.117664814195734
+      euclidean_error: -0.0034440630162683172
+    base_right_marker_pose:
+      angle_rotation: 8.979652463022562
+      euclidean_error: -0.001962977645398878
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.034844496370436
+      euclidean_error: 0.002985204017770693
+    wrist_top_marker_pose:
+      angle_rotation: 21.21813352320207
+      euclidean_error: 0.001281893630039388
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6841751379869736
+      euclidean_error: -0.0032237390741622907
+    base_right_marker_pose:
+      angle_rotation: 7.673946078976398
+      euclidean_error: -0.0013601027888976436
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.381781582825425
+      euclidean_error: 0.00278938448081012
+    wrist_top_marker_pose:
+      angle_rotation: 20.80569511474441
+      euclidean_error: 0.0010933906271604066
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3587268240646715
+      euclidean_error: -0.0034956095079918814
+    base_right_marker_pose:
+      angle_rotation: 10.017203100366926
+      euclidean_error: -0.0018462346994821965
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.733222624825405
+      euclidean_error: 0.0020636806809024577
+    wrist_top_marker_pose:
+      angle_rotation: 15.63847587654042
+      euclidean_error: 2.5584692494584615e-06
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.156285701300611
+      euclidean_error: -0.0031120135660845927
+    base_right_marker_pose:
+      angle_rotation: 7.438761648788569
+      euclidean_error: -0.0015390106696036021
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.993777371402384
+      euclidean_error: 0.0024678936431312692
+    wrist_top_marker_pose:
+      angle_rotation: 14.917190324283789
+      euclidean_error: -0.00010209853406861757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.050891024904499
+      euclidean_error: -0.0032822073466177715
+    base_right_marker_pose:
+      angle_rotation: 8.63721058256617
+      euclidean_error: -0.0014356366101920814
+    shoulder_marker_pose:
+      angle_rotation: 16.879166655481935
+      euclidean_error: 0.00612116746111413
+    wrist_inside_marker_pose:
+      angle_rotation: 21.793743321617843
+      euclidean_error: 0.0028375030568802417
+    wrist_top_marker_pose:
+      angle_rotation: 18.99758123403136
+      euclidean_error: 0.0012031008129225196
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.880467247506955
+      euclidean_error: -0.0035701097602112153
+    base_right_marker_pose:
+      angle_rotation: 6.364580979720183
+      euclidean_error: -0.001904407837834854
+    shoulder_marker_pose:
+      angle_rotation: 19.409531666222993
+      euclidean_error: 0.0057860650922408885
+    wrist_inside_marker_pose:
+      angle_rotation: 21.348427425768683
+      euclidean_error: 0.0029732304599280335
+    wrist_top_marker_pose:
+      angle_rotation: 15.887701140359697
+      euclidean_error: 0.0006546979436881095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6788316965266614
+      euclidean_error: -0.0033957373776738464
+    base_right_marker_pose:
+      angle_rotation: 8.249987183484205
+      euclidean_error: -0.0010932827685320445
+    shoulder_marker_pose:
+      angle_rotation: 20.49520386687997
+      euclidean_error: 0.006174758496345745
+    wrist_inside_marker_pose:
+      angle_rotation: 21.929839084254752
+      euclidean_error: 0.00325863085697653
+    wrist_top_marker_pose:
+      angle_rotation: 14.957663698485417
+      euclidean_error: 7.717058077638672e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.281123925301386
+      euclidean_error: -0.003751872777089993
+    base_right_marker_pose:
+      angle_rotation: 8.426247622405363
+      euclidean_error: -0.0017429231011188984
+    shoulder_marker_pose:
+      angle_rotation: 14.571296496641258
+      euclidean_error: 0.006505673646895471
+    wrist_inside_marker_pose:
+      angle_rotation: 21.008038641897162
+      euclidean_error: 0.002240366051977971
+    wrist_top_marker_pose:
+      angle_rotation: 14.746119846239319
+      euclidean_error: -0.0006191972946895108
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6601217783664763
+      euclidean_error: -0.0035212260478703072
+    base_right_marker_pose:
+      angle_rotation: 7.285568239080737
+      euclidean_error: -0.001681205536881003
+    shoulder_marker_pose:
+      angle_rotation: 20.812973654351474
+      euclidean_error: 0.005117344256313272
+    wrist_inside_marker_pose:
+      angle_rotation: 25.6578443814827
+      euclidean_error: 0.0027742679805281556
+    wrist_top_marker_pose:
+      angle_rotation: 22.104368810664784
+      euclidean_error: 0.0005321235945900948
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.568464554500943
+      euclidean_error: -0.0031799592124002185
+    base_right_marker_pose:
+      angle_rotation: 9.601198702812182
+      euclidean_error: -0.0012425369031561218
+    shoulder_marker_pose:
+      angle_rotation: 20.197090610759354
+      euclidean_error: 0.006564913966845998
+    wrist_inside_marker_pose:
+      angle_rotation: 23.085260483114855
+      euclidean_error: 0.0036068235743876853
+    wrist_top_marker_pose:
+      angle_rotation: 18.512554325173948
+      euclidean_error: 0.0016037886147638458
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5131826441393694
+      euclidean_error: -0.0035605760125835273
+    base_right_marker_pose:
+      angle_rotation: 6.534392310486679
+      euclidean_error: -0.0018141813501652004
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.123901168882732
+      euclidean_error: 0.0037207047555066763
+    wrist_top_marker_pose:
+      angle_rotation: 20.46031469129537
+      euclidean_error: 0.0016127374705977582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.409852212131686
+      euclidean_error: -0.0033403135925301752
+    base_right_marker_pose:
+      angle_rotation: 8.691363320672055
+      euclidean_error: -0.0017486621594889895
+    shoulder_marker_pose:
+      angle_rotation: 18.931897251924433
+      euclidean_error: 0.006572919339252747
+    wrist_inside_marker_pose:
+      angle_rotation: 20.935128019187385
+      euclidean_error: 0.0020106406567760304
+    wrist_top_marker_pose:
+      angle_rotation: 18.565681314614785
+      euclidean_error: -0.00011267586141905372
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.806295127938642
+      euclidean_error: -0.0028940009626564622
+    base_right_marker_pose:
+      angle_rotation: 8.098523320255447
+      euclidean_error: -0.0019985719983945938
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.267406808484722
+      euclidean_error: 0.0023271141771329384
+    wrist_top_marker_pose:
+      angle_rotation: 18.861091378794285
+      euclidean_error: -4.563442505489679e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.120855936897311
+      euclidean_error: -0.003789414821468995
+    base_right_marker_pose:
+      angle_rotation: 7.178911799660434
+      euclidean_error: -0.0016666544584358345
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.707340857878084
+      euclidean_error: 0.0031946082698650624
+    wrist_top_marker_pose:
+      angle_rotation: 18.431313394691433
+      euclidean_error: 0.00028096033242974716
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.878457911680602
+      euclidean_error: -0.003515665633747167
+    base_right_marker_pose:
+      angle_rotation: 8.767596411338678
+      euclidean_error: -0.0017971886801366743
+    shoulder_marker_pose:
+      angle_rotation: 20.997297440061818
+      euclidean_error: 0.006620474925460251
+    wrist_inside_marker_pose:
+      angle_rotation: 21.750669914026954
+      euclidean_error: 0.0022064590541259754
+    wrist_top_marker_pose:
+      angle_rotation: 15.41092856729547
+      euclidean_error: 0.0007711469827874629
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.977196131803696
+      euclidean_error: -0.0030578036070290082
+    base_right_marker_pose:
+      angle_rotation: 7.332785499670064
+      euclidean_error: -0.001899093537689578
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.322339755832726
+      euclidean_error: 0.0027906764027779696
+    wrist_top_marker_pose:
+      angle_rotation: 18.73170469961895
+      euclidean_error: 0.0009140925008589429
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6031574111736955
+      euclidean_error: -0.0033321118741692635
+    base_right_marker_pose:
+      angle_rotation: 9.35647274371182
+      euclidean_error: -0.001805864765805687
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.34954433100804
+      euclidean_error: 0.003401866366377848
+    wrist_top_marker_pose:
+      angle_rotation: 21.25258199217409
+      euclidean_error: 0.0023769611823718506
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.890534333910903
+      euclidean_error: -0.003336447019278821
+    base_right_marker_pose:
+      angle_rotation: 10.931376169424038
+      euclidean_error: -0.001153097179409479
+    shoulder_marker_pose:
+      angle_rotation: 21.326908738171248
+      euclidean_error: 0.006578243587754162
+    wrist_inside_marker_pose:
+      angle_rotation: 20.506166790223865
+      euclidean_error: 0.00261024685146094
+    wrist_top_marker_pose:
+      angle_rotation: 17.39618133570858
+      euclidean_error: -0.0001904417730104191
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.079701803856495
+      euclidean_error: -0.003646772904648654
+    base_right_marker_pose:
+      angle_rotation: 11.152404513065587
+      euclidean_error: -0.0007067193161162111
+    shoulder_marker_pose:
+      angle_rotation: 15.095396668607892
+      euclidean_error: 0.0063174918125942225
+    wrist_inside_marker_pose:
+      angle_rotation: 24.364659900074507
+      euclidean_error: 0.003633330633254217
+    wrist_top_marker_pose:
+      angle_rotation: 19.004279147857623
+      euclidean_error: 0.0009168257934359936
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.058686079579799
+      euclidean_error: -0.0035453435401840983
+    base_right_marker_pose:
+      angle_rotation: 6.7226349828876435
+      euclidean_error: -0.0013596140912476296
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.86984713282074
+      euclidean_error: 0.0024160323997626243
+    wrist_top_marker_pose:
+      angle_rotation: 15.666157149861805
+      euclidean_error: -3.703047632752643e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.723575864386219
+      euclidean_error: -0.0039048325777678583
+    base_right_marker_pose:
+      angle_rotation: 12.165160235238334
+      euclidean_error: -0.0010629852330223954
+    shoulder_marker_pose:
+      angle_rotation: 24.569723144443344
+      euclidean_error: 0.00688141068704462
+    wrist_inside_marker_pose:
+      angle_rotation: 22.342614037462035
+      euclidean_error: 0.0034029189200533994
+    wrist_top_marker_pose:
+      angle_rotation: 18.962700765501236
+      euclidean_error: 0.0009846577328267436
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.309320240528614
+      euclidean_error: -0.0034019245071826854
+    base_right_marker_pose:
+      angle_rotation: 8.409179637027927
+      euclidean_error: -0.0009656965289672748
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.096176044483425
+      euclidean_error: 0.002923402916749418
+    wrist_top_marker_pose:
+      angle_rotation: 15.168072529968729
+      euclidean_error: 4.53700496656495e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.806945828776305
+      euclidean_error: -0.002341557892412638
+    base_right_marker_pose:
+      angle_rotation: 9.930411154293301
+      euclidean_error: -0.001190538278138309
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.865837225236074
+      euclidean_error: 0.0020718283622673805
+    wrist_top_marker_pose:
+      angle_rotation: 17.89731200639261
+      euclidean_error: 0.000287303215008583
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8628172976963804
+      euclidean_error: -0.0037853443025618327
+    base_right_marker_pose:
+      angle_rotation: 12.25342119919053
+      euclidean_error: -0.0007115707684818284
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.244900030979075
+      euclidean_error: 0.0023661069376451627
+    wrist_top_marker_pose:
+      angle_rotation: 21.735028611391048
+      euclidean_error: 0.0016248594419639995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.879462101326568
+      euclidean_error: -0.0032290390112440504
+    base_right_marker_pose:
+      angle_rotation: 10.098279079514315
+      euclidean_error: -0.0015869544374669253
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.77279101241458
+      euclidean_error: 0.003134354126399841
+    wrist_top_marker_pose:
+      angle_rotation: 17.996095508771905
+      euclidean_error: 0.0008777125103671679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2331297815569022
+      euclidean_error: -0.0036436579113474643
+    base_right_marker_pose:
+      angle_rotation: 10.616390340551515
+      euclidean_error: -0.001220321691516979
+    shoulder_marker_pose:
+      angle_rotation: 14.418770467589576
+      euclidean_error: 0.005393096499948569
+    wrist_inside_marker_pose:
+      angle_rotation: 20.493664849870775
+      euclidean_error: 0.0025665080455710143
+    wrist_top_marker_pose:
+      angle_rotation: 18.130561335912876
+      euclidean_error: -0.0006361001757807516
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.055920561174945
+      euclidean_error: -0.0034696720526626867
+    base_right_marker_pose:
+      angle_rotation: 10.253972801388212
+      euclidean_error: -0.0017737074330061997
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.20337133574031
+      euclidean_error: 0.002334116320319657
+    wrist_top_marker_pose:
+      angle_rotation: 16.365373037795504
+      euclidean_error: 0.00027817369736093944
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3619511375280697
+      euclidean_error: -0.003841115390906702
+    base_right_marker_pose:
+      angle_rotation: 8.674507532501883
+      euclidean_error: -0.0019054193990821755
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.57815324108195
+      euclidean_error: 0.0027057026097925263
+    wrist_top_marker_pose:
+      angle_rotation: 16.79301802852718
+      euclidean_error: 0.0007181047690614228
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.113045655887911
+      euclidean_error: -0.0026600306190328604
+    base_right_marker_pose:
+      angle_rotation: 8.232084713977203
+      euclidean_error: -0.0010408767750273995
+    shoulder_marker_pose:
+      angle_rotation: 19.782248544010283
+      euclidean_error: 0.007296007308160379
+    wrist_inside_marker_pose:
+      angle_rotation: 26.386106431413495
+      euclidean_error: 0.004220067988259468
+    wrist_top_marker_pose:
+      angle_rotation: 20.32054266637138
+      euclidean_error: 0.0019448943214550596
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.516624690713857
+      euclidean_error: -0.0030387158866707065
+    base_right_marker_pose:
+      angle_rotation: 6.569266183996186
+      euclidean_error: -0.0006502124730473069
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.062902038387733
+      euclidean_error: 0.003219714547311736
+    wrist_top_marker_pose:
+      angle_rotation: 18.93150284180788
+      euclidean_error: 0.0012299235353447902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.040932255129969
+      euclidean_error: -0.003807964233612293
+    base_right_marker_pose:
+      angle_rotation: 6.3357056247814265
+      euclidean_error: -0.0015160482520242269
+    shoulder_marker_pose:
+      angle_rotation: 19.196429210279618
+      euclidean_error: 0.006342183363177711
+    wrist_inside_marker_pose:
+      angle_rotation: 21.663932653732605
+      euclidean_error: 0.0022565920268132755
+    wrist_top_marker_pose:
+      angle_rotation: 21.12056211524555
+      euclidean_error: -0.00026342674889867634
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6730493649826026
+      euclidean_error: -0.0033525977099259086
+    base_right_marker_pose:
+      angle_rotation: 8.29104984472099
+      euclidean_error: -0.001964683936624967
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.87617813821975
+      euclidean_error: 0.0038452233276867753
+    wrist_top_marker_pose:
+      angle_rotation: 23.20006138439348
+      euclidean_error: 0.002322277650369964
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6729735495742373
+      euclidean_error: -0.003752209754894986
+    base_right_marker_pose:
+      angle_rotation: 7.413802996050583
+      euclidean_error: -0.0014497211668824672
+    shoulder_marker_pose:
+      angle_rotation: 19.818600136664987
+      euclidean_error: 0.0064531740712878705
+    wrist_inside_marker_pose:
+      angle_rotation: 25.044376889033046
+      euclidean_error: 0.002358041422874435
+    wrist_top_marker_pose:
+      angle_rotation: 16.409778336587678
+      euclidean_error: -0.00010436930578905379
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.491717961171509
+      euclidean_error: -0.0031329686435358495
+    base_right_marker_pose:
+      angle_rotation: 10.959376621053577
+      euclidean_error: -0.000600733831861211
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.57148967367277
+      euclidean_error: 0.0026949329371014352
+    wrist_top_marker_pose:
+      angle_rotation: 18.751640397739255
+      euclidean_error: 0.001972031904417526
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.038945293915365
+      euclidean_error: -0.003071009141268899
+    base_right_marker_pose:
+      angle_rotation: 8.602745181765806
+      euclidean_error: -0.000947594252221351
+    shoulder_marker_pose:
+      angle_rotation: 20.67492935256014
+      euclidean_error: 0.007373139111466531
+    wrist_inside_marker_pose:
+      angle_rotation: 23.75660779701102
+      euclidean_error: 0.002732076169677744
+    wrist_top_marker_pose:
+      angle_rotation: 16.721336352823062
+      euclidean_error: 0.0006430783565338771
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.945974242458012
+      euclidean_error: -0.0031118583067832883
+    base_right_marker_pose:
+      angle_rotation: 11.454407447804575
+      euclidean_error: -0.0017959747141150784
+    shoulder_marker_pose:
+      angle_rotation: 23.48213587651032
+      euclidean_error: 0.00721505795316113
+    wrist_inside_marker_pose:
+      angle_rotation: 23.304523732209418
+      euclidean_error: 0.0018304852449488873
+    wrist_top_marker_pose:
+      angle_rotation: 20.11922228407849
+      euclidean_error: 0.001650422179125255
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.812528551700662
+      euclidean_error: -0.0026987314002506757
+    base_right_marker_pose:
+      angle_rotation: 9.258910578473149
+      euclidean_error: -0.0013170240931063004
+    shoulder_marker_pose:
+      angle_rotation: 18.27536684739234
+      euclidean_error: 0.00549814698763651
+    wrist_inside_marker_pose:
+      angle_rotation: 21.41952924266219
+      euclidean_error: 0.003422775514256182
+    wrist_top_marker_pose:
+      angle_rotation: 15.294160289321669
+      euclidean_error: 0.0005850870216226323
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2439080387377395
+      euclidean_error: -0.003482782884655866
+    base_right_marker_pose:
+      angle_rotation: 8.924474896796708
+      euclidean_error: -0.0014599249183011587
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.088795808028536
+      euclidean_error: 0.002701925514177028
+    wrist_top_marker_pose:
+      angle_rotation: 14.546952799054614
+      euclidean_error: -0.00010995950553227551
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.228817331451607
+      euclidean_error: -0.0033215783500977203
+    base_right_marker_pose:
+      angle_rotation: 8.570916791633133
+      euclidean_error: -0.0015511801377172674
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.710101006785813
+      euclidean_error: 0.0028686121326995107
+    wrist_top_marker_pose:
+      angle_rotation: 21.15098889532593
+      euclidean_error: 0.0007363500964606695
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.351105857950424
+      euclidean_error: -0.0031035325168566885
+    base_right_marker_pose:
+      angle_rotation: 7.995348408971111
+      euclidean_error: -0.001083785552425942
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.816795481716273
+      euclidean_error: 0.003255883446156127
+    wrist_top_marker_pose:
+      angle_rotation: 22.175167607649918
+      euclidean_error: 0.0009211060966398676
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.880442641592702
+      euclidean_error: -0.003684300845873567
+    base_right_marker_pose:
+      angle_rotation: 10.598474743819304
+      euclidean_error: -0.001062214981342291
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.582611213980535
+      euclidean_error: 0.0026675649620918618
+    wrist_top_marker_pose:
+      angle_rotation: 23.11524006492192
+      euclidean_error: 0.0010164814052205928
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.605682318207595
+      euclidean_error: -0.0031325933942385475
+    base_right_marker_pose:
+      angle_rotation: 8.934677858880832
+      euclidean_error: -0.0011159365557587009
+    shoulder_marker_pose:
+      angle_rotation: 22.798729692928138
+      euclidean_error: 0.007081756847422405
+    wrist_inside_marker_pose:
+      angle_rotation: 21.55437489595697
+      euclidean_error: 0.0031740067274044215
+    wrist_top_marker_pose:
+      angle_rotation: 17.62909466116806
+      euclidean_error: 0.00011937722045285426
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.439875623319845
+      euclidean_error: -0.0028974716396921174
+    base_right_marker_pose:
+      angle_rotation: 8.799289555267174
+      euclidean_error: -0.0010639426235649063
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.615292351320445
+      euclidean_error: 0.002661257166447051
+    wrist_top_marker_pose:
+      angle_rotation: 15.497167812962692
+      euclidean_error: -0.0008272547995226143
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.018809213336468
+      euclidean_error: -0.002882989538442793
+    base_right_marker_pose:
+      angle_rotation: 7.707588085561544
+      euclidean_error: -0.0016934209031637115
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.556688592355727
+      euclidean_error: 0.0030619040725251567
+    wrist_top_marker_pose:
+      angle_rotation: 21.418890660032126
+      euclidean_error: 0.0004265628593108639
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3936773706576524
+      euclidean_error: -0.0036055222093984707
+    base_right_marker_pose:
+      angle_rotation: 8.726190290878153
+      euclidean_error: -0.0011737346743860844
+    shoulder_marker_pose:
+      angle_rotation: 17.74359730726528
+      euclidean_error: 0.0068326844378384655
+    wrist_inside_marker_pose:
+      angle_rotation: 21.88365007574183
+      euclidean_error: 0.002375775692528559
+    wrist_top_marker_pose:
+      angle_rotation: 19.05868994957229
+      euclidean_error: -0.0006801930098943032
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5025789711460518
+      euclidean_error: -0.0035251174387302964
+    base_right_marker_pose:
+      angle_rotation: 7.205625712069813
+      euclidean_error: -0.0008394352569964791
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.670260603074386
+      euclidean_error: 0.0033404992795794675
+    wrist_top_marker_pose:
+      angle_rotation: 19.638319282046055
+      euclidean_error: 0.0015673128593762797
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9018895346561642
+      euclidean_error: -0.0036556437328556513
+    base_right_marker_pose:
+      angle_rotation: 9.606452208204846
+      euclidean_error: -0.0008092357049368504
+    shoulder_marker_pose:
+      angle_rotation: 23.025228713789815
+      euclidean_error: 0.007249982985035985
+    wrist_inside_marker_pose:
+      angle_rotation: 21.53223108541177
+      euclidean_error: 0.0028299962980203874
+    wrist_top_marker_pose:
+      angle_rotation: 20.764871503879146
+      euclidean_error: 0.0005568225227646773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.529068228702792
+      euclidean_error: -0.0034593301192215042
+    base_right_marker_pose:
+      angle_rotation: 7.989172971449565
+      euclidean_error: -0.001070127035536217
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.977367244509452
+      euclidean_error: 0.0028128690928203026
+    wrist_top_marker_pose:
+      angle_rotation: 17.63199654825029
+      euclidean_error: 0.001490409854700725
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7858310832801902
+      euclidean_error: -0.003008307572189617
+    base_right_marker_pose:
+      angle_rotation: 9.37919397630508
+      euclidean_error: -0.0017966758356684487
+    shoulder_marker_pose:
+      angle_rotation: 24.05569802400023
+      euclidean_error: 0.005917467006122057
+    wrist_inside_marker_pose:
+      angle_rotation: 19.330067572596434
+      euclidean_error: 0.0026171780614355766
+    wrist_top_marker_pose:
+      angle_rotation: 16.435424465686136
+      euclidean_error: -0.00017355842779565034
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.007634293589329
+      euclidean_error: -0.002949954624175355
+    base_right_marker_pose:
+      angle_rotation: 10.017695742209687
+      euclidean_error: -0.0008802997950209113
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.594829313218316
+      euclidean_error: 0.002514501261333568
+    wrist_top_marker_pose:
+      angle_rotation: 19.424101947271296
+      euclidean_error: 0.0007081598373296361
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.406629813573709
+      euclidean_error: -0.0027520609560565124
+    base_right_marker_pose:
+      angle_rotation: 6.338080589423176
+      euclidean_error: -0.000974292304193991
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.77086253828332
+      euclidean_error: 0.00332879831921018
+    wrist_top_marker_pose:
+      angle_rotation: 17.94121878636099
+      euclidean_error: 0.0015022308170858922
diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281730.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281730.yaml
new file mode 100644
index 0000000..7e73eb3
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281730.yaml
@@ -0,0 +1,9600 @@
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.952774580311924
+      euclidean_error: -0.004156123173307935
+    base_right_marker_pose:
+      angle_rotation: 6.957635057059162
+      euclidean_error: -0.0022555329946069014
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.302683677245973
+      euclidean_error: 0.0023905536012759354
+    wrist_top_marker_pose:
+      angle_rotation: 19.540310791527844
+      euclidean_error: -0.0007450519536075229
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.230514660690997
+      euclidean_error: -0.0037755726014996327
+    base_right_marker_pose:
+      angle_rotation: 9.10417994376028
+      euclidean_error: -0.0017416116882961186
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.639755879699134
+      euclidean_error: 0.001074105427421812
+    wrist_top_marker_pose:
+      angle_rotation: 21.609335274305113
+      euclidean_error: -0.0009670176408898001
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.342432197103639
+      euclidean_error: -0.0035307102528313594
+    base_right_marker_pose:
+      angle_rotation: 8.589441200097482
+      euclidean_error: -0.0025511160504912977
+    shoulder_marker_pose:
+      angle_rotation: 23.919525605453423
+      euclidean_error: 0.005812326604029527
+    wrist_inside_marker_pose:
+      angle_rotation: 20.776643137937405
+      euclidean_error: 0.0022987365650105618
+    wrist_top_marker_pose:
+      angle_rotation: 19.805589179690752
+      euclidean_error: -0.0015346615880477144
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.512892013102949
+      euclidean_error: -0.003980417894311361
+    base_right_marker_pose:
+      angle_rotation: 6.231762882907268
+      euclidean_error: -0.0021372694699666184
+    shoulder_marker_pose:
+      angle_rotation: 23.571656442965313
+      euclidean_error: 0.005102347756026471
+    wrist_inside_marker_pose:
+      angle_rotation: 22.428701682669512
+      euclidean_error: 0.0018784665921546262
+    wrist_top_marker_pose:
+      angle_rotation: 19.419516645963103
+      euclidean_error: -0.0017742708063108736
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3369036444737787
+      euclidean_error: -0.0040085586809850415
+    base_right_marker_pose:
+      angle_rotation: 7.275233319328611
+      euclidean_error: -0.001723817404607919
+    shoulder_marker_pose:
+      angle_rotation: 21.500870620669293
+      euclidean_error: 0.005148152090492575
+    wrist_inside_marker_pose:
+      angle_rotation: 19.374513050633603
+      euclidean_error: 0.0023239647880820558
+    wrist_top_marker_pose:
+      angle_rotation: 21.621345141202468
+      euclidean_error: 0.00012648976384277422
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.870722752294302
+      euclidean_error: -0.0036565403022967846
+    base_right_marker_pose:
+      angle_rotation: 8.579726930510825
+      euclidean_error: -0.00257370348251984
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.887609530188143
+      euclidean_error: 0.00233262557291003
+    wrist_top_marker_pose:
+      angle_rotation: 18.765177817145023
+      euclidean_error: -0.0005777994304082545
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1863388756137634
+      euclidean_error: -0.0040293932303723246
+    base_right_marker_pose:
+      angle_rotation: 8.41228735617401
+      euclidean_error: -0.00276434873224618
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.249775167247876
+      euclidean_error: 0.001158107564161015
+    wrist_top_marker_pose:
+      angle_rotation: 23.55470491385123
+      euclidean_error: -0.0013581682274896867
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3606782799734654
+      euclidean_error: -0.0039591604966123795
+    base_right_marker_pose:
+      angle_rotation: 7.973297691896647
+      euclidean_error: -0.0025066549523110604
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.672414066579496
+      euclidean_error: 0.0013279403191133188
+    wrist_top_marker_pose:
+      angle_rotation: 25.1686051133663
+      euclidean_error: 0.00021622634854401301
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.175846546312454
+      euclidean_error: -0.003765518588884298
+    base_right_marker_pose:
+      angle_rotation: 6.352014900159291
+      euclidean_error: -0.0029717539329360276
+    shoulder_marker_pose:
+      angle_rotation: 23.123971120401716
+      euclidean_error: 0.004435340318783232
+    wrist_inside_marker_pose:
+      angle_rotation: 22.116130487446263
+      euclidean_error: 0.001931426255943669
+    wrist_top_marker_pose:
+      angle_rotation: 21.825743510109668
+      euclidean_error: -0.0012855938400999634
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.250996952657808
+      euclidean_error: -0.004148952691631624
+    base_right_marker_pose:
+      angle_rotation: 6.87571003910352
+      euclidean_error: -0.002238263146346897
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.507313901746567
+      euclidean_error: 0.0015633075387870843
+    wrist_top_marker_pose:
+      angle_rotation: 21.8091861426152
+      euclidean_error: -0.0011291723809599974
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.963926013273655
+      euclidean_error: -0.003835828649458306
+    base_right_marker_pose:
+      angle_rotation: 4.243179808315249
+      euclidean_error: -0.0035728776816160712
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.26875831133816
+      euclidean_error: 0.00146332836892471
+    wrist_top_marker_pose:
+      angle_rotation: 18.674531008820747
+      euclidean_error: -0.0006010957151029173
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1061865163687337
+      euclidean_error: -0.00428545025746363
+    base_right_marker_pose:
+      angle_rotation: 7.950773780544484
+      euclidean_error: -0.0021949002826481268
+    shoulder_marker_pose:
+      angle_rotation: 21.99170961574044
+      euclidean_error: 0.005443435897567905
+    wrist_inside_marker_pose:
+      angle_rotation: 21.827128925867058
+      euclidean_error: 0.0019925129806322994
+    wrist_top_marker_pose:
+      angle_rotation: 20.331493777622292
+      euclidean_error: -0.0003732237569907815
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.116890897152139
+      euclidean_error: -0.0036186480800691756
+    base_right_marker_pose:
+      angle_rotation: 9.72736939120024
+      euclidean_error: -0.002631536773383236
+    shoulder_marker_pose:
+      angle_rotation: 22.062711149359835
+      euclidean_error: 0.006036480788217946
+    wrist_inside_marker_pose:
+      angle_rotation: 25.277684224824807
+      euclidean_error: 0.0027224271397208177
+    wrist_top_marker_pose:
+      angle_rotation: 27.46615838486126
+      euclidean_error: 0.0007642477640610323
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.750654077783792
+      euclidean_error: -0.0033287611744067247
+    base_right_marker_pose:
+      angle_rotation: 7.064766021282176
+      euclidean_error: -0.002310406995848946
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_top_marker_pose:
+      angle_rotation: 15.581068127378597
+      euclidean_error: -0.0009600985149028629
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.18627482531324
+      euclidean_error: -0.003944310490689662
+    base_right_marker_pose:
+      angle_rotation: 6.842845774817935
+      euclidean_error: -0.00277428907195465
+    shoulder_marker_pose:
+      angle_rotation: 28.34555248546537
+      euclidean_error: 0.005892271946916217
+    wrist_inside_marker_pose:
+      angle_rotation: 24.984459661145223
+      euclidean_error: 0.002325604027684558
+    wrist_top_marker_pose:
+      angle_rotation: 18.372649317060286
+      euclidean_error: -0.0005295174574391215
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5672347149001076
+      euclidean_error: -0.003928930440691869
+    base_right_marker_pose:
+      angle_rotation: 10.280483521967232
+      euclidean_error: -0.0022370410349619174
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.20459617279885
+      euclidean_error: 0.0023377331067520046
+    wrist_top_marker_pose:
+      angle_rotation: 20.380176056292417
+      euclidean_error: -0.001821328738336292
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1949057631617164
+      euclidean_error: -0.00391005276514067
+    base_right_marker_pose:
+      angle_rotation: 4.614606674624099
+      euclidean_error: -0.0017571742856246075
+    shoulder_marker_pose:
+      angle_rotation: 24.393812967964585
+      euclidean_error: 0.005052234519880683
+    wrist_inside_marker_pose:
+      angle_rotation: 23.31364889464596
+      euclidean_error: 0.002675634237200075
+    wrist_top_marker_pose:
+      angle_rotation: 24.71496486766918
+      euclidean_error: -0.00019767537013282155
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7004202057646323
+      euclidean_error: -0.004048751055996336
+    base_right_marker_pose:
+      angle_rotation: 9.166890671432194
+      euclidean_error: -0.0028886289813789823
+    shoulder_marker_pose:
+      angle_rotation: 23.434933561000967
+      euclidean_error: 0.005999646809363823
+    wrist_inside_marker_pose:
+      angle_rotation: 25.2157788402403
+      euclidean_error: 0.00218363393526555
+    wrist_top_marker_pose:
+      angle_rotation: 23.21382843203896
+      euclidean_error: 0.0004486184943440774
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.414397438126274
+      euclidean_error: -0.0042302037573399565
+    base_right_marker_pose:
+      angle_rotation: 8.989104147683975
+      euclidean_error: -0.002396850757107938
+    shoulder_marker_pose:
+      angle_rotation: 23.64024612960056
+      euclidean_error: 0.005653190034732081
+    wrist_inside_marker_pose:
+      angle_rotation: 23.34448546424773
+      euclidean_error: 0.001490716770517042
+    wrist_top_marker_pose:
+      angle_rotation: 19.551487807165714
+      euclidean_error: -0.0008849763175515779
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8336788710951466
+      euclidean_error: -0.003916442190334712
+    base_right_marker_pose:
+      angle_rotation: 9.906668452201608
+      euclidean_error: -0.0023605553497971776
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.06814823959843
+      euclidean_error: 0.0030569672676531434
+    wrist_top_marker_pose:
+      angle_rotation: 15.717703366664512
+      euclidean_error: -0.0008343643192247896
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.045992605856458
+      euclidean_error: -0.0035784297204388693
+    base_right_marker_pose:
+      angle_rotation: 6.470235396694952
+      euclidean_error: -0.0024259096447497575
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.502258362598266
+      euclidean_error: 0.0018386537498488176
+    wrist_top_marker_pose:
+      angle_rotation: 23.475392056183658
+      euclidean_error: 1.0666145560112028e-06
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.254242234668898
+      euclidean_error: -0.0038758840195791677
+    base_right_marker_pose:
+      angle_rotation: 5.842278277318477
+      euclidean_error: -0.0029851332841540623
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.758179098797882
+      euclidean_error: 0.0012403593705007099
+    wrist_top_marker_pose:
+      angle_rotation: 21.423424985402942
+      euclidean_error: -0.0006992823749564225
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9669992443354793
+      euclidean_error: -0.003972503853567622
+    base_right_marker_pose:
+      angle_rotation: 8.25745408602763
+      euclidean_error: -0.002043815837249885
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.36376884123683
+      euclidean_error: 0.0017980550144737206
+    wrist_top_marker_pose:
+      angle_rotation: 20.044914754845614
+      euclidean_error: 1.527344872842562e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.040284402140455
+      euclidean_error: -0.003857398878163165
+    base_right_marker_pose:
+      angle_rotation: 8.412017325717393
+      euclidean_error: -0.0028474454937731375
+    shoulder_marker_pose:
+      angle_rotation: 22.74617837388755
+      euclidean_error: 0.005754781042461743
+    wrist_inside_marker_pose:
+      angle_rotation: 23.1239111214639
+      euclidean_error: 0.0015778634512866319
+    wrist_top_marker_pose:
+      angle_rotation: 20.71455917921811
+      euclidean_error: -0.0018638914207073087
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.120883981129774
+      euclidean_error: -0.0037784738549075936
+    base_right_marker_pose:
+      angle_rotation: 7.507934836355619
+      euclidean_error: -0.0026793707252569243
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.0565572567054
+      euclidean_error: 0.0016264261606402375
+    wrist_top_marker_pose:
+      angle_rotation: 22.534149613867825
+      euclidean_error: -0.0013579153214496875
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.07240020265595
+      euclidean_error: -0.0034562346202944294
+    base_right_marker_pose:
+      angle_rotation: 7.870077067953379
+      euclidean_error: -0.0022374897343040434
+    shoulder_marker_pose:
+      angle_rotation: 22.6569107415411
+      euclidean_error: 0.005834788931024737
+    wrist_inside_marker_pose:
+      angle_rotation: 18.260225806812766
+      euclidean_error: 0.0013637943344584347
+    wrist_top_marker_pose:
+      angle_rotation: 20.335470446166493
+      euclidean_error: -0.0009383163424823149
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8632378317535148
+      euclidean_error: -0.0037354941918481543
+    base_right_marker_pose:
+      angle_rotation: 8.065140014489865
+      euclidean_error: -0.0018195930342598254
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.18623212904585
+      euclidean_error: 0.0032926177577816684
+    wrist_top_marker_pose:
+      angle_rotation: 20.740020395514012
+      euclidean_error: -0.0007551561530637629
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.376037469020804
+      euclidean_error: -0.0035222798779417364
+    base_right_marker_pose:
+      angle_rotation: 9.104807289849909
+      euclidean_error: -0.0009059044636476887
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.90376152377903
+      euclidean_error: 0.002998066340715533
+    wrist_top_marker_pose:
+      angle_rotation: 18.007327731325045
+      euclidean_error: -0.0006943039883247071
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6099249580093695
+      euclidean_error: -0.0037194625853069763
+    base_right_marker_pose:
+      angle_rotation: 6.647836083750661
+      euclidean_error: -0.0024780022290092907
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.382360564817958
+      euclidean_error: 0.001693098002879756
+    wrist_top_marker_pose:
+      angle_rotation: 22.904263839026726
+      euclidean_error: -0.0007083834361022445
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.752316687135895
+      euclidean_error: -0.0036591741191615013
+    base_right_marker_pose:
+      angle_rotation: 8.761513814624596
+      euclidean_error: -0.001780622344330296
+    shoulder_marker_pose:
+      angle_rotation: 23.737062422642442
+      euclidean_error: 0.005897902942176514
+    wrist_inside_marker_pose:
+      angle_rotation: 21.56918804915206
+      euclidean_error: 0.002655729871415713
+    wrist_top_marker_pose:
+      angle_rotation: 22.768525435792615
+      euclidean_error: 0.0006914278315077738
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.593725300516805
+      euclidean_error: -0.004096381099111812
+    base_right_marker_pose:
+      angle_rotation: 7.762470142976306
+      euclidean_error: -0.0018983553616592763
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.465840950815174
+      euclidean_error: 0.002240047176137794
+    wrist_top_marker_pose:
+      angle_rotation: 22.95105207892035
+      euclidean_error: -0.0004625324636789996
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.231369640758211
+      euclidean_error: -0.003533204555188685
+    base_right_marker_pose:
+      angle_rotation: 7.839828691300179
+      euclidean_error: -0.0019961830464672037
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.81243855574111
+      euclidean_error: 0.002065913295867805
+    wrist_top_marker_pose:
+      angle_rotation: 18.099497693143867
+      euclidean_error: -0.0025311218025866333
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.015300407217976
+      euclidean_error: -0.004055289064557432
+    base_right_marker_pose:
+      angle_rotation: 9.24795028271431
+      euclidean_error: -0.0021573319986134543
+    shoulder_marker_pose:
+      angle_rotation: 24.81742547169578
+      euclidean_error: 0.006110562687850041
+    wrist_inside_marker_pose:
+      angle_rotation: 21.000098949038236
+      euclidean_error: 0.0016652660823303078
+    wrist_top_marker_pose:
+      angle_rotation: 22.6848567218921
+      euclidean_error: 8.39780190720063e-07
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.864167348658212
+      euclidean_error: -0.003945475320044967
+    base_right_marker_pose:
+      angle_rotation: 7.489226125266079
+      euclidean_error: -0.0019726278311456014
+    shoulder_marker_pose:
+      angle_rotation: 26.92892016240471
+      euclidean_error: 0.0069122822708954645
+    wrist_inside_marker_pose:
+      angle_rotation: 23.115458910952835
+      euclidean_error: 0.001986832128699434
+    wrist_top_marker_pose:
+      angle_rotation: 21.501043200134795
+      euclidean_error: 0.0006474243010671232
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8419488465105003
+      euclidean_error: -0.0038655144829730093
+    base_right_marker_pose:
+      angle_rotation: 9.101219050220934
+      euclidean_error: -0.0016616381935657953
+    shoulder_marker_pose:
+      angle_rotation: 24.55247167458515
+      euclidean_error: 0.0054587989458407815
+    wrist_inside_marker_pose:
+      angle_rotation: 19.338614828836377
+      euclidean_error: 0.0016135359328321996
+    wrist_top_marker_pose:
+      angle_rotation: 21.14754763805836
+      euclidean_error: -0.0006853030568487739
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.407762517182255
+      euclidean_error: -0.004003208361184507
+    base_right_marker_pose:
+      angle_rotation: 8.020946519124692
+      euclidean_error: -0.002722241370830769
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.670611868523448
+      euclidean_error: 0.0016976947894179473
+    wrist_top_marker_pose:
+      angle_rotation: 18.747842956863366
+      euclidean_error: -0.0017505276167083528
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.829133702691427
+      euclidean_error: -0.0035937276155179054
+    base_right_marker_pose:
+      angle_rotation: 8.885742149949525
+      euclidean_error: -0.002155616052543663
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.775479450447236
+      euclidean_error: 0.0027113120191637474
+    wrist_top_marker_pose:
+      angle_rotation: 23.023646492756516
+      euclidean_error: -0.0001888735523366547
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.7710277392162475
+      euclidean_error: -0.0036983353528330376
+    base_right_marker_pose:
+      angle_rotation: 7.3651383345926895
+      euclidean_error: -0.00226565921241495
+    shoulder_marker_pose:
+      angle_rotation: 22.20585733332872
+      euclidean_error: 0.006358105553656457
+    wrist_inside_marker_pose:
+      angle_rotation: 18.913038839282354
+      euclidean_error: 0.0029326633155116744
+    wrist_top_marker_pose:
+      angle_rotation: 18.419448257012075
+      euclidean_error: -0.002134499444893301
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.708818220998773
+      euclidean_error: -0.003125185097482497
+    base_right_marker_pose:
+      angle_rotation: 9.300384326897687
+      euclidean_error: -0.0021727144359762196
+    shoulder_marker_pose:
+      angle_rotation: 20.6999416972934
+      euclidean_error: 0.006823193087325152
+    wrist_inside_marker_pose:
+      angle_rotation: 18.82045170177277
+      euclidean_error: 0.0029153569166497917
+    wrist_top_marker_pose:
+      angle_rotation: 20.259538269127
+      euclidean_error: -0.0006741662282723215
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.735476970078109
+      euclidean_error: -0.0034933153890593927
+    base_right_marker_pose:
+      angle_rotation: 8.698558333448526
+      euclidean_error: -0.002214123877475327
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.13193655600155
+      euclidean_error: 0.003221121218853207
+    wrist_top_marker_pose:
+      angle_rotation: 23.697996449254095
+      euclidean_error: -0.001035689169547771
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8155638036985744
+      euclidean_error: -0.003937280016489297
+    base_right_marker_pose:
+      angle_rotation: 6.989105542985764
+      euclidean_error: -0.0026579135133948384
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.61234554994615
+      euclidean_error: 0.0017416383790838097
+    wrist_top_marker_pose:
+      angle_rotation: 22.014345001471785
+      euclidean_error: -0.0006901492291455646
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.079192626402841
+      euclidean_error: -0.003549029620773969
+    base_right_marker_pose:
+      angle_rotation: 5.231108126091515
+      euclidean_error: -0.0024416257962889265
+    shoulder_marker_pose:
+      angle_rotation: 24.729614655064047
+      euclidean_error: 0.0065149016739937116
+    wrist_inside_marker_pose:
+      angle_rotation: 24.067390741138336
+      euclidean_error: 0.0028882869336941397
+    wrist_top_marker_pose:
+      angle_rotation: 21.435100722252198
+      euclidean_error: 5.815486334115327e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2105649855081615
+      euclidean_error: -0.003794963642639426
+    base_right_marker_pose:
+      angle_rotation: 9.992627202087942
+      euclidean_error: -0.002152862144131129
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.438923706149872
+      euclidean_error: 0.0018883089772372408
+    wrist_top_marker_pose:
+      angle_rotation: 22.763622730675767
+      euclidean_error: 0.00023965613423826415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5630275227186763
+      euclidean_error: -0.004153801195919571
+    base_right_marker_pose:
+      angle_rotation: 8.407662850825663
+      euclidean_error: -0.0025080186677171046
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.68992280087129
+      euclidean_error: 0.0024424495104881094
+    wrist_top_marker_pose:
+      angle_rotation: 19.392803483945386
+      euclidean_error: -0.0014770948082257762
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.613338744775099
+      euclidean_error: -0.003355767726339165
+    base_right_marker_pose:
+      angle_rotation: 8.967405617099578
+      euclidean_error: -0.0024335771950904084
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.40350823512046
+      euclidean_error: 0.0026333484964988774
+    wrist_top_marker_pose:
+      angle_rotation: 16.685179168013303
+      euclidean_error: -0.0014528291791918724
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.715733585522451
+      euclidean_error: -0.0034096483329300042
+    base_right_marker_pose:
+      angle_rotation: 9.177042951515697
+      euclidean_error: -0.002018259651103471
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.896327513603943
+      euclidean_error: 0.0017774583151594081
+    wrist_top_marker_pose:
+      angle_rotation: 20.855349791841633
+      euclidean_error: 0.0004752727762576958
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.061689890563805
+      euclidean_error: -0.0036733597013772767
+    base_right_marker_pose:
+      angle_rotation: 9.358441885287919
+      euclidean_error: -0.0025978182840077357
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.288593655985405
+      euclidean_error: 0.0015955932119772198
+    wrist_top_marker_pose:
+      angle_rotation: 19.251577740413826
+      euclidean_error: -0.0013914953873555014
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8231117040383222
+      euclidean_error: -0.00413117322208878
+    base_right_marker_pose:
+      angle_rotation: 11.140016585503508
+      euclidean_error: -0.0019180536690182048
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.564769912058438
+      euclidean_error: 0.0027178325860736097
+    wrist_top_marker_pose:
+      angle_rotation: 20.62687932653571
+      euclidean_error: -0.00046010127329576544
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3811019358906993
+      euclidean_error: -0.003708251758322345
+    base_right_marker_pose:
+      angle_rotation: 6.300091531248155
+      euclidean_error: -0.0027062385700353797
+    shoulder_marker_pose:
+      angle_rotation: 24.34377929122219
+      euclidean_error: 0.0058832000023953945
+    wrist_inside_marker_pose:
+      angle_rotation: 19.145502458998156
+      euclidean_error: 0.002362539022275456
+    wrist_top_marker_pose:
+      angle_rotation: 19.05462310978608
+      euclidean_error: -0.0011680528060377116
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.78851605937239
+      euclidean_error: -0.0034963887316408204
+    base_right_marker_pose:
+      angle_rotation: 7.520116922077196
+      euclidean_error: -0.0024213611140447844
+    shoulder_marker_pose:
+      angle_rotation: 23.372175152067474
+      euclidean_error: 0.005750724603590385
+    wrist_inside_marker_pose:
+      angle_rotation: 23.786311992724446
+      euclidean_error: 0.002070724636827004
+    wrist_top_marker_pose:
+      angle_rotation: 16.54808998871439
+      euclidean_error: -0.0013548833138610217
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.259061023292158
+      euclidean_error: -0.0038055337934356226
+    base_right_marker_pose:
+      angle_rotation: 9.989598708978747
+      euclidean_error: -0.0015622732499034342
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.863456414213918
+      euclidean_error: 0.0012868929664486828
+    wrist_top_marker_pose:
+      angle_rotation: 12.396085950169457
+      euclidean_error: -0.0016925525768963778
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.015740833551025
+      euclidean_error: -0.0034367346171186863
+    base_right_marker_pose:
+      angle_rotation: 10.485946967130939
+      euclidean_error: -0.0019351031264820406
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.14440949944003
+      euclidean_error: 0.002009530983463237
+    wrist_top_marker_pose:
+      angle_rotation: 23.684665006447602
+      euclidean_error: 0.0003358159566786423
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.238190154804664
+      euclidean_error: -0.0034107416120133793
+    base_right_marker_pose:
+      angle_rotation: 5.737651719814182
+      euclidean_error: -0.001939204434867503
+    shoulder_marker_pose:
+      angle_rotation: 24.066926933214283
+      euclidean_error: 0.00551258718261094
+    wrist_inside_marker_pose:
+      angle_rotation: 24.255075687374124
+      euclidean_error: 0.002032502622784871
+    wrist_top_marker_pose:
+      angle_rotation: 20.807818747359125
+      euclidean_error: -0.0015693023930288819
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8480619345155254
+      euclidean_error: -0.003972526527633247
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.13097921584098
+      euclidean_error: 0.006604094916321079
+    wrist_inside_marker_pose:
+      angle_rotation: 22.17523529053233
+      euclidean_error: 0.002386968600371686
+    wrist_top_marker_pose:
+      angle_rotation: 22.36183365381234
+      euclidean_error: -0.00022859739637592913
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7448956406653526
+      euclidean_error: -0.003786432715359944
+    base_right_marker_pose:
+      angle_rotation: 9.42875109412751
+      euclidean_error: -0.0021314715954404706
+    shoulder_marker_pose:
+      angle_rotation: 22.555205181765793
+      euclidean_error: 0.005374077061610638
+    wrist_inside_marker_pose:
+      angle_rotation: 23.55608435089464
+      euclidean_error: 0.0018456682500919142
+    wrist_top_marker_pose:
+      angle_rotation: 23.619306857157692
+      euclidean_error: -0.0010233051722731146
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.640529587705178
+      euclidean_error: -0.0037033112577959937
+    base_right_marker_pose:
+      angle_rotation: 10.079710815860393
+      euclidean_error: -0.0023061136717525965
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.533814681059646
+      euclidean_error: 0.0012542624844034123
+    wrist_top_marker_pose:
+      angle_rotation: 20.81880633697563
+      euclidean_error: -0.000976866511489316
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2928097810019996
+      euclidean_error: -0.003917970534264903
+    base_right_marker_pose:
+      angle_rotation: 8.608255717787346
+      euclidean_error: -0.0022310361986542793
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.314378987622824
+      euclidean_error: 0.001485505353743366
+    wrist_top_marker_pose:
+      angle_rotation: 23.684351868331785
+      euclidean_error: -0.0010095206534143086
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.062549952216282
+      euclidean_error: -0.0036736445461159617
+    base_right_marker_pose:
+      angle_rotation: 6.967280637179168
+      euclidean_error: -0.0016802510631472867
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.270974754528684
+      euclidean_error: 0.0024362956102539357
+    wrist_top_marker_pose:
+      angle_rotation: 24.072095609471866
+      euclidean_error: -0.0016364775615120841
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.875588378445011
+      euclidean_error: -0.0038495379786036565
+    base_right_marker_pose:
+      angle_rotation: 8.932483892352531
+      euclidean_error: -0.002153730850692148
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.064148253517203
+      euclidean_error: 0.0025658971278936793
+    wrist_top_marker_pose:
+      angle_rotation: 24.908553151917996
+      euclidean_error: -0.0009295475466088998
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.340034821749627
+      euclidean_error: -0.003819747571817911
+    base_right_marker_pose:
+      angle_rotation: 8.052756729322926
+      euclidean_error: -0.002137083681503893
+    shoulder_marker_pose:
+      angle_rotation: 19.877554620576717
+      euclidean_error: 0.0056120909565081645
+    wrist_inside_marker_pose:
+      angle_rotation: 20.041782650114527
+      euclidean_error: 0.002381764657121588
+    wrist_top_marker_pose:
+      angle_rotation: 20.718676044422914
+      euclidean_error: -0.001187155837088727
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9419987911120002
+      euclidean_error: -0.0038885445465027813
+    base_right_marker_pose:
+      angle_rotation: 7.860000070355808
+      euclidean_error: -0.002645757879487509
+    shoulder_marker_pose:
+      angle_rotation: 20.74917759794497
+      euclidean_error: 0.005604480132154865
+    wrist_inside_marker_pose:
+      angle_rotation: 24.141343840259964
+      euclidean_error: 0.0018023722967561717
+    wrist_top_marker_pose:
+      angle_rotation: 21.146153134365424
+      euclidean_error: -0.0006882485567297758
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.887019431624755
+      euclidean_error: -0.0033913086185980434
+    base_right_marker_pose:
+      angle_rotation: 7.2589542957169115
+      euclidean_error: -0.0022431736579385797
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.698455527194763
+      euclidean_error: 0.003431405114458941
+    wrist_top_marker_pose:
+      angle_rotation: 23.240701721999017
+      euclidean_error: 0.000827688829742268
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.210280433085942
+      euclidean_error: -0.003809941663305283
+    base_right_marker_pose:
+      angle_rotation: 9.350335921304405
+      euclidean_error: -0.0019337086548313343
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.187356746172753
+      euclidean_error: 0.0017603132357520979
+    wrist_top_marker_pose:
+      angle_rotation: 21.417737803739787
+      euclidean_error: -0.0004054879132303624
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5882246185281788
+      euclidean_error: -0.00391716957356214
+    base_right_marker_pose:
+      angle_rotation: 9.350850910035202
+      euclidean_error: -0.001975697497934692
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.559826874101113
+      euclidean_error: 0.001736062818663675
+    wrist_top_marker_pose:
+      angle_rotation: 16.366396890908955
+      euclidean_error: -0.0017340215568160122
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.016855420426848
+      euclidean_error: -0.0034426045978623865
+    base_right_marker_pose:
+      angle_rotation: 6.869197800023465
+      euclidean_error: -0.0018679151401612692
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.45142191778165
+      euclidean_error: 0.0018459216462833883
+    wrist_top_marker_pose:
+      angle_rotation: 19.38298294980831
+      euclidean_error: -0.0005843363584884242
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.993399619792242
+      euclidean_error: -0.003305177599386311
+    base_right_marker_pose:
+      angle_rotation: 9.199765253836084
+      euclidean_error: -0.0019560492006122088
+    shoulder_marker_pose:
+      angle_rotation: 24.727714712079646
+      euclidean_error: 0.006151453878632918
+    wrist_inside_marker_pose:
+      angle_rotation: 25.528080946422758
+      euclidean_error: 0.0016713644994305055
+    wrist_top_marker_pose:
+      angle_rotation: 21.450707097045118
+      euclidean_error: -0.0006687449407148938
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.01407206888922
+      euclidean_error: -0.003748172253336679
+    base_right_marker_pose:
+      angle_rotation: 6.0946276783799656
+      euclidean_error: -0.0019760518083203893
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.034390133867422
+      euclidean_error: 0.0020634708365930843
+    wrist_top_marker_pose:
+      angle_rotation: 20.916051989626872
+      euclidean_error: -0.0005337459360881258
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0841676429709275
+      euclidean_error: -0.004197766003978587
+    base_right_marker_pose:
+      angle_rotation: 9.547565900624548
+      euclidean_error: -0.0023957958842589777
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.57835810798474
+      euclidean_error: 0.0025183848698238087
+    wrist_top_marker_pose:
+      angle_rotation: 22.322123869115735
+      euclidean_error: 0.00020344790803883406
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.714122139421056
+      euclidean_error: -0.0036919106853101624
+    base_right_marker_pose:
+      angle_rotation: 8.351558986180843
+      euclidean_error: -0.002127840226057609
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.426012824079294
+      euclidean_error: 0.0007436592428058386
+    wrist_top_marker_pose:
+      angle_rotation: 15.392554529597879
+      euclidean_error: -0.0014659476577583153
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.03441079023945
+      euclidean_error: -0.003611931775418964
+    base_right_marker_pose:
+      angle_rotation: 5.760376501040081
+      euclidean_error: -0.002280980717608405
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.132467025449383
+      euclidean_error: 0.0020713235421755405
+    wrist_top_marker_pose:
+      angle_rotation: 22.907420737898708
+      euclidean_error: -0.0010222063017872873
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.770289047969751
+      euclidean_error: -0.0038280301935760264
+    base_right_marker_pose:
+      angle_rotation: 9.576994107580596
+      euclidean_error: -0.002104057167306106
+    shoulder_marker_pose:
+      angle_rotation: 24.358185724341713
+      euclidean_error: 0.006116458608064423
+    wrist_inside_marker_pose:
+      angle_rotation: 22.0566957051997
+      euclidean_error: 0.002421841262350566
+    wrist_top_marker_pose:
+      angle_rotation: 21.257786726076482
+      euclidean_error: -0.000443274401634719
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.553903874818367
+      euclidean_error: -0.003272221475484005
+    base_right_marker_pose:
+      angle_rotation: 9.247052736060992
+      euclidean_error: -0.0020809100944975123
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.388055579224385
+      euclidean_error: 0.0021922835660473927
+    wrist_top_marker_pose:
+      angle_rotation: 24.066183602574
+      euclidean_error: 0.0001304671873701979
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.760199593183738
+      euclidean_error: -0.003838629940477345
+    base_right_marker_pose:
+      angle_rotation: 6.50017393546017
+      euclidean_error: -0.001755380876237167
+    shoulder_marker_pose:
+      angle_rotation: 22.827480641643085
+      euclidean_error: 0.005180546063443092
+    wrist_inside_marker_pose:
+      angle_rotation: 21.82017768577447
+      euclidean_error: 0.0017389426406675401
+    wrist_top_marker_pose:
+      angle_rotation: 23.3961264590721
+      euclidean_error: -0.0008417331750302237
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.752316629741207
+      euclidean_error: -0.0037011862679545704
+    base_right_marker_pose:
+      angle_rotation: 6.658374961040598
+      euclidean_error: -0.002731082902181048
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.041359342491848
+      euclidean_error: 0.0027496559291335654
+    wrist_top_marker_pose:
+      angle_rotation: 18.612548464070844
+      euclidean_error: 4.392890142024264e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 8.277982078502644
+      euclidean_error: -0.0030637094757064443
+    base_right_marker_pose:
+      angle_rotation: 6.860835893399413
+      euclidean_error: -0.0010413888037393848
+    shoulder_marker_pose:
+      angle_rotation: 23.89180474637311
+      euclidean_error: 0.0054308295892874225
+    wrist_inside_marker_pose:
+      angle_rotation: 21.61396363964778
+      euclidean_error: 0.0016419431725855915
+    wrist_top_marker_pose:
+      angle_rotation: 16.339253088430965
+      euclidean_error: -0.0019862534342198757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9015127241643746
+      euclidean_error: -0.003900631059959969
+    base_right_marker_pose:
+      angle_rotation: 9.324106724978945
+      euclidean_error: -0.0019461549976915737
+    shoulder_marker_pose:
+      angle_rotation: 13.27221098042393
+      euclidean_error: 0.0063114189714443825
+    wrist_inside_marker_pose:
+      angle_rotation: 18.607345255047512
+      euclidean_error: 0.001514658954330117
+    wrist_top_marker_pose:
+      angle_rotation: 18.07795284285936
+      euclidean_error: -0.0001536613422422617
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8637117327083805
+      euclidean_error: -0.0034489767375882607
+    base_right_marker_pose:
+      angle_rotation: 8.24794253520216
+      euclidean_error: -0.0023405957166339197
+    shoulder_marker_pose:
+      angle_rotation: 18.040619315868156
+      euclidean_error: 0.005480914486475363
+    wrist_inside_marker_pose:
+      angle_rotation: 22.655082760353217
+      euclidean_error: 0.0025795996551929434
+    wrist_top_marker_pose:
+      angle_rotation: 21.076957145327306
+      euclidean_error: -0.000722998314662382
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4758203604126248
+      euclidean_error: -0.00393313765515424
+    base_right_marker_pose:
+      angle_rotation: 8.585970407401552
+      euclidean_error: -0.0026515306519661053
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.324202436896748
+      euclidean_error: 0.002247553073867148
+    wrist_top_marker_pose:
+      angle_rotation: 23.201502260950594
+      euclidean_error: -0.0014559409927473732
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.622612069090909
+      euclidean_error: -0.0031800424480894485
+    base_right_marker_pose:
+      angle_rotation: 10.132079461011575
+      euclidean_error: -0.0013723810790657875
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.818135899423673
+      euclidean_error: 0.0023318401858783977
+    wrist_top_marker_pose:
+      angle_rotation: 21.47171132508408
+      euclidean_error: 0.0006277355423784936
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.204370154936473
+      euclidean_error: -0.003252597227831666
+    base_right_marker_pose:
+      angle_rotation: 7.647987552269768
+      euclidean_error: -0.0016290572975832252
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.74194920172176
+      euclidean_error: 0.0026311092935681346
+    wrist_top_marker_pose:
+      angle_rotation: 24.873731485931998
+      euclidean_error: 0.0009920242562664328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.797994792956681
+      euclidean_error: -0.00405329225407125
+    base_right_marker_pose:
+      angle_rotation: 7.7999278835479195
+      euclidean_error: -0.0014427864727110107
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.74629371732299
+      euclidean_error: 0.002493110547782229
+    wrist_top_marker_pose:
+      angle_rotation: 19.405581203986046
+      euclidean_error: 7.75525840922553e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5448925652535315
+      euclidean_error: -0.003654101797006981
+    base_right_marker_pose:
+      angle_rotation: 8.78872932316956
+      euclidean_error: -0.0023379746829108594
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.467268482785748
+      euclidean_error: 0.001800144782645119
+    wrist_top_marker_pose:
+      angle_rotation: 13.434806904669978
+      euclidean_error: -0.0020072147361945847
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.02074267624008
+      euclidean_error: -0.0035321727724088037
+    base_right_marker_pose:
+      angle_rotation: 8.00695208356871
+      euclidean_error: -0.001466825609806821
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.127786563417764
+      euclidean_error: 0.0021440477744412156
+    wrist_top_marker_pose:
+      angle_rotation: 17.989887765355455
+      euclidean_error: -0.0006226486162702605
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.188995673854344
+      euclidean_error: -0.0037269290870164395
+    base_right_marker_pose:
+      angle_rotation: 8.918406719055033
+      euclidean_error: -0.0005709093682642052
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.266150052270223
+      euclidean_error: 0.0024785672302584105
+    wrist_top_marker_pose:
+      angle_rotation: 22.40693960534554
+      euclidean_error: 0.0003049803193019285
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8880009491197147
+      euclidean_error: -0.003510602122859696
+    base_right_marker_pose:
+      angle_rotation: 9.563498016074307
+      euclidean_error: -0.0017924322160663975
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.60422481803888
+      euclidean_error: 0.002679991867016951
+    wrist_top_marker_pose:
+      angle_rotation: 25.18369367242469
+      euclidean_error: -0.0002695877083492837
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0034805762216015834
+    base_right_marker_pose:
+      angle_rotation: 9.858386039357132
+      euclidean_error: -0.0016578412063540382
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.722027826722684
+      euclidean_error: 0.0023981806086323942
+    wrist_top_marker_pose:
+      angle_rotation: 23.0200469749007
+      euclidean_error: -0.0012345022715125609
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.15740465546422
+      euclidean_error: -0.0035185300189440882
+    base_right_marker_pose:
+      angle_rotation: 6.774554603494103
+      euclidean_error: -0.0021638983609544304
+    shoulder_marker_pose:
+      angle_rotation: 21.80307625223563
+      euclidean_error: 0.006600511942899234
+    wrist_inside_marker_pose:
+      angle_rotation: 21.974823738014116
+      euclidean_error: 0.002326314365608151
+    wrist_top_marker_pose:
+      angle_rotation: 20.762513755288467
+      euclidean_error: -0.0009596174432940918
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8051031427994
+      euclidean_error: -0.0040818467708326756
+    base_right_marker_pose:
+      angle_rotation: 7.273385857506084
+      euclidean_error: -0.002236911916111972
+    shoulder_marker_pose:
+      angle_rotation: 25.281849550891476
+      euclidean_error: 0.005596176421728716
+    wrist_inside_marker_pose:
+      angle_rotation: 20.77018058684878
+      euclidean_error: 0.0018515182047234013
+    wrist_top_marker_pose:
+      angle_rotation: 19.805288261046936
+      euclidean_error: -0.0011335535453214085
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.826970907212362
+      euclidean_error: -0.0037005223557793343
+    base_right_marker_pose:
+      angle_rotation: 8.506750729165217
+      euclidean_error: -0.002155680662245918
+    shoulder_marker_pose:
+      angle_rotation: 24.271948887746916
+      euclidean_error: 0.005525430445305735
+    wrist_inside_marker_pose:
+      angle_rotation: 19.060290935582
+      euclidean_error: 0.0016095763940626728
+    wrist_top_marker_pose:
+      angle_rotation: 19.46386885511896
+      euclidean_error: -0.00025819069272536854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5470206288548614
+      euclidean_error: -0.0034544906639562
+    base_right_marker_pose:
+      angle_rotation: 8.545624381097797
+      euclidean_error: -0.001975156201470152
+    shoulder_marker_pose:
+      angle_rotation: 20.282835129752563
+      euclidean_error: 0.005842163925258603
+    wrist_inside_marker_pose:
+      angle_rotation: 21.302824438351728
+      euclidean_error: 0.001856181678900004
+    wrist_top_marker_pose:
+      angle_rotation: 23.1987646221988
+      euclidean_error: -0.00023523049530627116
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003660178436317052
+    base_right_marker_pose:
+      angle_rotation: 7.21704528659772
+      euclidean_error: -0.0017364240511245077
+    shoulder_marker_pose:
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+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.002387300174832574
+    wrist_top_marker_pose:
+      angle_rotation: 20.352013879397333
+      euclidean_error: 2.4146128984048332e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.721442458520409
+      euclidean_error: -0.004085629284165004
+    base_right_marker_pose:
+      angle_rotation: 8.376144482378285
+      euclidean_error: -0.0018799192414159505
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.352207976072993
+      euclidean_error: 0.0024722389592576333
+    wrist_top_marker_pose:
+      angle_rotation: 21.117724017966232
+      euclidean_error: -0.00028794151207189866
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.81341788958587
+      euclidean_error: -0.003883692928414506
+    base_right_marker_pose:
+      angle_rotation: 6.86536296007101
+      euclidean_error: -0.002080039446440418
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.983080844470667
+      euclidean_error: 0.002080152241783484
+    wrist_top_marker_pose:
+      angle_rotation: 23.594377120295434
+      euclidean_error: -0.0005434851422236875
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.244403820847348
+      euclidean_error: -0.003960462937498077
+    base_right_marker_pose:
+      angle_rotation: 5.857898725219776
+      euclidean_error: -0.002592809353607395
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.893380993714842
+      euclidean_error: 0.0028000222829602794
+    wrist_top_marker_pose:
+      angle_rotation: 20.650018980122987
+      euclidean_error: 0.00036362441022996794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.284413495104856
+      euclidean_error: -0.0034721223937598245
+    base_right_marker_pose:
+      angle_rotation: 9.083992169275819
+      euclidean_error: -0.001448761300574808
+    shoulder_marker_pose:
+      angle_rotation: 24.218965750481896
+      euclidean_error: 0.005938216110324079
+    wrist_inside_marker_pose:
+      angle_rotation: 22.15718674859277
+      euclidean_error: 0.002624293531469424
+    wrist_top_marker_pose:
+      angle_rotation: 20.64502586118306
+      euclidean_error: -0.0009352875501585922
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.2452433070972475
+      euclidean_error: -0.003291392199561316
+    base_right_marker_pose:
+      angle_rotation: 9.206261826330401
+      euclidean_error: -0.0018825032363467553
+    shoulder_marker_pose:
+      angle_rotation: 22.741805371143652
+      euclidean_error: 0.006185450085543276
+    wrist_inside_marker_pose:
+      angle_rotation: 21.894833595337193
+      euclidean_error: 0.002454517562008096
+    wrist_top_marker_pose:
+      angle_rotation: 22.344612120906483
+      euclidean_error: -0.0010737884258523733
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.205840581382365
+      euclidean_error: -0.0036062023252797504
+    base_right_marker_pose:
+      angle_rotation: 7.352782894162271
+      euclidean_error: -0.002331716974059983
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.458311764090606
+      euclidean_error: 0.0032481128440294826
+    wrist_top_marker_pose:
+      angle_rotation: 22.03028487797043
+      euclidean_error: 0.00035191441361370757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8505703931340025
+      euclidean_error: -0.0035303535561488353
+    base_right_marker_pose:
+      angle_rotation: 8.11985801719032
+      euclidean_error: -0.00192751001932423
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.031534457485492
+      euclidean_error: 0.0026764296541645916
+    wrist_top_marker_pose:
+      angle_rotation: 23.186301908470575
+      euclidean_error: 0.0006527683755624958
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.593017714026643
+      euclidean_error: -0.0029865118188384665
+    base_right_marker_pose:
+      angle_rotation: 7.07976673352935
+      euclidean_error: -0.0015850746397978455
+    shoulder_marker_pose:
+      angle_rotation: 22.6175280374551
+      euclidean_error: 0.005957238424668443
+    wrist_inside_marker_pose:
+      angle_rotation: 22.358856898429977
+      euclidean_error: 0.0012284792548039603
+    wrist_top_marker_pose:
+      angle_rotation: 19.126746939115694
+      euclidean_error: -0.0015315618890336946
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.5391821936727
+      euclidean_error: -0.0035509895182459505
+    base_right_marker_pose:
+      angle_rotation: 11.002822679323785
+      euclidean_error: -0.0007960520881811206
+    shoulder_marker_pose:
+      angle_rotation: 22.70200698328462
+      euclidean_error: 0.005922072527312805
+    wrist_inside_marker_pose:
+      angle_rotation: 26.882938633504565
+      euclidean_error: 0.0026245943157667817
+    wrist_top_marker_pose:
+      angle_rotation: 25.34723726869565
+      euclidean_error: -0.0001806931006221868
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.590796665837766
+      euclidean_error: -0.0036072625830856353
+    base_right_marker_pose:
+      angle_rotation: 10.272987713366279
+      euclidean_error: -0.00187920933738972
+    shoulder_marker_pose:
+      angle_rotation: 22.268530052262516
+      euclidean_error: 0.006158696348293358
+    wrist_inside_marker_pose:
+      angle_rotation: 22.728392292160002
+      euclidean_error: 0.002600683981010987
+    wrist_top_marker_pose:
+      angle_rotation: 21.665657373308196
+      euclidean_error: -0.0010649476329691598
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.083881915205091
+      euclidean_error: -0.003579960279867067
+    base_right_marker_pose:
+      angle_rotation: 7.797524044792632
+      euclidean_error: -0.0025881908345191107
+    shoulder_marker_pose:
+      angle_rotation: 20.167856452614917
+      euclidean_error: 0.006616584911680157
+    wrist_inside_marker_pose:
+      angle_rotation: 23.04465274596766
+      euclidean_error: 0.0030961712287606025
+    wrist_top_marker_pose:
+      angle_rotation: 23.357931340273222
+      euclidean_error: -0.0002632624346897705
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2437020670447376
+      euclidean_error: -0.0036989399998523798
+    base_right_marker_pose:
+      angle_rotation: 7.4146667598121665
+      euclidean_error: -0.002319786598946716
+    shoulder_marker_pose:
+      angle_rotation: 18.43865442403879
+      euclidean_error: 0.005642191971850452
+    wrist_inside_marker_pose:
+      angle_rotation: 20.509343112784425
+      euclidean_error: 0.0022988789424445155
+    wrist_top_marker_pose:
+      angle_rotation: 22.62523833995698
+      euclidean_error: -0.00010018524892152492
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.4592445420608255
+      euclidean_error: -0.003681007338300568
+    base_right_marker_pose:
+      angle_rotation: 11.302214406352697
+      euclidean_error: -0.001313868825861375
+    shoulder_marker_pose:
+      angle_rotation: 20.26483200697247
+      euclidean_error: 0.006618646298916175
+    wrist_inside_marker_pose:
+      angle_rotation: 22.639135664646872
+      euclidean_error: 0.002811136011940607
+    wrist_top_marker_pose:
+      angle_rotation: 24.69242901205373
+      euclidean_error: 0.0001946772572727351
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.394958538141992
+      euclidean_error: -0.0032860652329743667
+    base_right_marker_pose:
+      angle_rotation: 8.548957366270516
+      euclidean_error: -0.001878670748943434
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.07464817655079
+      euclidean_error: 0.0028422778913360647
+    wrist_top_marker_pose:
+      angle_rotation: 23.0411655268178
+      euclidean_error: 0.00039656759303929867
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5365602573288566
+      euclidean_error: -0.0036940133595422253
+    base_right_marker_pose:
+      angle_rotation: 6.984929010938607
+      euclidean_error: -0.00261211292563146
+    shoulder_marker_pose:
+      angle_rotation: 19.878257264177346
+      euclidean_error: 0.0052465001816420775
+    wrist_inside_marker_pose:
+      angle_rotation: 21.08272442930456
+      euclidean_error: 0.0018970922652312705
+    wrist_top_marker_pose:
+      angle_rotation: 22.76236561286153
+      euclidean_error: -0.0008781179494498081
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.551061147250753
+      euclidean_error: -0.0033183624770615205
+    base_right_marker_pose:
+      angle_rotation: 9.758162825132741
+      euclidean_error: -0.0018174500224310552
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.634836772688182
+      euclidean_error: 0.0025728826067785704
+    wrist_top_marker_pose:
+      angle_rotation: 25.176259494124228
+      euclidean_error: -0.00037673844308871995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.575786462570739
+      euclidean_error: -0.0035529194938497266
+    base_right_marker_pose:
+      angle_rotation: 9.931216442893914
+      euclidean_error: -0.0017596320244167574
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.061093911181935
+      euclidean_error: 0.0023032021662671154
+    wrist_top_marker_pose:
+      angle_rotation: 25.054250836694706
+      euclidean_error: -0.0009737306205108709
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.789601474574175
+      euclidean_error: -0.0034158484760622443
+    base_right_marker_pose:
+      angle_rotation: 8.676803598527437
+      euclidean_error: -0.0018087080483890627
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.558662126142707
+      euclidean_error: 0.002437373232462403
+    wrist_top_marker_pose:
+      angle_rotation: 19.51671780440511
+      euclidean_error: -0.0004446664603676709
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2851557794340236
+      euclidean_error: -0.0040043180928345246
+    base_right_marker_pose:
+      angle_rotation: 8.905342532029934
+      euclidean_error: -0.0020118855723026963
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.199047662597422
+      euclidean_error: 0.002950623027827892
+    wrist_top_marker_pose:
+      angle_rotation: 21.858618331472094
+      euclidean_error: -0.0009552859679566872
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.802369122112555
+      euclidean_error: -0.003520457383257458
+    base_right_marker_pose:
+      angle_rotation: 8.009356011112153
+      euclidean_error: -0.0006491187420287758
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.366677523362174
+      euclidean_error: 0.002535095438181423
+    wrist_top_marker_pose:
+      angle_rotation: 23.638907691302798
+      euclidean_error: -0.0003723666426457273
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.493447766139848
+      euclidean_error: -0.0028235659825975867
+    base_right_marker_pose:
+      angle_rotation: 10.286079462572873
+      euclidean_error: -0.0008237785277220855
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.384787179091536
+      euclidean_error: 0.0024603922150806534
+    wrist_top_marker_pose:
+      angle_rotation: 20.136260076240145
+      euclidean_error: 0.00040360615848866743
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.352214171767431
+      euclidean_error: -0.0034681739062694117
+    base_right_marker_pose:
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+      euclidean_error: -0.0016577147054011032
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.008313301196836
+      euclidean_error: 0.002769918273985761
+    wrist_top_marker_pose:
+      angle_rotation: 24.63440701144732
+      euclidean_error: 0.0006477938328710575
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8189816536837435
+      euclidean_error: -0.003790626709755718
+    base_right_marker_pose:
+      angle_rotation: 10.210897752175256
+      euclidean_error: -0.0019121579335501515
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.670243041091336
+      euclidean_error: 0.002912201485920307
+    wrist_top_marker_pose:
+      angle_rotation: 22.580238702811588
+      euclidean_error: -0.00011816896208149963
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.122490854819605
+      euclidean_error: -0.003156699179834521
+    base_right_marker_pose:
+      angle_rotation: 8.412980919006621
+      euclidean_error: -0.0011812839025718835
+    shoulder_marker_pose:
+      angle_rotation: 24.32557119315699
+      euclidean_error: 0.006100119434855222
+    wrist_inside_marker_pose:
+      angle_rotation: 22.351424680420678
+      euclidean_error: 0.0030949535934348127
+    wrist_top_marker_pose:
+      angle_rotation: 21.31822824335202
+      euclidean_error: 0.0005214838186585746
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003611731733772605
+    base_right_marker_pose:
+      angle_rotation: 5.835062211432349
+      euclidean_error: -0.002452371550649146
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.121198719081562
+      euclidean_error: 0.0025603294492806405
+    wrist_top_marker_pose:
+      angle_rotation: 22.099257072330943
+      euclidean_error: -0.00042446464703271847
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0038258025967307097
+    base_right_marker_pose:
+      angle_rotation: 8.603659936601339
+      euclidean_error: -0.001122950072560469
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.298276331950635
+      euclidean_error: 0.002034626601383649
+    wrist_top_marker_pose:
+      angle_rotation: 21.24121390513317
+      euclidean_error: -0.0002495975740339773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9940579192090766
+      euclidean_error: -0.0037690625630122376
+    base_right_marker_pose:
+      angle_rotation: 6.378675484971668
+      euclidean_error: -0.0020882463870246504
+    shoulder_marker_pose:
+      angle_rotation: 22.117361883470053
+      euclidean_error: 0.006256619486181392
+    wrist_inside_marker_pose:
+      angle_rotation: 25.596252889224548
+      euclidean_error: 0.001951498977563526
+    wrist_top_marker_pose:
+      angle_rotation: 19.465220879680693
+      euclidean_error: -0.0009214236184047486
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.97346674233459
+      euclidean_error: -0.0036402589954425135
+    base_right_marker_pose:
+      angle_rotation: 11.307724358872466
+      euclidean_error: -0.001325965113588512
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.393621094906333
+      euclidean_error: 0.0022095516174205354
+    wrist_top_marker_pose:
+      angle_rotation: 24.733526265056167
+      euclidean_error: -0.0008371941896053725
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0035617388549564755
+    base_right_marker_pose:
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+      euclidean_error: -0.002017933710649289
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.47199481058444
+      euclidean_error: 0.0015862303923362964
+    wrist_top_marker_pose:
+      angle_rotation: 23.207592441316674
+      euclidean_error: -0.0017519773939893568
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003880931452555081
+    base_right_marker_pose:
+      angle_rotation: 5.334111115120791
+      euclidean_error: -0.0022447027672071185
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.067451235830273
+      euclidean_error: 0.002619040762654401
+    wrist_top_marker_pose:
+      angle_rotation: 16.82936326071941
+      euclidean_error: -0.0013521781533867294
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0032213228863043897
+    base_right_marker_pose:
+      angle_rotation: 12.335712016437984
+      euclidean_error: -0.0006069954367668995
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.547502438854508
+      euclidean_error: 0.0026973622802826114
+    wrist_top_marker_pose:
+      angle_rotation: 28.59704160639759
+      euclidean_error: 0.000474160121626932
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003807258833220306
+    base_right_marker_pose:
+      angle_rotation: 8.553271427891588
+      euclidean_error: -0.002131008979621818
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.52814792469271
+      euclidean_error: 0.0031942095304301477
+    wrist_top_marker_pose:
+      angle_rotation: 24.328550133934236
+      euclidean_error: -0.00017064497785057586
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.452913804786575
+      euclidean_error: -0.003424399950015533
+    base_right_marker_pose:
+      angle_rotation: 8.871751063369587
+      euclidean_error: -0.0022110168601093827
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.78757747305008
+      euclidean_error: 0.002348331654436153
+    wrist_top_marker_pose:
+      angle_rotation: 23.704573292661262
+      euclidean_error: -9.600179010826881e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.911254993757684
+      euclidean_error: -0.0028332361244682858
+    base_right_marker_pose:
+      angle_rotation: 9.734866960541648
+      euclidean_error: -0.0014484174958048213
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.762917307678656
+      euclidean_error: 0.0017646686545840229
+    wrist_top_marker_pose:
+      angle_rotation: 14.044871400056422
+      euclidean_error: -0.0003202779733328942
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.739536613536432
+      euclidean_error: -0.0038256993837334496
+    base_right_marker_pose:
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+      euclidean_error: -0.0023817791394120658
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.575382001780255
+      euclidean_error: 0.002382016578641011
+    wrist_top_marker_pose:
+      angle_rotation: 25.826776733624225
+      euclidean_error: 0.00016922939336705412
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.833003286297558
+      euclidean_error: -0.0037668155654907443
+    base_right_marker_pose:
+      angle_rotation: 9.796232650888337
+      euclidean_error: -0.0018594840082480912
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.96017740616246
+      euclidean_error: 0.0021679736107398373
+    wrist_top_marker_pose:
+      angle_rotation: 23.17446626952588
+      euclidean_error: -0.00031000589486185337
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.692134767909751
+      euclidean_error: -0.003641070243802891
+    base_right_marker_pose:
+      angle_rotation: 7.370677699963308
+      euclidean_error: -0.002216297942143064
+    shoulder_marker_pose:
+      angle_rotation: 22.36329529375374
+      euclidean_error: 0.0060871897837563305
+    wrist_inside_marker_pose:
+      angle_rotation: 20.325066538095893
+      euclidean_error: 0.0022833474972522305
+    wrist_top_marker_pose:
+      angle_rotation: 21.756986269120755
+      euclidean_error: 2.8537713130383224e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.2216394351635795
+      euclidean_error: -0.002999032675801372
+    base_right_marker_pose:
+      angle_rotation: 12.36991538697745
+      euclidean_error: -0.0016519191589106086
+    shoulder_marker_pose:
+      angle_rotation: 25.91224255045661
+      euclidean_error: 0.006341464094363869
+    wrist_inside_marker_pose:
+      angle_rotation: 19.140454008171467
+      euclidean_error: 0.0032603375828327286
+    wrist_top_marker_pose:
+      angle_rotation: 22.15967832594693
+      euclidean_error: 5.003046295026792e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.257442779680436
+      euclidean_error: -0.00326726890015383
+    base_right_marker_pose:
+      angle_rotation: 7.763858522776228
+      euclidean_error: -0.001772502983000468
+    shoulder_marker_pose:
+      angle_rotation: 20.340397292192318
+      euclidean_error: 0.006607449843290203
+    wrist_inside_marker_pose:
+      angle_rotation: 18.843644455968242
+      euclidean_error: 0.0029460027197819594
+    wrist_top_marker_pose:
+      angle_rotation: 20.244416716966438
+      euclidean_error: -0.0008841076367175349
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9576702556164842
+      euclidean_error: -0.0036374206754483662
+    base_right_marker_pose:
+      angle_rotation: 10.856773248664302
+      euclidean_error: -0.0016076322188153247
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.260455292553367
+      euclidean_error: 0.0025996197930634457
+    wrist_top_marker_pose:
+      angle_rotation: 17.466801698568272
+      euclidean_error: -0.0007696346232942686
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8562568103923214
+      euclidean_error: -0.003577067565166625
+    base_right_marker_pose:
+      angle_rotation: 8.104261849866832
+      euclidean_error: -0.0017268325312705946
+    shoulder_marker_pose:
+      angle_rotation: 21.999986572584923
+      euclidean_error: 0.005444550686486527
+    wrist_inside_marker_pose:
+      angle_rotation: 22.211088120245957
+      euclidean_error: 0.0022203118901831242
+    wrist_top_marker_pose:
+      angle_rotation: 25.457983620895334
+      euclidean_error: 0.00022027775731392474
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.722783752873138
+      euclidean_error: -0.00313836421893976
+    base_right_marker_pose:
+      angle_rotation: 6.811414886751945
+      euclidean_error: -0.0011868460595825248
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.17949631302001
+      euclidean_error: 0.0025273601472745044
+    wrist_top_marker_pose:
+      angle_rotation: 23.224703457631957
+      euclidean_error: 0.0007182362868168868
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.002841195833144
+      euclidean_error: -0.0036202427195928255
+    base_right_marker_pose:
+      angle_rotation: 7.843858944422636
+      euclidean_error: -0.001587903214246844
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.50621418566746
+      euclidean_error: 0.0022775805052757114
+    wrist_top_marker_pose:
+      angle_rotation: 17.10225033779534
+      euclidean_error: -0.0010950620070372397
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.460624014505153
+      euclidean_error: -0.0031626434396687664
+    base_right_marker_pose:
+      angle_rotation: 9.573308937448703
+      euclidean_error: -0.001116740200009514
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.702475534492805
+      euclidean_error: 0.002655512507731328
+    wrist_top_marker_pose:
+      angle_rotation: 20.26682971210463
+      euclidean_error: -0.0007818505864084502
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5426343504897035
+      euclidean_error: -0.0036536000956469694
+    base_right_marker_pose:
+      angle_rotation: 7.834376399908687
+      euclidean_error: -0.0013125498600353724
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.833705022066713
+      euclidean_error: 0.0024953926800338477
+    wrist_top_marker_pose:
+      angle_rotation: 20.962572374649465
+      euclidean_error: -0.0003299185283553996
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.692664198067965
+      euclidean_error: -0.003294327180475509
+    base_right_marker_pose:
+      angle_rotation: 8.077248519855003
+      euclidean_error: -0.0016514742054315468
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.183808093268027
+      euclidean_error: 0.0018884281496537314
+    wrist_top_marker_pose:
+      angle_rotation: 24.774867962921746
+      euclidean_error: 0.00022435184910307715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.377808935314834
+      euclidean_error: -0.003342520289082773
+    base_right_marker_pose:
+      angle_rotation: 5.408369020051379
+      euclidean_error: -0.0014842758121522692
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.075071636357386
+      euclidean_error: 0.0015171353015882572
+    wrist_top_marker_pose:
+      angle_rotation: 20.38279002930682
+      euclidean_error: -0.0007762892857325898
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.198638465565529
+      euclidean_error: -0.003156989961075829
+    base_right_marker_pose:
+      angle_rotation: 8.071712372671639
+      euclidean_error: -0.0015857060896150577
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.947158152869314
+      euclidean_error: 0.0028663569694541424
+    wrist_top_marker_pose:
+      angle_rotation: 23.476405866623736
+      euclidean_error: -0.00033939240478564336
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3009696640935857
+      euclidean_error: -0.0035602335753522896
+    base_right_marker_pose:
+      angle_rotation: 10.128516622193079
+      euclidean_error: -0.0004971238649318366
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.417960839792457
+      euclidean_error: 0.001680307385567792
+    wrist_top_marker_pose:
+      angle_rotation: 23.012997688679622
+      euclidean_error: -0.0011909511555436847
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.5373078644603675
+      euclidean_error: -0.0028044877723466533
+    base_right_marker_pose:
+      angle_rotation: 8.34330387931732
+      euclidean_error: -0.0012781454659986924
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.888261555983572
+      euclidean_error: 0.0037382552459328533
+    wrist_top_marker_pose:
+      angle_rotation: 20.72960572568072
+      euclidean_error: -0.00025553568481617717
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.526123220090259
+      euclidean_error: -0.0032124969982972873
+    base_right_marker_pose:
+      angle_rotation: 7.7465046360037775
+      euclidean_error: -0.001121589650593835
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.004046333728297
+      euclidean_error: 0.0020434635688226788
+    wrist_top_marker_pose:
+      angle_rotation: 22.89687877058904
+      euclidean_error: -0.0012072553044811807
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.808063685106818
+      euclidean_error: -0.0034780591790819493
+    base_right_marker_pose:
+      angle_rotation: 11.410466634762743
+      euclidean_error: -0.0018616145891278135
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.24122434301316
+      euclidean_error: 0.001280881183955307
+    wrist_top_marker_pose:
+      angle_rotation: 24.80358475026573
+      euclidean_error: -0.0014213425004052649
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.392985833438535
+      euclidean_error: -0.002600117546421088
+    base_right_marker_pose:
+      angle_rotation: 12.050095584924716
+      euclidean_error: -0.0013407464368219157
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.165859351079156
+      euclidean_error: 0.0019809509491112154
+    wrist_top_marker_pose:
+      angle_rotation: 19.620787661946377
+      euclidean_error: -6.730937962662331e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7175851860403997
+      euclidean_error: -0.0038168729090471976
+    base_right_marker_pose:
+      angle_rotation: 7.480363966150613
+      euclidean_error: -0.001772752964956048
+    shoulder_marker_pose:
+      angle_rotation: 22.579027435336204
+      euclidean_error: 0.0060164409810384845
+    wrist_inside_marker_pose:
+      angle_rotation: 23.66707638150894
+      euclidean_error: 0.0026743540632575558
+    wrist_top_marker_pose:
+      angle_rotation: 24.777168236265673
+      euclidean_error: 0.00024570010352154004
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.738390069242363
+      euclidean_error: -0.0031496220137131603
+    base_right_marker_pose:
+      angle_rotation: 8.925954108027291
+      euclidean_error: -0.001445680064162902
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.452216354520413
+      euclidean_error: 0.0015867364265410577
+    wrist_top_marker_pose:
+      angle_rotation: 16.522454628181816
+      euclidean_error: -0.00154378331428362
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.327175650879233
+      euclidean_error: -0.003482785144954703
+    base_right_marker_pose:
+      angle_rotation: 7.42072622549012
+      euclidean_error: -0.0013850332544710353
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.95727974627339
+      euclidean_error: 0.0025389957249115636
+    wrist_top_marker_pose:
+      angle_rotation: 21.30871536107688
+      euclidean_error: -0.00033182154998046
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.1467472438150415
+      euclidean_error: -0.003494475711514178
+    base_right_marker_pose:
+      angle_rotation: 9.280440012452818
+      euclidean_error: -0.0021387670513351997
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.591730807586313
+      euclidean_error: 0.002024846029221483
+    wrist_top_marker_pose:
+      angle_rotation: 17.302854993150262
+      euclidean_error: -0.0007809829653964151
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.789015567963317
+      euclidean_error: -0.002994267881850199
+    base_right_marker_pose:
+      angle_rotation: 8.751130246916116
+      euclidean_error: -0.0017693110892659236
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.425334368891463
+      euclidean_error: 0.002409543000093217
+    wrist_top_marker_pose:
+      angle_rotation: 23.447449865656036
+      euclidean_error: -7.136143429042896e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.102757851194089
+      euclidean_error: -0.003294606867431993
+    base_right_marker_pose:
+      angle_rotation: 6.1497538775608005
+      euclidean_error: -0.0012377015383560064
+    shoulder_marker_pose:
+      angle_rotation: 26.134326585582805
+      euclidean_error: 0.006998089460438561
+    wrist_inside_marker_pose:
+      angle_rotation: 18.808236516321646
+      euclidean_error: 0.002463653694606327
+    wrist_top_marker_pose:
+      angle_rotation: 17.268184569825944
+      euclidean_error: -0.0017981688595152256
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.787716429640876
+      euclidean_error: -0.0034857922577768985
+    base_right_marker_pose:
+      angle_rotation: 8.345087062695121
+      euclidean_error: -0.0018803656656359857
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.537199757081925
+      euclidean_error: 0.0022902653569563114
+    wrist_top_marker_pose:
+      angle_rotation: 18.742703451936862
+      euclidean_error: -0.0008219975307302008
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.508083798471035
+      euclidean_error: -0.003061669447556814
+    base_right_marker_pose:
+      angle_rotation: 10.785325263878178
+      euclidean_error: -0.0017590549743906614
+    shoulder_marker_pose:
+      angle_rotation: 21.069428622761492
+      euclidean_error: 0.006129134946446291
+    wrist_inside_marker_pose:
+      angle_rotation: 20.123246637665396
+      euclidean_error: 0.0026249501718169643
+    wrist_top_marker_pose:
+      angle_rotation: 23.549249866014254
+      euclidean_error: -0.0003230596522311169
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.291413993603415
+      euclidean_error: -0.003217217036034614
+    base_right_marker_pose:
+      angle_rotation: 9.717379853119168
+      euclidean_error: -0.0010620524760768246
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.94295641390454
+      euclidean_error: 0.002524254039099838
+    wrist_top_marker_pose:
+      angle_rotation: 15.580792319068943
+      euclidean_error: -0.0010399756178871566
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.622291882815917
+      euclidean_error: -0.0033160955597959507
+    base_right_marker_pose:
+      angle_rotation: 9.63669421253616
+      euclidean_error: -0.0013902243332880593
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.865705571661202
+      euclidean_error: 0.003452324007819252
+    wrist_top_marker_pose:
+      angle_rotation: 22.561162690386418
+      euclidean_error: -0.0011486278624892599
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.848153683790896
+      euclidean_error: -0.0036254910682029795
+    base_right_marker_pose:
+      angle_rotation: 7.723337697418478
+      euclidean_error: -0.002553723594822088
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.816698616745263
+      euclidean_error: 0.0013865073491795554
+    wrist_top_marker_pose:
+      angle_rotation: 21.084217476859102
+      euclidean_error: -0.0008551905161253703
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0032823351797561795
+    base_right_marker_pose:
+      angle_rotation: 7.658406319034551
+      euclidean_error: -0.0022689805830639065
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.075896294819014
+      euclidean_error: 0.0036192141588132776
+    wrist_top_marker_pose:
+      angle_rotation: 24.76422205132307
+      euclidean_error: -0.0001915836891962508
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.906394635619988
+      euclidean_error: -0.0031044487607114757
+    base_right_marker_pose:
+      angle_rotation: 7.627845361761907
+      euclidean_error: -0.0019813434813181763
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.381772500382837
+      euclidean_error: 0.003272679968405745
+    wrist_top_marker_pose:
+      angle_rotation: 25.868260577058912
+      euclidean_error: -0.0002852515163894731
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.721198226890027
+      euclidean_error: -0.0030908014683606044
+    base_right_marker_pose:
+      angle_rotation: 6.687429322416293
+      euclidean_error: -0.0017628456927700764
+    shoulder_marker_pose:
+      angle_rotation: 21.8989104853338
+      euclidean_error: 0.005616306945584348
+    wrist_inside_marker_pose:
+      angle_rotation: 21.987809388332504
+      euclidean_error: 0.0034465440574105166
+    wrist_top_marker_pose:
+      angle_rotation: 15.987019956464176
+      euclidean_error: -0.0007043182685957383
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.21777402619527
+      euclidean_error: -0.0037591245867789613
+    base_right_marker_pose:
+      angle_rotation: 8.4035071124858
+      euclidean_error: -0.0020540308014505015
+    shoulder_marker_pose:
+      angle_rotation: 24.925893203718708
+      euclidean_error: 0.006321278360132188
+    wrist_inside_marker_pose:
+      angle_rotation: 24.207074994678898
+      euclidean_error: 0.0033125121288143378
+    wrist_top_marker_pose:
+      angle_rotation: 21.6031213350623
+      euclidean_error: -0.0011558977957575323
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.207994627596035
+      euclidean_error: -0.0033861082294825984
+    base_right_marker_pose:
+      angle_rotation: 7.480584072506341
+      euclidean_error: -0.0023548097984559258
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.236784918487643
+      euclidean_error: 0.0020440471713784047
+    wrist_top_marker_pose:
+      angle_rotation: 17.173910022330563
+      euclidean_error: -0.001379677806290891
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.780660456239994
+      euclidean_error: -0.003722831821382
+    base_right_marker_pose:
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+      euclidean_error: -0.0021173898496624766
+    shoulder_marker_pose:
+      angle_rotation: 26.415872389359897
+      euclidean_error: 0.00622086366563257
+    wrist_inside_marker_pose:
+      angle_rotation: 18.528578475445144
+      euclidean_error: 0.0021683199654787266
+    wrist_top_marker_pose:
+      angle_rotation: 21.010387786311384
+      euclidean_error: -0.0007677177803221413
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 8.349751971714545
+      euclidean_error: -0.0028022338191242557
+    base_right_marker_pose:
+      angle_rotation: 11.065674491394736
+      euclidean_error: -0.0013583778130317192
+    shoulder_marker_pose:
+      angle_rotation: 17.187154633160592
+      euclidean_error: 0.0056396936621190275
+    wrist_inside_marker_pose:
+      angle_rotation: 17.984455444049882
+      euclidean_error: 0.0018296824862739092
+    wrist_top_marker_pose:
+      angle_rotation: 20.032191021194556
+      euclidean_error: -0.001469009160475876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.168399972986286
+      euclidean_error: -0.0035077667950880187
+    base_right_marker_pose:
+      angle_rotation: 8.528647001821403
+      euclidean_error: -0.002100091273454008
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.953403469971764
+      euclidean_error: 0.0025477374466585934
+    wrist_top_marker_pose:
+      angle_rotation: 20.3343012364307
+      euclidean_error: 0.00015660592189559175
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8532535012920435
+      euclidean_error: -0.0038170416953045017
+    base_right_marker_pose:
+      angle_rotation: 6.236701794478254
+      euclidean_error: -0.0018498734097935898
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.35414041429167
+      euclidean_error: 0.0016772378492035944
+    wrist_top_marker_pose:
+      angle_rotation: 24.770325533552494
+      euclidean_error: 0.0005204514880264854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.831167741894382
+      euclidean_error: -0.003165449011294119
+    base_right_marker_pose:
+      angle_rotation: 11.251521748008507
+      euclidean_error: -0.001586484522431042
+    shoulder_marker_pose:
+      angle_rotation: 23.57673362994765
+      euclidean_error: 0.005965974184879097
+    wrist_inside_marker_pose:
+      angle_rotation: 23.28170664094234
+      euclidean_error: 0.002992600376220955
+    wrist_top_marker_pose:
+      angle_rotation: 20.058528079509042
+      euclidean_error: -0.0004713726722255229
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.951057908242652
+      euclidean_error: -0.004080795517333202
+    base_right_marker_pose:
+      angle_rotation: 8.388222977342146
+      euclidean_error: -0.0007308468130002854
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.1587765417741
+      euclidean_error: 0.0024490690825903494
+    wrist_top_marker_pose:
+      angle_rotation: 21.6117727482602
+      euclidean_error: -0.001398499535936848
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.203660265822544
+      euclidean_error: -0.0034141624434834705
+    base_right_marker_pose:
+      angle_rotation: 9.92608910264078
+      euclidean_error: -0.002059607175215694
+    shoulder_marker_pose:
+      angle_rotation: 27.189447410669825
+      euclidean_error: 0.006352585484619255
+    wrist_inside_marker_pose:
+      angle_rotation: 21.376106230906785
+      euclidean_error: 0.002481536522845884
+    wrist_top_marker_pose:
+      angle_rotation: 18.23745604822798
+      euclidean_error: -0.0003851270372933202
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.041685587818191
+      euclidean_error: -0.003415705894158738
+    base_right_marker_pose:
+      angle_rotation: 8.957737175913064
+      euclidean_error: -0.001349786057717739
+    shoulder_marker_pose:
+      angle_rotation: 20.54025821800505
+      euclidean_error: 0.0064824323186090105
+    wrist_inside_marker_pose:
+      angle_rotation: 17.459913898462382
+      euclidean_error: 0.002375699495045125
+    wrist_top_marker_pose:
+      angle_rotation: 23.85996356052073
+      euclidean_error: -0.001049721866488218
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.427095257549097
+      euclidean_error: -0.003545115975685298
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.459772276623877
+      euclidean_error: 0.0030894886617938155
+    wrist_top_marker_pose:
+      angle_rotation: 24.801519083282802
+      euclidean_error: -0.0009382263634687416
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.012203292864767
+      euclidean_error: -0.0034928475134533565
+    base_right_marker_pose:
+      angle_rotation: 8.183688468748182
+      euclidean_error: -0.0013007977506498403
+    shoulder_marker_pose:
+      angle_rotation: 21.17748337057505
+      euclidean_error: 0.0057800671454562025
+    wrist_inside_marker_pose:
+      angle_rotation: 20.130490647040403
+      euclidean_error: 0.002122044641194476
+    wrist_top_marker_pose:
+      angle_rotation: 19.17145986649514
+      euclidean_error: -0.0007632136738745521
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.983282491308913
+      euclidean_error: -0.0031814998190750066
+    base_right_marker_pose:
+      angle_rotation: 9.835755283827556
+      euclidean_error: -0.0018478193488645767
+    shoulder_marker_pose:
+      angle_rotation: 19.358788660005075
+      euclidean_error: 0.005547871965298601
+    wrist_inside_marker_pose:
+      angle_rotation: 23.027369115219663
+      euclidean_error: 0.0025368356816822812
+    wrist_top_marker_pose:
+      angle_rotation: 14.95052911864735
+      euclidean_error: -0.0009597765320696894
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.630048175406786
+      euclidean_error: -0.0036846632833091864
+    base_right_marker_pose:
+      angle_rotation: 7.333515460427944
+      euclidean_error: -0.0014026532310892348
+    shoulder_marker_pose:
+      angle_rotation: 22.74472400797717
+      euclidean_error: 0.0057083752128990195
+    wrist_inside_marker_pose:
+      angle_rotation: 18.31291591230572
+      euclidean_error: 0.0025918277097030096
+    wrist_top_marker_pose:
+      angle_rotation: 22.450209939693014
+      euclidean_error: -0.0003879311227800164
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.183195048336732
+      euclidean_error: -0.003359392718864318
+    base_right_marker_pose:
+      angle_rotation: 8.775048151267788
+      euclidean_error: -0.0019423944483801803
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.809095127117992
+      euclidean_error: 0.003427610448433427
+    wrist_top_marker_pose:
+      angle_rotation: 26.823842544850315
+      euclidean_error: 9.660852746717907e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.202467669857598
+      euclidean_error: -0.003518646644143142
+    base_right_marker_pose:
+      angle_rotation: 8.978943616178434
+      euclidean_error: -0.00191334911965102
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.0704890451579
+      euclidean_error: 0.0033218651354974815
+    wrist_top_marker_pose:
+      angle_rotation: 18.1809962286413
+      euclidean_error: -0.0002963973734905201
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.784371433602836
+      euclidean_error: -0.0032849690551748356
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 26.7761008169161
+      euclidean_error: 0.006365875248391939
+    wrist_inside_marker_pose:
+      angle_rotation: 21.33060330696967
+      euclidean_error: 0.003377030768155209
+    wrist_top_marker_pose:
+      angle_rotation: 17.266296592773724
+      euclidean_error: 0.00040738783399540957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.683808749179656
+      euclidean_error: -0.002950246621495234
+    base_right_marker_pose:
+      angle_rotation: 12.338119308890514
+      euclidean_error: -0.0011829421541508234
+    shoulder_marker_pose:
+      angle_rotation: 23.317278131823496
+      euclidean_error: 0.006194811733712058
+    wrist_inside_marker_pose:
+      angle_rotation: 23.31227057023349
+      euclidean_error: 0.0027900482343306
+    wrist_top_marker_pose:
+      angle_rotation: 22.33455067960311
+      euclidean_error: -0.0012289303259822582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.661914427562654
+      euclidean_error: -0.003444887108527306
+    base_right_marker_pose:
+      angle_rotation: 8.787429885191674
+      euclidean_error: -0.0012783124711476246
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.37823751571887
+      euclidean_error: 0.0020123405597786137
+    wrist_top_marker_pose:
+      angle_rotation: 20.12030445716061
+      euclidean_error: -0.001388201921117882
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.732270371909304
+      euclidean_error: -0.0033071374827458033
+    base_right_marker_pose:
+      angle_rotation: 9.013405991834585
+      euclidean_error: -0.0023118731284210714
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.501336022777142
+      euclidean_error: 0.002467152883514734
+    wrist_top_marker_pose:
+      angle_rotation: 26.529437642269517
+      euclidean_error: 0.0006475799201596244
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8135517825653182
+      euclidean_error: -0.0035144070915101855
+    base_right_marker_pose:
+      angle_rotation: 6.17821940579452
+      euclidean_error: -0.0020322578263120006
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.030943060866264
+      euclidean_error: 0.003514214170820873
+    wrist_top_marker_pose:
+      angle_rotation: 23.06715141011267
+      euclidean_error: 0.002018960086641153
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.494811494486989
+      euclidean_error: -0.0034427569631948485
+    base_right_marker_pose:
+      angle_rotation: 8.301412066525106
+      euclidean_error: -0.0015902144971130516
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.27668582138667
+      euclidean_error: 0.0035559044511953575
+    wrist_top_marker_pose:
+      angle_rotation: 24.509931323180815
+      euclidean_error: -0.0011014798184942887
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.115643502820066
+      euclidean_error: -0.003248318517876103
+    base_right_marker_pose:
+      angle_rotation: 8.845418415589698
+      euclidean_error: -0.0017152507887913115
+    shoulder_marker_pose:
+      angle_rotation: 20.01867563815597
+      euclidean_error: 0.006264410099689144
+    wrist_inside_marker_pose:
+      angle_rotation: 21.720545553780543
+      euclidean_error: 0.0028145623422907162
+    wrist_top_marker_pose:
+      angle_rotation: 20.025242022132808
+      euclidean_error: 0.0010473001549861083
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.548041819282752
+      euclidean_error: -0.0035449373976537135
+    base_right_marker_pose:
+      angle_rotation: 10.294393737203471
+      euclidean_error: -0.0016560143751734868
+    shoulder_marker_pose:
+      angle_rotation: 23.6908736962683
+      euclidean_error: 0.0063294211498622355
+    wrist_inside_marker_pose:
+      angle_rotation: 21.56178264174961
+      euclidean_error: 0.002039879567445002
+    wrist_top_marker_pose:
+      angle_rotation: 21.424025632594866
+      euclidean_error: -0.0009741906088004404
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.228872004594828
+      euclidean_error: -0.0034629166007608125
+    base_right_marker_pose:
+      angle_rotation: 7.570477739175274
+      euclidean_error: -0.0012066778218041696
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.039267261959548
+      euclidean_error: 0.002739205544186496
+    wrist_top_marker_pose:
+      angle_rotation: 21.758391191514463
+      euclidean_error: -0.0004990400076567703
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.640228480551557
+      euclidean_error: -0.0031714031774958684
+    base_right_marker_pose:
+      angle_rotation: 7.707555207456205
+      euclidean_error: -0.001029675969116739
+    shoulder_marker_pose:
+      angle_rotation: 22.279605890988226
+      euclidean_error: 0.006392457270605889
+    wrist_inside_marker_pose:
+      angle_rotation: 20.499833528744173
+      euclidean_error: 0.002861605519098309
+    wrist_top_marker_pose:
+      angle_rotation: 20.37747850418612
+      euclidean_error: -0.0005479040786783296
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.976362506215233
+      euclidean_error: -0.003635801842206021
+    base_right_marker_pose:
+      angle_rotation: 12.06673352035654
+      euclidean_error: -0.0007856979816134313
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.68126457346221
+      euclidean_error: 0.003682255707125548
+    wrist_top_marker_pose:
+      angle_rotation: 21.848160512627704
+      euclidean_error: 0.0011438052449969094
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5958339900008545
+      euclidean_error: -0.0034756685729359083
+    base_right_marker_pose:
+      angle_rotation: 5.914568664654606
+      euclidean_error: -0.0019792750326443898
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.09766313653828
+      euclidean_error: 0.0031201370855362676
+    wrist_top_marker_pose:
+      angle_rotation: 25.65148672854074
+      euclidean_error: -0.0003244320897974884
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.063602559330378
+      euclidean_error: -0.003534936994393556
+    base_right_marker_pose:
+      angle_rotation: 6.295206274775608
+      euclidean_error: -0.0017244047823186115
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.606755181352675
+      euclidean_error: 0.0020765310873427367
+    wrist_top_marker_pose:
+      angle_rotation: 22.10453973028013
+      euclidean_error: -0.0014022644060944778
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.216493420752476
+      euclidean_error: -0.0034542790142004787
+    base_right_marker_pose:
+      angle_rotation: 9.276875203970349
+      euclidean_error: -0.0013959082724194216
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.34813159937132
+      euclidean_error: 0.002820824913662201
+    wrist_top_marker_pose:
+      angle_rotation: 25.702434482970595
+      euclidean_error: -0.0007997463516230541
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3791621728814047
+      euclidean_error: -0.0034584374613750857
+    base_right_marker_pose:
+      angle_rotation: 6.71123209950433
+      euclidean_error: -0.0011872674876381994
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.112208380591667
+      euclidean_error: 0.0021662557127276605
+    wrist_top_marker_pose:
+      angle_rotation: 20.64075060680905
+      euclidean_error: -0.0005633748883330236
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.706220843734678
+      euclidean_error: -0.0034867784467010887
+    base_right_marker_pose:
+      angle_rotation: 5.529608068906554
+      euclidean_error: -0.0020862426872421125
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.24918146195626
+      euclidean_error: 0.0020554838482462756
+    wrist_top_marker_pose:
+      angle_rotation: 27.20859235988412
+      euclidean_error: 0.0006734659198658344
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.700703669587245
+      euclidean_error: -0.003313007189894024
+    base_right_marker_pose:
+      angle_rotation: 7.7992868347425786
+      euclidean_error: -0.0017231824845979071
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.125301266443824
+      euclidean_error: 0.0026010124087477715
+    wrist_top_marker_pose:
+      angle_rotation: 17.817585695648717
+      euclidean_error: -0.00020837839991671991
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.674772560084661
+      euclidean_error: -0.003282012713482718
+    base_right_marker_pose:
+      angle_rotation: 10.350267689007218
+      euclidean_error: -0.0015853498653310982
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.045421546769244
+      euclidean_error: 0.002364038845551586
+    wrist_top_marker_pose:
+      angle_rotation: 19.24951952305286
+      euclidean_error: -0.0011087730366279303
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.252329838460038
+      euclidean_error: -0.003906174345480684
+    base_right_marker_pose:
+      angle_rotation: 7.801918753965349
+      euclidean_error: -0.0014835587528782002
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.713899914261308
+      euclidean_error: 0.0022776489962226254
+    wrist_top_marker_pose:
+      angle_rotation: 21.62065737853951
+      euclidean_error: -0.0012434339380715809
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.075514187203838
+      euclidean_error: -0.003250897567688038
+    base_right_marker_pose:
+      angle_rotation: 11.755156662641786
+      euclidean_error: -0.0010159622641342514
+    shoulder_marker_pose:
+      angle_rotation: 19.729730070233963
+      euclidean_error: 0.006011998636077043
+    wrist_inside_marker_pose:
+      angle_rotation: 20.81728066311388
+      euclidean_error: 0.0021382157928100387
+    wrist_top_marker_pose:
+      angle_rotation: 22.411421952058234
+      euclidean_error: 0.0002697143955023851
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8606473184577776
+      euclidean_error: -0.0035074779596456773
+    base_right_marker_pose:
+      angle_rotation: 9.463467908938473
+      euclidean_error: -0.0016225063661319261
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.324023356405533
+      euclidean_error: 0.002201431070342319
+    wrist_top_marker_pose:
+      angle_rotation: 24.610905946559377
+      euclidean_error: -0.0017611374766308696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.18513736756858
+      euclidean_error: -0.003529973617645621
+    base_right_marker_pose:
+      angle_rotation: 8.989608322731156
+      euclidean_error: -0.0014475924387367112
+    shoulder_marker_pose:
+      angle_rotation: 21.2546798999058
+      euclidean_error: 0.006210279291366527
+    wrist_inside_marker_pose:
+      angle_rotation: 20.804888469117262
+      euclidean_error: 0.0021911877700875326
+    wrist_top_marker_pose:
+      angle_rotation: 22.255110527056065
+      euclidean_error: -0.0004510224766038906
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.4358685408789045
+      euclidean_error: -0.0031871215644945217
+    base_right_marker_pose:
+      angle_rotation: 9.810989159022032
+      euclidean_error: -0.001521126932992778
+    shoulder_marker_pose:
+      angle_rotation: 23.788558723680193
+      euclidean_error: 0.0066954086232574594
+    wrist_inside_marker_pose:
+      angle_rotation: 21.25581272235838
+      euclidean_error: 0.0017140336620583563
+    wrist_top_marker_pose:
+      angle_rotation: 22.243243078055226
+      euclidean_error: -7.181600425432144e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.027666454734338
+      euclidean_error: -0.0026748753842550377
+    base_right_marker_pose:
+      angle_rotation: 12.96113467859752
+      euclidean_error: -0.0006386472744662752
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.889704592879788
+      euclidean_error: 0.0024722394721894414
+    wrist_top_marker_pose:
+      angle_rotation: 15.832820235172717
+      euclidean_error: -0.001384255631619924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1469355853754606
+      euclidean_error: -0.0035987694448295082
+    base_right_marker_pose:
+      angle_rotation: 8.613642569909459
+      euclidean_error: -0.0018355780545813438
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.153136038947512
+      euclidean_error: 0.0026835407602374683
+    wrist_top_marker_pose:
+      angle_rotation: 24.23296467145294
+      euclidean_error: 0.0006783669477282706
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.382947747692988
+      euclidean_error: -0.0028887922934976995
+    base_right_marker_pose:
+      angle_rotation: 8.83397876867624
+      euclidean_error: -0.0012012101921603513
+    shoulder_marker_pose:
+      angle_rotation: 24.314693209656173
+      euclidean_error: 0.0067678050500610265
+    wrist_inside_marker_pose:
+      angle_rotation: 21.054555441425038
+      euclidean_error: 0.001658081090814667
+    wrist_top_marker_pose:
+      angle_rotation: 21.68916859275964
+      euclidean_error: -0.0008752036482828629
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.676350074962686
+      euclidean_error: -0.0037983129278280625
+    base_right_marker_pose:
+      angle_rotation: 5.6435888827030585
+      euclidean_error: -0.0015420039890283732
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.790122246026247
+      euclidean_error: 0.0014017984271427197
+    wrist_top_marker_pose:
+      angle_rotation: 20.024255594589462
+      euclidean_error: -0.001537873447850946
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.584620168464602
+      euclidean_error: -0.0035727742508422367
+    base_right_marker_pose:
+      angle_rotation: 8.56741794507727
+      euclidean_error: -0.0015119557382712312
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.44910065906185
+      euclidean_error: 0.002351035354006492
+    wrist_top_marker_pose:
+      angle_rotation: 20.60425386202259
+      euclidean_error: -0.0014741973545667753
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.043171826345636
+      euclidean_error: -0.0030097371365408465
+    base_right_marker_pose:
+      angle_rotation: 8.039436191858021
+      euclidean_error: -0.0013804173739494496
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.04004688383237
+      euclidean_error: 0.0031693571078537097
+    wrist_top_marker_pose:
+      angle_rotation: 22.114469190310864
+      euclidean_error: -0.00010778918209208843
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8527594852285545
+      euclidean_error: -0.0038900275382792726
+    base_right_marker_pose:
+      angle_rotation: 9.153524852630618
+      euclidean_error: -0.0014448021553441492
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.750121308362946
+      euclidean_error: 0.002390305788878555
+    wrist_top_marker_pose:
+      angle_rotation: 17.899903820871607
+      euclidean_error: -0.0018205384312848238
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.2212907757192575
+      euclidean_error: -0.00341486921305989
+    base_right_marker_pose:
+      angle_rotation: 12.823158299067321
+      euclidean_error: -0.001473275745162983
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.64296322633734
+      euclidean_error: 0.0024531445938132945
+    wrist_top_marker_pose:
+      angle_rotation: 24.58281019323523
+      euclidean_error: -0.0013939649485084082
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8130910194757677
+      euclidean_error: -0.0036258124918016055
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.802629142138045
+      euclidean_error: 0.0036946142646364644
+    wrist_top_marker_pose:
+      angle_rotation: 21.62397541604877
+      euclidean_error: -0.0001854256474975724
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.81605145877387
+      euclidean_error: -0.003498403716891807
+    base_right_marker_pose:
+      angle_rotation: 8.357129008251974
+      euclidean_error: -0.001726480833224242
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.84320966034088
+      euclidean_error: 0.003368403619783411
+    wrist_top_marker_pose:
+      angle_rotation: 23.367870634691197
+      euclidean_error: -4.617336780965431e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7521263865097083
+      euclidean_error: -0.003160559843112809
+    base_right_marker_pose:
+      angle_rotation: 7.82306855569671
+      euclidean_error: -0.001285363324879052
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.424820469383203
+      euclidean_error: 0.0026883144002406434
+    wrist_top_marker_pose:
+      angle_rotation: 20.09343425779487
+      euclidean_error: -0.0015412341487948122
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.125043975535262
+      euclidean_error: -0.002742384158107569
+    base_right_marker_pose:
+      angle_rotation: 8.440854222799437
+      euclidean_error: -0.0005301127894172808
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.91420535710375
+      euclidean_error: 0.0035807388985528155
+    wrist_top_marker_pose:
+      angle_rotation: 23.29686067574802
+      euclidean_error: 0.0012394962715525093
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.062979584277196
+      euclidean_error: -0.0029805831103079106
+    base_right_marker_pose:
+      angle_rotation: 8.72181700364371
+      euclidean_error: -0.0011625279657064835
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.966925974976707
+      euclidean_error: 0.002297688516208596
+    wrist_top_marker_pose:
+      angle_rotation: 20.291218113914383
+      euclidean_error: -0.0012517682987304157
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.216523443957804
+      euclidean_error: -0.0032435887523606377
+    base_right_marker_pose:
+      angle_rotation: 8.53688315195192
+      euclidean_error: -0.0017768676541846107
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.897600729408158
+      euclidean_error: 0.002939267525859046
+    wrist_top_marker_pose:
+      angle_rotation: 22.10358758119486
+      euclidean_error: 0.0007991961074761411
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.713996494280132
+      euclidean_error: -0.0028891598745662828
+    base_right_marker_pose:
+      angle_rotation: 9.134703718323385
+      euclidean_error: -3.913080028239424e-05
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.396403695223547
+      euclidean_error: 0.0025274492054651043
+    wrist_top_marker_pose:
+      angle_rotation: 22.053026541871006
+      euclidean_error: 8.3537711943249e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.4552486892465994
+      euclidean_error: -0.003304045824324753
+    base_right_marker_pose:
+      angle_rotation: 10.271047839663805
+      euclidean_error: -0.0015331863026200043
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.2123507761614
+      euclidean_error: 0.002962507198573161
+    wrist_top_marker_pose:
+      angle_rotation: 21.795073748195232
+      euclidean_error: 0.0005253070386562753
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 9.952229122964782
+      euclidean_error: -0.0022939992297565936
+    base_right_marker_pose:
+      angle_rotation: 8.15050006420769
+      euclidean_error: -0.001336992888081645
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.998845256035555
+      euclidean_error: 0.0023337650462913473
+    wrist_top_marker_pose:
+      angle_rotation: 21.725466271787493
+      euclidean_error: -0.0004472004892315251
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.046772391193663
+      euclidean_error: -0.0032177753980452417
+    base_right_marker_pose:
+      angle_rotation: 8.241622743579315
+      euclidean_error: -0.0013401080691586298
+    shoulder_marker_pose:
+      angle_rotation: 24.41401145677402
+      euclidean_error: 0.006284110662585163
+    wrist_inside_marker_pose:
+      angle_rotation: 17.754492770403846
+      euclidean_error: 0.0029776280508689856
+    wrist_top_marker_pose:
+      angle_rotation: 23.123862365349698
+      euclidean_error: 0.0006159801451276481
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.609939551983693
+      euclidean_error: -0.0036049140784663036
+    base_right_marker_pose:
+      angle_rotation: 6.879447064585886
+      euclidean_error: -0.0012325307776376304
+    shoulder_marker_pose:
+      angle_rotation: 22.92469111600079
+      euclidean_error: 0.0056617922674453425
+    wrist_inside_marker_pose:
+      angle_rotation: 21.321664220338995
+      euclidean_error: 0.0027569118990730113
+    wrist_top_marker_pose:
+      angle_rotation: 24.12521296820755
+      euclidean_error: -0.00013952820689333567
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.609489164077608
+      euclidean_error: -0.0032907921061372525
+    base_right_marker_pose:
+      angle_rotation: 9.32788126250744
+      euclidean_error: -0.0011526254153932936
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.199404033790152
+      euclidean_error: 0.0034808762935588655
+    wrist_top_marker_pose:
+      angle_rotation: 19.513634570790547
+      euclidean_error: 0.0001035409566095824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7355655891344126
+      euclidean_error: -0.003536132035612094
+    base_right_marker_pose:
+      angle_rotation: 9.327248460533566
+      euclidean_error: -0.000688052293869923
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.723577578458045
+      euclidean_error: 0.002599204594707083
+    wrist_top_marker_pose:
+      angle_rotation: 21.82623754438777
+      euclidean_error: -0.001208106770855366
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.17373576645777
+      euclidean_error: -0.0030421707883662163
+    base_right_marker_pose:
+      angle_rotation: 9.866575425189096
+      euclidean_error: -0.0013105467700603723
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.239320308510784
+      euclidean_error: 0.0023533567313850368
+    wrist_top_marker_pose:
+      angle_rotation: 21.73698125957333
+      euclidean_error: -0.0005065594910781401
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5107134357743712
+      euclidean_error: -0.0036642259256435272
+    base_right_marker_pose:
+      angle_rotation: 8.197209029098731
+      euclidean_error: -0.001594066879731404
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.27458440256199
+      euclidean_error: 0.0022645375704173354
+    wrist_top_marker_pose:
+      angle_rotation: 20.424655590821967
+      euclidean_error: 0.0001265050495956599
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.669365692189947
+      euclidean_error: -0.003302155675900198
+    base_right_marker_pose:
+      angle_rotation: 7.912991714640109
+      euclidean_error: -0.0021191258109203304
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.104574444590863
+      euclidean_error: 0.0026606982939908486
+    wrist_top_marker_pose:
+      angle_rotation: 21.123614476576293
+      euclidean_error: -0.000487667832341554
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.843346303977754
+      euclidean_error: -0.0036438718210920484
+    base_right_marker_pose:
+      angle_rotation: 10.267837803063804
+      euclidean_error: -0.0009980852764829296
+    shoulder_marker_pose:
+      angle_rotation: 23.392550712170912
+      euclidean_error: 0.006483430819839486
+    wrist_inside_marker_pose:
+      angle_rotation: 24.18544267118907
+      euclidean_error: 0.0028520269751417526
+    wrist_top_marker_pose:
+      angle_rotation: 24.781614849842754
+      euclidean_error: -0.00017214099714113473
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.634292354952107
+      euclidean_error: -0.0037930331234905523
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.09721671168286
+      euclidean_error: 0.0021464876518013654
+    wrist_top_marker_pose:
+      angle_rotation: 16.525030458322384
+      euclidean_error: -0.0011741057021422696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.543150915746445
+      euclidean_error: -0.0035654848847881393
+    base_right_marker_pose:
+      angle_rotation: 6.114393440212237
+      euclidean_error: -0.0020943107997194454
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.110835258782014
+      euclidean_error: 0.002207829437364306
+    wrist_top_marker_pose:
+      angle_rotation: 22.388196959708306
+      euclidean_error: 0.0001446584816516827
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.8656673234770995
+      euclidean_error: -0.003493353887976114
+    base_right_marker_pose:
+      angle_rotation: 10.166241603307354
+      euclidean_error: -0.000975299664718432
+    shoulder_marker_pose:
+      angle_rotation: 25.034079737598855
+      euclidean_error: 0.005671737785226338
+    wrist_inside_marker_pose:
+      angle_rotation: 21.12013977475654
+      euclidean_error: 0.002579669106877347
+    wrist_top_marker_pose:
+      angle_rotation: 22.272218888389176
+      euclidean_error: -9.907133863684692e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.288676176195125
+      euclidean_error: -0.0033765917620567354
+    base_right_marker_pose:
+      angle_rotation: 8.430649826295713
+      euclidean_error: -0.0011772326903933816
+    shoulder_marker_pose:
+      angle_rotation: 21.53803873828767
+      euclidean_error: 0.006114743475233553
+    wrist_inside_marker_pose:
+      angle_rotation: 21.32202173542668
+      euclidean_error: 0.0028994910560229403
+    wrist_top_marker_pose:
+      angle_rotation: 20.459666287917834
+      euclidean_error: -0.0002364333923680073
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.834070804834745
+      euclidean_error: -0.003437305320390216
+    base_right_marker_pose:
+      angle_rotation: 4.218247766786775
+      euclidean_error: -0.0022220393227703195
+    shoulder_marker_pose:
+      angle_rotation: 20.66788689686007
+      euclidean_error: 0.005878530265365223
+    wrist_inside_marker_pose:
+      angle_rotation: 19.15446717908265
+      euclidean_error: 0.001986345568979475
+    wrist_top_marker_pose:
+      angle_rotation: 19.431068030240052
+      euclidean_error: -0.0007637189322445836
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.130010719180561
+      euclidean_error: -0.0035438935356562062
+    base_right_marker_pose:
+      angle_rotation: 8.871581155649206
+      euclidean_error: -0.0009887087634549152
+    shoulder_marker_pose:
+      angle_rotation: 23.479325213803154
+      euclidean_error: 0.006917999383519446
+    wrist_inside_marker_pose:
+      angle_rotation: 22.07151045738295
+      euclidean_error: 0.0020954675165573144
+    wrist_top_marker_pose:
+      angle_rotation: 24.66287433815964
+      euclidean_error: -0.0012440879557845674
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.469027314814329
+      euclidean_error: -0.0033258741384365464
+    base_right_marker_pose:
+      angle_rotation: 7.663065611096186
+      euclidean_error: -0.002357553565912829
+    shoulder_marker_pose:
+      angle_rotation: 23.30009623876673
+      euclidean_error: 0.005663406331928078
+    wrist_inside_marker_pose:
+      angle_rotation: 23.930364612299837
+      euclidean_error: 0.0031032633057426207
+    wrist_top_marker_pose:
+      angle_rotation: 15.322704168432224
+      euclidean_error: -0.0006877894622362435
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.001210170660104
+      euclidean_error: -0.0030182655177668494
+    base_right_marker_pose:
+      angle_rotation: 10.016699180974475
+      euclidean_error: -0.0008584004913492205
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.301596171750006
+      euclidean_error: 0.0021160248072535914
+    wrist_top_marker_pose:
+      angle_rotation: 20.680345613446278
+      euclidean_error: -0.0012730481319933595
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0036196183996921594
+    base_right_marker_pose:
+      angle_rotation: 8.94144306627951
+      euclidean_error: -0.001787037237089506
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.797363617380913
+      euclidean_error: 0.002989917406520992
+    wrist_top_marker_pose:
+      angle_rotation: 24.605230682865123
+      euclidean_error: -0.0006549627268757074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6174413316132705
+      euclidean_error: -0.003170689515141323
+    base_right_marker_pose:
+      angle_rotation: 9.12200727990099
+      euclidean_error: -0.0006110571695190359
+    shoulder_marker_pose:
+      angle_rotation: 22.078793930042355
+      euclidean_error: 0.006875616079391578
+    wrist_inside_marker_pose:
+      angle_rotation: 19.543715579267683
+      euclidean_error: 0.0028840459478917113
+    wrist_top_marker_pose:
+      angle_rotation: 24.021135325143657
+      euclidean_error: -0.0009924331810117204
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.063375728143049
+      euclidean_error: -0.0033591960316594616
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.835771303029478
+      euclidean_error: 0.0034076176338332376
+    wrist_top_marker_pose:
+      angle_rotation: 22.24076652002204
+      euclidean_error: 0.000428841824517856
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.921276385543509
+      euclidean_error: -0.003439660577139181
+    base_right_marker_pose:
+      angle_rotation: 8.758282447234041
+      euclidean_error: -0.0010840323643456218
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.956513057284536
+      euclidean_error: 0.003658507356057994
+    wrist_top_marker_pose:
+      angle_rotation: 22.361879308724276
+      euclidean_error: -0.00013225821967610685
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.085152696743584
+      euclidean_error: -0.0032662416166328034
+    base_right_marker_pose:
+      angle_rotation: 9.206344632712659
+      euclidean_error: -0.0014710457784619102
+    shoulder_marker_pose:
+      angle_rotation: 23.60593890607874
+      euclidean_error: 0.0070720537863592225
+    wrist_inside_marker_pose:
+      angle_rotation: 21.10844779543836
+      euclidean_error: 0.0018068805590948367
+    wrist_top_marker_pose:
+      angle_rotation: 21.54122806148704
+      euclidean_error: -0.0001446411374518286
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.442582215607612
+      euclidean_error: -0.0031749885166709735
+    base_right_marker_pose:
+      angle_rotation: 6.50893925343891
+      euclidean_error: -0.0010374242222530583
+    shoulder_marker_pose:
+      angle_rotation: 21.373051019671003
+      euclidean_error: 0.006157882541707127
+    wrist_inside_marker_pose:
+      angle_rotation: 20.233426510118107
+      euclidean_error: 0.0016178977610628031
+    wrist_top_marker_pose:
+      angle_rotation: 22.746307738296288
+      euclidean_error: -0.0006110423773875162
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8586710763441956
+      euclidean_error: -0.003347535888806652
+    base_right_marker_pose:
+      angle_rotation: 9.346770792396654
+      euclidean_error: -0.0010349181821731612
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.90508807955803
+      euclidean_error: 0.0017620394663914185
+    wrist_top_marker_pose:
+      angle_rotation: 24.833598303988076
+      euclidean_error: 0.0003774255886109801
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.5387456175088845
+      euclidean_error: -0.0030199002528858987
+    base_right_marker_pose:
+      angle_rotation: 9.449364721303045
+      euclidean_error: -0.0021195097319585132
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.007435129576965
+      euclidean_error: 0.0028793182963646746
+    wrist_top_marker_pose:
+      angle_rotation: 20.4443505803391
+      euclidean_error: -0.00020027883307904837
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.4789277956967535
+      euclidean_error: -0.0033716026396370946
+    base_right_marker_pose:
+      angle_rotation: 8.647133005247774
+      euclidean_error: -0.0017624786032556239
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.522587080029375
+      euclidean_error: 0.0027276174698607214
+    wrist_top_marker_pose:
+      angle_rotation: 21.465377817868475
+      euclidean_error: -0.0005654323647671378
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.175092755498797
+      euclidean_error: -0.003421088281148621
+    base_right_marker_pose:
+      angle_rotation: 9.129337527115133
+      euclidean_error: -0.0013335351705139331
+    shoulder_marker_pose:
+      angle_rotation: 25.997115130166375
+      euclidean_error: 0.006394065448475539
+    wrist_inside_marker_pose:
+      angle_rotation: 22.554480604228903
+      euclidean_error: 0.002577250031878364
+    wrist_top_marker_pose:
+      angle_rotation: 25.001558358418496
+      euclidean_error: -0.0002240057819752339
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.540278840002829
+      euclidean_error: -0.0034477595574402553
+    base_right_marker_pose:
+      angle_rotation: 7.6274792189880785
+      euclidean_error: -0.0018128920503074353
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.1430762166513
+      euclidean_error: 0.002914883056500006
+    wrist_top_marker_pose:
+      angle_rotation: 28.382082173690936
+      euclidean_error: 0.0005787916192098175
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.12768862118966
+      euclidean_error: -0.0038272605594645848
+    base_right_marker_pose:
+      angle_rotation: 8.627276516052515
+      euclidean_error: -0.0016450422895293304
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.250979831368618
+      euclidean_error: 0.002719942943710585
+    wrist_top_marker_pose:
+      angle_rotation: 25.239646343423907
+      euclidean_error: 0.0010015364703550578
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003053928558375607
+    base_right_marker_pose:
+      angle_rotation: 3.7179058205873936
+      euclidean_error: -0.001043324295671666
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.770784992927673
+      euclidean_error: 0.0022383012445533756
+    wrist_top_marker_pose:
+      angle_rotation: 22.67767626693098
+      euclidean_error: -0.0004407426576434892
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.341995820671044
+      euclidean_error: -0.0034047117320351594
+    base_right_marker_pose:
+      angle_rotation: 6.812727652167776
+      euclidean_error: -0.0008498641177434596
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.807767789377806
+      euclidean_error: 0.0035369129107846176
+    wrist_top_marker_pose:
+      angle_rotation: 22.1686019932262
+      euclidean_error: 0.0002642916314506971
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.849738568770781
+      euclidean_error: -0.003060444094716286
+    base_right_marker_pose:
+      angle_rotation: 8.44145156397168
+      euclidean_error: -0.0006918940120796968
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.456218143293636
+      euclidean_error: 0.002467852246355706
+    wrist_top_marker_pose:
+      angle_rotation: 22.48383827298849
+      euclidean_error: 0.0003387607283706906
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.634853028702072
+      euclidean_error: -0.003076699754705259
+    base_right_marker_pose:
+      angle_rotation: 9.300856273261433
+      euclidean_error: -0.0008570089119073199
+    shoulder_marker_pose:
+      angle_rotation: 19.928427743361993
+      euclidean_error: 0.005914495280089138
+    wrist_inside_marker_pose:
+      angle_rotation: 17.58463932590174
+      euclidean_error: 0.0028150077603157353
+    wrist_top_marker_pose:
+      angle_rotation: 18.11468451211809
+      euclidean_error: 0.00020495008261045555
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3824884131261874
+      euclidean_error: -0.0035171996227431057
+    base_right_marker_pose:
+      angle_rotation: 7.6927653953078865
+      euclidean_error: -0.001422736951519954
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.979598646158347
+      euclidean_error: 0.0023961940272154703
+    wrist_top_marker_pose:
+      angle_rotation: 16.744567200705564
+      euclidean_error: -0.001889384926652915
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.439925149199736
+      euclidean_error: -0.0036384288190179914
+    base_right_marker_pose:
+      angle_rotation: 8.47675745553075
+      euclidean_error: -0.0021461552344556045
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.34111141720737
+      euclidean_error: 0.003033926748583826
+    wrist_top_marker_pose:
+      angle_rotation: 22.97574275400929
+      euclidean_error: -0.0005790346198432106
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.05047440177349
+      euclidean_error: -0.0035576038992053416
+    base_right_marker_pose:
+      angle_rotation: 10.528544727454928
+      euclidean_error: -0.0015285199498916713
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.803871219203664
+      euclidean_error: 0.002075282604660389
+    wrist_top_marker_pose:
+      angle_rotation: 24.07504081867463
+      euclidean_error: 0.00015172789974771117
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.289055076276619
+      euclidean_error: -0.0038218041244415524
+    base_right_marker_pose:
+      angle_rotation: 11.511544286338925
+      euclidean_error: -0.0012158103389294794
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.892805212541397
+      euclidean_error: 0.0018591885089291882
+    wrist_top_marker_pose:
+      angle_rotation: 17.37399569808269
+      euclidean_error: -0.0008618916145356481
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.322645968390055
+      euclidean_error: -0.0034401631854353854
+    base_right_marker_pose:
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+      euclidean_error: -0.0015174026715462086
+    shoulder_marker_pose:
+      angle_rotation: 24.307982428355043
+      euclidean_error: 0.005775092905312307
+    wrist_inside_marker_pose:
+      angle_rotation: 19.06777138537818
+      euclidean_error: 0.0023540119088689693
+    wrist_top_marker_pose:
+      angle_rotation: 19.25719882570067
+      euclidean_error: -0.0006331190495376671
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.341533351406269
+      euclidean_error: -0.0033292135183556892
+    base_right_marker_pose:
+      angle_rotation: 11.183940969940158
+      euclidean_error: -0.0009790993052897212
+    shoulder_marker_pose:
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+      euclidean_error: 0.006690964973962044
+    wrist_inside_marker_pose:
+      angle_rotation: 21.93461504689291
+      euclidean_error: 0.0028834959735650756
+    wrist_top_marker_pose:
+      angle_rotation: 21.227948751849087
+      euclidean_error: -0.0004617028888307395
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9164179881768795
+      euclidean_error: -0.0037991547788590596
+    base_right_marker_pose:
+      angle_rotation: 10.87977353493546
+      euclidean_error: -0.0009806033965954475
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.5265261512943
+      euclidean_error: 0.0022986692220942073
+    wrist_top_marker_pose:
+      angle_rotation: 22.478701418965528
+      euclidean_error: 0.00012399780536842542
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0031958663504123574
+    base_right_marker_pose:
+      angle_rotation: 10.131945127604313
+      euclidean_error: -0.0012772011792360205
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.85034401576982
+      euclidean_error: 0.001753116411147504
+    wrist_top_marker_pose:
+      angle_rotation: 15.142417386267443
+      euclidean_error: -0.00035760113730520793
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003453971327663785
+    base_right_marker_pose:
+      angle_rotation: 8.12121164480472
+      euclidean_error: -0.0020198723172060173
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.168906128759772
+      euclidean_error: 0.002347123178692123
+    wrist_top_marker_pose:
+      angle_rotation: 20.042964046017435
+      euclidean_error: -0.00045024652126213205
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.248374615763042
+      euclidean_error: -0.0034739924102658026
+    base_right_marker_pose:
+      angle_rotation: 7.480670048485699
+      euclidean_error: -0.0013739855083347852
+    shoulder_marker_pose:
+      angle_rotation: 22.23304598375261
+      euclidean_error: 0.00726504325336963
+    wrist_inside_marker_pose:
+      angle_rotation: 19.869452685182587
+      euclidean_error: 0.0024132054262769875
+    wrist_top_marker_pose:
+      angle_rotation: 24.05918450363304
+      euclidean_error: -0.0005939334056391798
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0034454639389807085
+    base_right_marker_pose:
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+      euclidean_error: -0.0022163365056409035
+    shoulder_marker_pose:
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+      euclidean_error: 0.006381736559863405
+    wrist_inside_marker_pose:
+      angle_rotation: 20.67632742987146
+      euclidean_error: 0.002211859200341615
+    wrist_top_marker_pose:
+      angle_rotation: 21.354010875111687
+      euclidean_error: -0.0012816293412319935
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002915804316578341
+    base_right_marker_pose:
+      angle_rotation: 8.825694182070105
+      euclidean_error: -0.0013434634419688951
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.373271358288797
+      euclidean_error: 0.0030876841184710457
+    wrist_top_marker_pose:
+      angle_rotation: 24.026608115883526
+      euclidean_error: 0.00015541832691867707
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5386266272626328
+      euclidean_error: -0.0035334741137932335
+    base_right_marker_pose:
+      angle_rotation: 8.939596011214626
+      euclidean_error: -0.0007375108202503089
+    shoulder_marker_pose:
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+      euclidean_error: 0.006448835492519289
+    wrist_inside_marker_pose:
+      angle_rotation: 16.175417659232917
+      euclidean_error: 0.002907337830924006
+    wrist_top_marker_pose:
+      angle_rotation: 22.042289034941412
+      euclidean_error: -0.00038611661873988457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.972920725536984
+      euclidean_error: -0.0030423353138006037
+    base_right_marker_pose:
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+      euclidean_error: -0.001438333214142662
+    shoulder_marker_pose:
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+      euclidean_error: 0.0074767636327430775
+    wrist_inside_marker_pose:
+      angle_rotation: 23.209203057050107
+      euclidean_error: 0.002247703498894027
+    wrist_top_marker_pose:
+      angle_rotation: 23.088127395388284
+      euclidean_error: -0.0006162865054748501
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0028150465583475226
+    base_right_marker_pose:
+      angle_rotation: 8.255808676231565
+      euclidean_error: -0.0005858919755525882
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.454305506770257
+      euclidean_error: 0.0030088206761860192
+    wrist_top_marker_pose:
+      angle_rotation: 16.318626479316237
+      euclidean_error: -0.00030260926891567674
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0032561658149591333
+    base_right_marker_pose:
+      angle_rotation: 7.983953288775572
+      euclidean_error: -0.0009687468849728376
+    shoulder_marker_pose:
+      angle_rotation: 22.895365683293726
+      euclidean_error: 0.006556760569720099
+    wrist_inside_marker_pose:
+      angle_rotation: 23.77316558813315
+      euclidean_error: 0.003183904773252033
+    wrist_top_marker_pose:
+      angle_rotation: 20.42499466303841
+      euclidean_error: -0.0008439268143276557
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.437909735055679
+      euclidean_error: -0.0037781750985002027
+    base_right_marker_pose:
+      angle_rotation: 6.203077378239202
+      euclidean_error: -0.0017107887958281998
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.345611373391293
+      euclidean_error: 0.0027638548375550354
+    wrist_top_marker_pose:
+      angle_rotation: 22.81428342000189
+      euclidean_error: 0.00019825043076360238
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.280776757614122
+      euclidean_error: -0.0032644977026747846
+    base_right_marker_pose:
+      angle_rotation: 7.909889908253748
+      euclidean_error: -0.0011125401125609002
+    shoulder_marker_pose:
+      angle_rotation: 25.714544430539778
+      euclidean_error: 0.006691855531561153
+    wrist_inside_marker_pose:
+      angle_rotation: 19.896665686829746
+      euclidean_error: 0.0029815700113589028
+    wrist_top_marker_pose:
+      angle_rotation: 19.329495017629515
+      euclidean_error: -0.00030751824642949455
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003226494284222836
+    base_right_marker_pose:
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+      euclidean_error: -0.001143468131201697
+    shoulder_marker_pose:
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+      euclidean_error: 0.0053042699563061735
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0026220848057718626
+    wrist_top_marker_pose:
+      angle_rotation: 22.216401987448172
+      euclidean_error: -0.0013122093721655848
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.523373176446494
+      euclidean_error: -0.0037688627199067293
+    base_right_marker_pose:
+      angle_rotation: 10.399406956729988
+      euclidean_error: -0.0016323226578346395
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.52101283040434
+      euclidean_error: 0.0020388281056695767
+    wrist_top_marker_pose:
+      angle_rotation: 23.836301292137847
+      euclidean_error: -0.0007920406232762023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.780820348061217
+      euclidean_error: -0.0038813085736630892
+    base_right_marker_pose:
+      angle_rotation: 9.150336300567382
+      euclidean_error: -0.0006296932605153183
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.8486983615329
+      euclidean_error: 0.002555844850840483
+    wrist_top_marker_pose:
+      angle_rotation: 22.355360773196214
+      euclidean_error: -1.293399682700258e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.22173363411317
+      euclidean_error: -0.0033358647909897954
+    base_right_marker_pose:
+      angle_rotation: 6.096766360492646
+      euclidean_error: -0.0007797094981016883
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.268820206998445
+      euclidean_error: 0.0029594810671720317
+    wrist_top_marker_pose:
+      angle_rotation: 20.43687266644613
+      euclidean_error: -0.00010445211145260203
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3727741542296186
+      euclidean_error: -0.003397146147538055
+    base_right_marker_pose:
+      angle_rotation: 8.092029811928013
+      euclidean_error: -0.0020497807081478747
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.821475104979715
+      euclidean_error: 0.003133617743070527
+    wrist_top_marker_pose:
+      angle_rotation: 21.196956170080636
+      euclidean_error: -0.0006893171633660655
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1611144849232895
+      euclidean_error: -0.0034571797890394773
+    base_right_marker_pose:
+      angle_rotation: 9.46095880974904
+      euclidean_error: -0.0015361153178390374
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.940343892784888
+      euclidean_error: 0.0024476718080034265
+    wrist_top_marker_pose:
+      angle_rotation: 23.217581972508302
+      euclidean_error: -0.00029241053457373933
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7217745439092447
+      euclidean_error: -0.003645210893864159
+    base_right_marker_pose:
+      angle_rotation: 6.611322015359966
+      euclidean_error: -0.001595690994165122
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.423899540280345
+      euclidean_error: 0.0019665702428062204
+    wrist_top_marker_pose:
+      angle_rotation: 22.419601057342142
+      euclidean_error: -0.00048376524416915423
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.135865226066683
+      euclidean_error: -0.0032068549680843716
+    base_right_marker_pose:
+      angle_rotation: 9.671881401640208
+      euclidean_error: -0.0005060725537319177
+    shoulder_marker_pose:
+      angle_rotation: 20.485820755268215
+      euclidean_error: 0.00644883296990395
+    wrist_inside_marker_pose:
+      angle_rotation: 20.33372355431633
+      euclidean_error: 0.0023305159746745963
+    wrist_top_marker_pose:
+      angle_rotation: 21.862395952486715
+      euclidean_error: -0.00046736779199307854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.380966851660353
+      euclidean_error: -0.003111793597418977
+    base_right_marker_pose:
+      angle_rotation: 9.890175425642319
+      euclidean_error: -0.0014610130940474475
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.437419604865216
+      euclidean_error: 0.0022652980146166124
+    wrist_top_marker_pose:
+      angle_rotation: 21.393290281949866
+      euclidean_error: -0.00017382567674861793
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0131992806689194
+      euclidean_error: -0.0036023031441952957
+    base_right_marker_pose:
+      angle_rotation: 7.958522135072675
+      euclidean_error: -0.0008687933219787558
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.84466068057603
+      euclidean_error: 0.0020008318083791776
+    wrist_top_marker_pose:
+      angle_rotation: 22.01988513726821
+      euclidean_error: -0.001137353573333666
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.8459971197266976
+      euclidean_error: -0.0035381330003784184
+    base_right_marker_pose:
+      angle_rotation: 8.169006212012244
+      euclidean_error: -0.0010583849949278301
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.49172623147563
+      euclidean_error: 0.0036808490331717847
+    wrist_top_marker_pose:
+      angle_rotation: 20.675311750983358
+      euclidean_error: -0.0012362791461321132
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.918950949396341
+      euclidean_error: -0.003531932411452221
+    base_right_marker_pose:
+      angle_rotation: 9.178998669570342
+      euclidean_error: -0.0018734893339125147
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.09026263510523
+      euclidean_error: 0.0028954700974028746
+    wrist_top_marker_pose:
+      angle_rotation: 21.275907952778812
+      euclidean_error: -0.0007143550850704505
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.609338933198138
+      euclidean_error: -0.0036195279202356767
+    base_right_marker_pose:
+      angle_rotation: 5.346585824507183
+      euclidean_error: -0.0013590935999691078
+    shoulder_marker_pose:
+      angle_rotation: 19.307670150031903
+      euclidean_error: 0.006257447290037632
+    wrist_inside_marker_pose:
+      angle_rotation: 19.55588395101432
+      euclidean_error: 0.003214180627945651
+    wrist_top_marker_pose:
+      angle_rotation: 20.48635614287987
+      euclidean_error: -2.7110702882415794e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.364895033433167
+      euclidean_error: -0.0031457558997726176
+    base_right_marker_pose:
+      angle_rotation: 10.387055248879003
+      euclidean_error: -0.0014385590891543565
+    shoulder_marker_pose:
+      angle_rotation: 18.017375246785193
+      euclidean_error: 0.006784330229868352
+    wrist_inside_marker_pose:
+      angle_rotation: 21.0650304054363
+      euclidean_error: 0.0023788524262057242
+    wrist_top_marker_pose:
+      angle_rotation: 20.83819396199486
+      euclidean_error: -0.0006388937379518955
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.183878763594785
+      euclidean_error: -0.002822434115194117
+    base_right_marker_pose:
+      angle_rotation: 12.514817718565158
+      euclidean_error: -0.0012808257021980074
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.5199903013504
+      euclidean_error: 0.003176280841584278
+    wrist_top_marker_pose:
+      angle_rotation: 19.061933915478434
+      euclidean_error: 0.00017350160577356277
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.036934510406602
+      euclidean_error: -0.0033393297050117177
+    base_right_marker_pose:
+      angle_rotation: 9.73237922266961
+      euclidean_error: -0.0016878823718676772
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.998214525454976
+      euclidean_error: 0.002884542980617799
+    wrist_top_marker_pose:
+      angle_rotation: 17.653788509415474
+      euclidean_error: 3.0231148458681467e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.335612173013365
+      euclidean_error: -0.003538488699760922
+    base_right_marker_pose:
+      angle_rotation: 6.5379898973136426
+      euclidean_error: -0.0018256863213926833
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.671232847574785
+      euclidean_error: 0.002264575967580895
+    wrist_top_marker_pose:
+      angle_rotation: 22.400175307505762
+      euclidean_error: -7.073583313399467e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.690579877013466
+      euclidean_error: -0.0035241018597753637
+    base_right_marker_pose:
+      angle_rotation: 9.155064303416657
+      euclidean_error: -0.0016247701029485917
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.65791197901872
+      euclidean_error: 0.0026258916355357265
+    wrist_top_marker_pose:
+      angle_rotation: 20.618727244413098
+      euclidean_error: -0.0017042037122366738
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.642333503113082
+      euclidean_error: -0.0025943797024499116
+    base_right_marker_pose:
+      angle_rotation: 8.107472938190732
+      euclidean_error: -0.0015754673509790207
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.07600451567379
+      euclidean_error: 0.0027030692316861726
+    wrist_top_marker_pose:
+      angle_rotation: 22.250444206967533
+      euclidean_error: -0.0007334996919124981
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.0486810981443435
+      euclidean_error: -0.003818349544808086
+    base_right_marker_pose:
+      angle_rotation: 10.962486626402672
+      euclidean_error: -0.0005767174448469969
+    shoulder_marker_pose:
+      angle_rotation: 24.632111999273047
+      euclidean_error: 0.005870067952147284
+    wrist_inside_marker_pose:
+      angle_rotation: 17.794022393290483
+      euclidean_error: 0.003023832187094899
+    wrist_top_marker_pose:
+      angle_rotation: 18.032978633490014
+      euclidean_error: -4.410581385605461e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.441055429776554
+      euclidean_error: -0.003282380457640288
+    base_right_marker_pose:
+      angle_rotation: 5.7128088756324
+      euclidean_error: -0.0017544408916932985
+    shoulder_marker_pose:
+      angle_rotation: 22.392876017240944
+      euclidean_error: 0.006368811360597082
+    wrist_inside_marker_pose:
+      angle_rotation: 23.746193185899774
+      euclidean_error: 0.0032960320139873156
+    wrist_top_marker_pose:
+      angle_rotation: 23.909392813948575
+      euclidean_error: 0.0005609229320532316
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.1046956005870685
+      euclidean_error: -0.00271893484874397
+    base_right_marker_pose:
+      angle_rotation: 9.389127630237724
+      euclidean_error: -0.0014896671058028943
+    shoulder_marker_pose:
+      angle_rotation: 21.93113917288784
+      euclidean_error: 0.00619466151734549
+    wrist_inside_marker_pose:
+      angle_rotation: 18.910956348640042
+      euclidean_error: 0.0031218063707535437
+    wrist_top_marker_pose:
+      angle_rotation: 25.377113853191194
+      euclidean_error: 0.0005410902271375528
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.474890197826468
+      euclidean_error: -0.002174108727677204
+    base_right_marker_pose:
+      angle_rotation: 7.947876689840834
+      euclidean_error: -0.0009196283080644685
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.14538374138846
+      euclidean_error: 0.0027148852654920175
+    wrist_top_marker_pose:
+      angle_rotation: 21.519789444197947
+      euclidean_error: 0.0010438550420077686
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1467893481956706
+      euclidean_error: -0.0034295877507580785
+    base_right_marker_pose:
+      angle_rotation: 10.568555006100945
+      euclidean_error: -0.00046374492839185155
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.924123140860384
+      euclidean_error: 0.0022619537424992675
+    wrist_top_marker_pose:
+      angle_rotation: 22.23033811039754
+      euclidean_error: -0.0006967422978522153
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.937347954029278
+      euclidean_error: -0.003318240575103215
+    base_right_marker_pose:
+      angle_rotation: 7.136697399009045
+      euclidean_error: -0.0016036345203223057
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.4436090468082
+      euclidean_error: 0.002363804881470477
+    wrist_top_marker_pose:
+      angle_rotation: 16.653461430996483
+      euclidean_error: -0.001140734720907588
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.348508271337945
+      euclidean_error: -0.0033310695222390496
+    base_right_marker_pose:
+      angle_rotation: 7.845783268817813
+      euclidean_error: -0.0011100251311962905
+    shoulder_marker_pose:
+      angle_rotation: 20.989629779440122
+      euclidean_error: 0.0064065824910898295
+    wrist_inside_marker_pose:
+      angle_rotation: 18.703068122544952
+      euclidean_error: 0.003483031868714681
+    wrist_top_marker_pose:
+      angle_rotation: 23.838384284519442
+      euclidean_error: 0.00010811546652655935
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.4948685415586604
+      euclidean_error: -0.0031986865755890825
+    base_right_marker_pose:
+      angle_rotation: 9.884450398662706
+      euclidean_error: -0.0012433489226865158
+    shoulder_marker_pose:
+      angle_rotation: 23.42941205943722
+      euclidean_error: 0.006427917939394678
+    wrist_inside_marker_pose:
+      angle_rotation: 23.025195035004643
+      euclidean_error: 0.0035073058992097783
+    wrist_top_marker_pose:
+      angle_rotation: 22.802114398281777
+      euclidean_error: -0.00016110222973109156
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.231812448507256
+      euclidean_error: -0.003624829191924972
+    base_right_marker_pose:
+      angle_rotation: 11.848152681349637
+      euclidean_error: -0.00026271421861068234
+    shoulder_marker_pose:
+      angle_rotation: 21.414323920281046
+      euclidean_error: 0.006816019730102374
+    wrist_inside_marker_pose:
+      angle_rotation: 21.54484773244401
+      euclidean_error: 0.002312290139401818
+    wrist_top_marker_pose:
+      angle_rotation: 20.696884077709278
+      euclidean_error: -0.000927584594860309
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8767026800086697
+      euclidean_error: -0.0038348496373622476
+    base_right_marker_pose:
+      angle_rotation: 11.04673963974653
+      euclidean_error: -0.001116422885505619
+    shoulder_marker_pose:
+      angle_rotation: 20.44521661374593
+      euclidean_error: 0.006373606154747913
+    wrist_inside_marker_pose:
+      angle_rotation: 18.05444669400402
+      euclidean_error: 0.0027595684552339517
+    wrist_top_marker_pose:
+      angle_rotation: 21.598155528115665
+      euclidean_error: -0.0008528292348610744
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.322365561152395
+      euclidean_error: -0.0031203978814127176
+    base_right_marker_pose:
+      angle_rotation: 8.941156905560772
+      euclidean_error: -0.0009613231098212216
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.062170334811935
+      euclidean_error: 0.0032070191792182845
+    wrist_top_marker_pose:
+      angle_rotation: 23.4301549197832
+      euclidean_error: 0.0011959133387287046
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6806463969648595
+      euclidean_error: -0.0033355325088225696
+    base_right_marker_pose:
+      angle_rotation: 9.930298535241738
+      euclidean_error: -0.0014624070870202788
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.813256909518433
+      euclidean_error: 0.0018330850949747068
+    wrist_top_marker_pose:
+      angle_rotation: 18.103710373032342
+      euclidean_error: -0.0007202651073616728
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.342995175733014
+      euclidean_error: -0.0033373965692007346
+    base_right_marker_pose:
+      angle_rotation: 7.695676122497915
+      euclidean_error: -0.0013816059816559312
+    shoulder_marker_pose:
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+      euclidean_error: 0.006879405416544637
+    wrist_inside_marker_pose:
+      angle_rotation: 19.519212079566998
+      euclidean_error: 0.002419106225790668
+    wrist_top_marker_pose:
+      angle_rotation: 22.059804388397644
+      euclidean_error: -0.0005751965150919691
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0034477959168399686
+    base_right_marker_pose:
+      angle_rotation: 8.96319055315672
+      euclidean_error: -0.0013962208448830005
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.656223182268878
+      euclidean_error: 0.0021357661172816123
+    wrist_top_marker_pose:
+      angle_rotation: 15.218242687511454
+      euclidean_error: -0.0007152401474691539
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.40738223882914
+      euclidean_error: -0.0030655539571508017
+    base_right_marker_pose:
+      angle_rotation: 9.718077208243777
+      euclidean_error: -0.0012080934305310764
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.312615118357304
+      euclidean_error: 0.004035610695982017
+    wrist_top_marker_pose:
+      angle_rotation: 17.70975126129036
+      euclidean_error: 0.00019391920341849112
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.496363015643842
+      euclidean_error: -0.0031156755500433286
+    base_right_marker_pose:
+      angle_rotation: 6.883731662440663
+      euclidean_error: -0.0013842942120673163
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.028255580301213
+      euclidean_error: 0.0025300510429957512
+    wrist_top_marker_pose:
+      angle_rotation: 17.958383402895002
+      euclidean_error: -0.0009849156865666675
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3209392916296077
+      euclidean_error: -0.0036742431111811413
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.550605681572836
+      euclidean_error: 0.00271942029835337
+    wrist_top_marker_pose:
+      angle_rotation: 21.919849102860923
+      euclidean_error: -0.00046922155324469195
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.071042431422184
+      euclidean_error: -0.0028441101564256055
+    base_right_marker_pose:
+      angle_rotation: 6.897427000080197
+      euclidean_error: -0.00017198285545294567
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.74803770173975
+      euclidean_error: 0.0033008205735016727
+    wrist_top_marker_pose:
+      angle_rotation: 21.920783797563523
+      euclidean_error: 0.0008149062780758998
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.013301506011914
+      euclidean_error: -0.0030576513089474178
+    base_right_marker_pose:
+      angle_rotation: 7.886598643305934
+      euclidean_error: -0.0012318234317031385
+    shoulder_marker_pose:
+      angle_rotation: 22.431611788451917
+      euclidean_error: 0.00623759966654347
+    wrist_inside_marker_pose:
+      angle_rotation: 21.840240118515883
+      euclidean_error: 0.002350620386813995
+    wrist_top_marker_pose:
+      angle_rotation: 23.395141169604265
+      euclidean_error: -0.00020511282814461573
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8775852911929451
+      euclidean_error: -0.0037542583826333242
+    base_right_marker_pose:
+      angle_rotation: 4.9178850062932105
+      euclidean_error: -0.0017532397307589154
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.60151093127209
+      euclidean_error: 0.0024401377965913573
+    wrist_top_marker_pose:
+      angle_rotation: 21.849398227419055
+      euclidean_error: -0.0003515645183870264
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.1204225799204615
+      euclidean_error: -0.0030465144184109727
+    base_right_marker_pose:
+      angle_rotation: 8.277669677372376
+      euclidean_error: -0.0008496960082680083
+    shoulder_marker_pose:
+      angle_rotation: 21.370095721881857
+      euclidean_error: 0.0063938839292256855
+    wrist_inside_marker_pose:
+      angle_rotation: 20.069074726702908
+      euclidean_error: 0.0026379854800813174
+    wrist_top_marker_pose:
+      angle_rotation: 18.34480876726378
+      euclidean_error: -0.0009143980568361298
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.797102422652285
+      euclidean_error: -0.0034042005085352933
+    base_right_marker_pose:
+      angle_rotation: 9.220956633650072
+      euclidean_error: -0.0014104549715251435
+    shoulder_marker_pose:
+      angle_rotation: 20.985937180858134
+      euclidean_error: 0.006836863645570457
+    wrist_inside_marker_pose:
+      angle_rotation: 24.228718131531185
+      euclidean_error: 0.0025667234988787646
+    wrist_top_marker_pose:
+      angle_rotation: 27.951927990376234
+      euclidean_error: -0.0005432555727001853
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.422702977371604
+      euclidean_error: -0.0031186761491065473
+    base_right_marker_pose:
+      angle_rotation: 9.415013060935422
+      euclidean_error: -0.001428522809519439
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.478587669162618
+      euclidean_error: 0.0024696072590041362
+    wrist_top_marker_pose:
+      angle_rotation: 18.68949040523416
+      euclidean_error: -0.0008335438735052048
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.124311624461368
+      euclidean_error: -0.0037111416896296046
+    base_right_marker_pose:
+      angle_rotation: 6.805435079083532
+      euclidean_error: -0.0020159311541330105
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.498377991392683
+      euclidean_error: 0.002775552328573183
+    wrist_top_marker_pose:
+      angle_rotation: 25.594990730959918
+      euclidean_error: -0.0009550437447943816
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.902583103794479
+      euclidean_error: -0.0032795837401126127
+    base_right_marker_pose:
+      angle_rotation: 8.203785128864201
+      euclidean_error: -0.000874479342010126
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.71065106153455
+      euclidean_error: 0.0029533433068645865
+    wrist_top_marker_pose:
+      angle_rotation: 23.90160833482567
+      euclidean_error: -0.0008625716484187418
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.384293738889939
+      euclidean_error: -0.002924064498946888
+    base_right_marker_pose:
+      angle_rotation: 7.491755494470852
+      euclidean_error: -0.0015923039148191265
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.461264527408893
+      euclidean_error: 0.0024226288299644683
+    wrist_top_marker_pose:
+      angle_rotation: 19.783614385532704
+      euclidean_error: -0.00030727358930071613
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.310096752915787
+      euclidean_error: -0.003292249305382522
+    base_right_marker_pose:
+      angle_rotation: 9.56157432821769
+      euclidean_error: -0.0005072557521499377
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.48205443024458
+      euclidean_error: 0.0017741239395141495
+    wrist_top_marker_pose:
+      angle_rotation: 16.039282680157317
+      euclidean_error: -0.001680316811461191
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0057661562858593
+      euclidean_error: -0.003702039866195328
+    base_right_marker_pose:
+      angle_rotation: 10.130262464318028
+      euclidean_error: -0.0013621253314490822
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.08225395333384
+      euclidean_error: 0.0017140602913138236
+    wrist_top_marker_pose:
+      angle_rotation: 21.014475104742576
+      euclidean_error: -0.0011819963117055687
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.098859046524787
+      euclidean_error: -0.002832010491167547
+    base_right_marker_pose:
+      angle_rotation: 6.174402093471578
+      euclidean_error: -0.0006952341842114684
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.574001037212202
+      euclidean_error: 0.0036944709039203882
+    wrist_top_marker_pose:
+      angle_rotation: 24.976097878461115
+      euclidean_error: -0.0006202648304950431
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.0435226431293865
+      euclidean_error: -0.003483018249185954
+    base_right_marker_pose:
+      angle_rotation: 8.773275355526161
+      euclidean_error: -0.001344611671644902
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.373184721162676
+      euclidean_error: 0.0022231570959009295
+    wrist_top_marker_pose:
+      angle_rotation: 23.620618125596884
+      euclidean_error: -0.0001862251568341966
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.584838660196666
+      euclidean_error: -0.003127717005581898
+    base_right_marker_pose:
+      angle_rotation: 9.348232685329211
+      euclidean_error: -0.001356078556552509
+    shoulder_marker_pose:
+      angle_rotation: 21.396575916244885
+      euclidean_error: 0.0065309188976895305
+    wrist_inside_marker_pose:
+      angle_rotation: 21.29564233297166
+      euclidean_error: 0.0036526503050766657
+    wrist_top_marker_pose:
+      angle_rotation: 19.136585175479464
+      euclidean_error: -0.0009562776655812621
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5831867572958536
+      euclidean_error: -0.0037296944866673787
+    base_right_marker_pose:
+      angle_rotation: 8.381453044112384
+      euclidean_error: -0.0008054930886682854
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.799829357608758
+      euclidean_error: 0.0027711164203072514
+    wrist_top_marker_pose:
+      angle_rotation: 23.803947415227732
+      euclidean_error: -0.00035921717916176377
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.466327873783742
+      euclidean_error: -0.0028579913083823794
+    base_right_marker_pose:
+      angle_rotation: 7.162009267323997
+      euclidean_error: -0.0005516549189392705
+    shoulder_marker_pose:
+      angle_rotation: 24.19359846111008
+      euclidean_error: 0.006967542222562129
+    wrist_inside_marker_pose:
+      angle_rotation: 22.843937490973538
+      euclidean_error: 0.0036218644746542905
+    wrist_top_marker_pose:
+      angle_rotation: 25.16252687487523
+      euclidean_error: 0.0002382341226848661
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.391772933535644
+      euclidean_error: -0.0032044541019821127
+    base_right_marker_pose:
+      angle_rotation: 7.955210752817345
+      euclidean_error: -0.0016477371700953647
+    shoulder_marker_pose:
+      angle_rotation: 21.39826154065381
+      euclidean_error: 0.0054216227441215015
+    wrist_inside_marker_pose:
+      angle_rotation: 21.814277028652615
+      euclidean_error: 0.001891736021277235
+    wrist_top_marker_pose:
+      angle_rotation: 18.84450925938267
+      euclidean_error: -0.0013179352554529844
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.766639420016473
+      euclidean_error: -0.0032831051408722667
+    base_right_marker_pose:
+      angle_rotation: 10.323154223229613
+      euclidean_error: -0.0010454031269516717
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.458034361532864
+      euclidean_error: 0.0020236743596121487
+    wrist_top_marker_pose:
+      angle_rotation: 27.037565426552156
+      euclidean_error: 0.0004522598197135297
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.69907209601655
+      euclidean_error: -0.003482620248916324
+    base_right_marker_pose:
+      angle_rotation: 10.45164584610347
+      euclidean_error: -0.0011198334000815935
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.590436558561695
+      euclidean_error: 0.002938549944175861
+    wrist_top_marker_pose:
+      angle_rotation: 20.990398831653355
+      euclidean_error: -0.0006367195384808788
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7045318083548118
+      euclidean_error: -0.0035091961747790723
+    base_right_marker_pose:
+      angle_rotation: 7.947385511442906
+      euclidean_error: -0.001865285645945125
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.38113747091286
+      euclidean_error: 0.0030725513597263943
+    wrist_top_marker_pose:
+      angle_rotation: 23.91708248810216
+      euclidean_error: -0.0003716658726938826
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7350402682177664
+      euclidean_error: -0.003605759174088452
+    base_right_marker_pose:
+      angle_rotation: 7.319921190228144
+      euclidean_error: -0.0007805256327568788
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.73479004297463
+      euclidean_error: 0.002714137140930828
+    wrist_top_marker_pose:
+      angle_rotation: 25.90087415355638
+      euclidean_error: 0.001172333425269123
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.081718628344114
+      euclidean_error: -0.0030903240036433965
+    base_right_marker_pose:
+      angle_rotation: 8.457221826483806
+      euclidean_error: -0.0008488820352868798
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.525238138663394
+      euclidean_error: 0.002058689028862304
+    wrist_top_marker_pose:
+      angle_rotation: 21.409748349994864
+      euclidean_error: -0.0007194996415601507
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4713678804243733
+      euclidean_error: -0.003858980397298706
+    base_right_marker_pose:
+      angle_rotation: 8.310260713331775
+      euclidean_error: -0.002166154975595358
+    shoulder_marker_pose:
+      angle_rotation: 23.75448720104056
+      euclidean_error: 0.006710863608666795
+    wrist_inside_marker_pose:
+      angle_rotation: 19.93320382650508
+      euclidean_error: 0.002344322377660024
+    wrist_top_marker_pose:
+      angle_rotation: 22.92451580541519
+      euclidean_error: -0.0015529634139769266
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8880018878950957
+      euclidean_error: -0.0034865336829875693
+    base_right_marker_pose:
+      angle_rotation: 8.288564077740647
+      euclidean_error: -0.0009503221588893496
+    shoulder_marker_pose:
+      angle_rotation: 23.678376966462736
+      euclidean_error: 0.00584775524541048
+    wrist_inside_marker_pose:
+      angle_rotation: 16.992016173326395
+      euclidean_error: 0.0029495403739068227
+    wrist_top_marker_pose:
+      angle_rotation: 18.415683973353396
+      euclidean_error: -0.0008193418478985581
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.038714119804317
+      euclidean_error: -0.0034093271803921077
+    base_right_marker_pose:
+      angle_rotation: 8.544159725472701
+      euclidean_error: -0.0012548802664609227
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.25126920407344
+      euclidean_error: 0.0025406723850782686
+    wrist_top_marker_pose:
+      angle_rotation: 27.656734862857633
+      euclidean_error: 0.00012185645815987467
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003613360546318445
+    base_right_marker_pose:
+      angle_rotation: 10.32056251893946
+      euclidean_error: -0.0007071190715901565
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0024317370671604888
+    wrist_top_marker_pose:
+      angle_rotation: 22.658675539338752
+      euclidean_error: -0.0002904304664895774
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.387263785177143
+      euclidean_error: -0.003403556213466996
+    base_right_marker_pose:
+      angle_rotation: 8.73780731498788
+      euclidean_error: -0.0011752932495591173
+    shoulder_marker_pose:
+      angle_rotation: 17.79399808402156
+      euclidean_error: 0.005763169445264005
+    wrist_inside_marker_pose:
+      angle_rotation: 24.329136245538162
+      euclidean_error: 0.002486201822591849
+    wrist_top_marker_pose:
+      angle_rotation: 23.815220048879972
+      euclidean_error: -0.00029506575693560855
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.079834034710823
+      euclidean_error: -0.0035430031954882812
+    base_right_marker_pose:
+      angle_rotation: 9.227104233481302
+      euclidean_error: -0.0013136684444413627
+    shoulder_marker_pose:
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+      euclidean_error: 0.006850676173096204
+    wrist_inside_marker_pose:
+      angle_rotation: 23.91805513286923
+      euclidean_error: 0.002566954196793758
+    wrist_top_marker_pose:
+      angle_rotation: 23.075780584243443
+      euclidean_error: -4.926872195809562e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6702900117755775
+      euclidean_error: -0.0033498323572237476
+    base_right_marker_pose:
+      angle_rotation: 6.895967971296578
+      euclidean_error: -0.001408110459718226
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.87492474810945
+      euclidean_error: 0.0018047432038656996
+    wrist_top_marker_pose:
+      angle_rotation: 20.783254657120818
+      euclidean_error: -0.00030205333989752337
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003106459920983018
+    base_right_marker_pose:
+      angle_rotation: 8.47237660893745
+      euclidean_error: -0.0013773682644814267
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.17309390857943
+      euclidean_error: 0.00267569206065299
+    wrist_top_marker_pose:
+      angle_rotation: 22.76344753916151
+      euclidean_error: 0.00034653861516398266
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0879142073098436
+      euclidean_error: -0.0037706996452088193
+    base_right_marker_pose:
+      angle_rotation: 8.61475489386297
+      euclidean_error: -0.0008510306559998959
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.74972668079817
+      euclidean_error: 0.0029205749752516663
+    wrist_top_marker_pose:
+      angle_rotation: 24.932017099515903
+      euclidean_error: -0.0003603411502882681
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.704290786526751
+      euclidean_error: -0.0031448946610562745
+    base_right_marker_pose:
+      angle_rotation: 8.027770550747057
+      euclidean_error: -0.0006957655609225455
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.424874877599322
+      euclidean_error: 0.0029610081141023814
+    wrist_top_marker_pose:
+      angle_rotation: 21.060213451887105
+      euclidean_error: -0.00029623911387688384
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.002316551268305
+      euclidean_error: -0.003575186813358111
+    base_right_marker_pose:
+      angle_rotation: 10.828997611349905
+      euclidean_error: -0.0016590252256990512
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.646357955631554
+      euclidean_error: 0.0022300276747443393
+    wrist_top_marker_pose:
+      angle_rotation: 21.403755804276127
+      euclidean_error: -0.00042473073780202597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.795746293542664
+      euclidean_error: -0.003588251834296674
+    base_right_marker_pose:
+      angle_rotation: 7.575196789401192
+      euclidean_error: -0.00013216275801752886
+    shoulder_marker_pose:
+      angle_rotation: 19.744861786996726
+      euclidean_error: 0.006915156203866624
+    wrist_inside_marker_pose:
+      angle_rotation: 22.45911823746107
+      euclidean_error: 0.0031320051652803382
+    wrist_top_marker_pose:
+      angle_rotation: 17.50493599371641
+      euclidean_error: 0.00029116329544687236
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003580799150197489
+    base_right_marker_pose:
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+      euclidean_error: -0.0017857372760973211
+    shoulder_marker_pose:
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+      euclidean_error: 0.006058142033354419
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0030222212553253636
+    wrist_top_marker_pose:
+      angle_rotation: 23.82976246795485
+      euclidean_error: -0.0003832044409952662
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003373260296084757
+    base_right_marker_pose:
+      angle_rotation: 10.101762877509358
+      euclidean_error: -0.0007430615406063268
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.003510366623414529
+    wrist_top_marker_pose:
+      angle_rotation: 21.1992423076978
+      euclidean_error: 0.0005648560651912993
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0030504278024602316
+    base_right_marker_pose:
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+      euclidean_error: -0.0006540214842468695
+    shoulder_marker_pose:
+      angle_rotation: 21.992314423743284
+      euclidean_error: 0.006758934107386261
+    wrist_inside_marker_pose:
+      angle_rotation: 21.461767960613614
+      euclidean_error: 0.0025420258676703833
+    wrist_top_marker_pose:
+      angle_rotation: 21.02685260672076
+      euclidean_error: -0.0012326735001039202
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.363962993720259
+      euclidean_error: -0.003228682039749464
+    base_right_marker_pose:
+      angle_rotation: 10.616294892600223
+      euclidean_error: -0.0010092005934896342
+    shoulder_marker_pose:
+      angle_rotation: 21.32093431546712
+      euclidean_error: 0.006415609929067756
+    wrist_inside_marker_pose:
+      angle_rotation: 23.080865804426175
+      euclidean_error: 0.002862528391834096
+    wrist_top_marker_pose:
+      angle_rotation: 23.696802361987796
+      euclidean_error: 2.058447586861245e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.793036985481624
+      euclidean_error: -0.003512424732151187
+    base_right_marker_pose:
+      angle_rotation: 9.066318820430954
+      euclidean_error: -0.001317374512655789
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.02760015385725
+      euclidean_error: 0.0022268924954269576
+    wrist_top_marker_pose:
+      angle_rotation: 22.165502927029802
+      euclidean_error: -0.00016808837367721097
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0030075628573154045
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.81502029692817
+      euclidean_error: 0.001945417052615861
+    wrist_top_marker_pose:
+      angle_rotation: 25.10650212489639
+      euclidean_error: -0.0014051775542746059
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.044131436250263
+      euclidean_error: -0.0028644315627203154
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 24.614258011804434
+      euclidean_error: 0.00623708744277085
+    wrist_inside_marker_pose:
+      angle_rotation: 25.372741783993213
+      euclidean_error: 0.0023193756398166565
+    wrist_top_marker_pose:
+      angle_rotation: 24.46246638460672
+      euclidean_error: 4.30600919328894e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.304701201768489
+      euclidean_error: -0.00370152592054096
+    base_right_marker_pose:
+      angle_rotation: 9.237067602052077
+      euclidean_error: -0.0015180879790510637
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.18602806387614
+      euclidean_error: 0.002811518205881325
+    wrist_top_marker_pose:
+      angle_rotation: 26.255145730259322
+      euclidean_error: -0.00045877177462161356
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.084638031233693
+      euclidean_error: -0.0031146578010677883
+    base_right_marker_pose:
+      angle_rotation: 10.398900199550912
+      euclidean_error: -0.00020421167101492
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.93751887371695
+      euclidean_error: 0.0036219906708675476
+    wrist_top_marker_pose:
+      angle_rotation: 20.923627499868317
+      euclidean_error: 0.0005785457919712522
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.709335752318636
+      euclidean_error: -0.0033481931697364464
+    base_right_marker_pose:
+      angle_rotation: 9.867019763479641
+      euclidean_error: -0.0012038103004726741
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.07059245247243
+      euclidean_error: 0.003176387995875385
+    wrist_top_marker_pose:
+      angle_rotation: 25.10440093248308
+      euclidean_error: 0.00048302150184142967
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.240576399816505
+      euclidean_error: -0.0037620597530896305
+    base_right_marker_pose:
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+      euclidean_error: -0.0009742127456073835
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.7361821277337
+      euclidean_error: 0.0023153815065320993
+    wrist_top_marker_pose:
+      angle_rotation: 20.605095109133494
+      euclidean_error: -0.001176733289096621
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 8.782160204301046
+      euclidean_error: -0.002369927051673937
+    base_right_marker_pose:
+      angle_rotation: 10.936628163272866
+      euclidean_error: -0.00015071445483372248
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.446109963823616
+      euclidean_error: 0.003558014817511723
+    wrist_top_marker_pose:
+      angle_rotation: 22.61524216920837
+      euclidean_error: -0.0002578650135798277
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.458023673639137
+      euclidean_error: -0.003451168198396082
+    base_right_marker_pose:
+      angle_rotation: 6.037386836106213
+      euclidean_error: -0.0006339545396792934
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.11032643391985
+      euclidean_error: 0.002516793004665563
+    wrist_top_marker_pose:
+      angle_rotation: 22.079929557699064
+      euclidean_error: -0.0016784158181615272
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6809096093436753
+      euclidean_error: -0.003221494960835014
+    base_right_marker_pose:
+      angle_rotation: 9.324515010404294
+      euclidean_error: -0.0010653098959182428
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.23227572608194
+      euclidean_error: 0.0024016634401521353
+    wrist_top_marker_pose:
+      angle_rotation: 21.365313513383438
+      euclidean_error: -0.0005799561924082486
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.635591446367581
+      euclidean_error: -0.003530423060263077
+    base_right_marker_pose:
+      angle_rotation: 9.909628524659238
+      euclidean_error: -0.0014769863422161578
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.476104394076398
+      euclidean_error: 0.002474083917404446
+    wrist_top_marker_pose:
+      angle_rotation: 22.607443304409102
+      euclidean_error: -0.001196108945666352
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.164585559703875
+      euclidean_error: -0.0031337168235980872
+    base_right_marker_pose:
+      angle_rotation: 8.04679356183022
+      euclidean_error: -0.000937019071149181
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.702099414345106
+      euclidean_error: 0.003378872235598407
+    wrist_top_marker_pose:
+      angle_rotation: 22.682010073920445
+      euclidean_error: -0.0003417114513579733
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4680857704683494
+      euclidean_error: -0.0034669145573735793
+    base_right_marker_pose:
+      angle_rotation: 9.898760882449306
+      euclidean_error: -0.0011135909998176707
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.27318052068616
+      euclidean_error: 0.0030057965831465916
+    wrist_top_marker_pose:
+      angle_rotation: 19.092322949625995
+      euclidean_error: -0.0011874144704938638
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.527982968715988
+      euclidean_error: -0.0032358331989857936
+    base_right_marker_pose:
+      angle_rotation: 5.994171857796809
+      euclidean_error: -0.001326506962837537
+    shoulder_marker_pose:
+      angle_rotation: 23.658317404392267
+      euclidean_error: 0.005813098382563275
+    wrist_inside_marker_pose:
+      angle_rotation: 24.09447162261457
+      euclidean_error: 0.002464826615167337
+    wrist_top_marker_pose:
+      angle_rotation: 21.059280089511738
+      euclidean_error: -0.00011473017534491259
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.452188764961153
+      euclidean_error: -0.003189291296039176
+    base_right_marker_pose:
+      angle_rotation: 8.231990091396327
+      euclidean_error: -0.001300830394266761
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.869500206737253
+      euclidean_error: 0.0027832374262898307
+    wrist_top_marker_pose:
+      angle_rotation: 25.879990720248156
+      euclidean_error: -5.806088800841547e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.488957849334312
+      euclidean_error: -0.003110781989959066
+    base_right_marker_pose:
+      angle_rotation: 9.85078617191472
+      euclidean_error: -0.0008905969034093131
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.472429647069177
+      euclidean_error: 0.0016943959845793222
+    wrist_top_marker_pose:
+      angle_rotation: 24.66488716615619
+      euclidean_error: -0.0005567556758668823
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.41674629730559
+      euclidean_error: -0.0035874081628139987
+    base_right_marker_pose:
+      angle_rotation: 9.921076824419076
+      euclidean_error: -0.0015676780045170702
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.125436111277534
+      euclidean_error: 0.0026875834819719557
+    wrist_top_marker_pose:
+      angle_rotation: 21.361100700473834
+      euclidean_error: 8.139207265367432e-05
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003274309131212294
+    base_right_marker_pose:
+      angle_rotation: 8.812398689736149
+      euclidean_error: -0.0006924025488019847
+    shoulder_marker_pose:
+      angle_rotation: 22.51318387142583
+      euclidean_error: 0.006446869700553526
+    wrist_inside_marker_pose:
+      angle_rotation: 24.018249277124596
+      euclidean_error: 0.003341911206425241
+    wrist_top_marker_pose:
+      angle_rotation: 23.949493910744504
+      euclidean_error: 0.0010648414980023446
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.803037394339191
+      euclidean_error: -0.0033439117158728937
+    base_right_marker_pose:
+      angle_rotation: 6.705041289804779
+      euclidean_error: -0.0013235785606017236
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.520971441925937
+      euclidean_error: 0.0021736558849789755
+    wrist_top_marker_pose:
+      angle_rotation: 19.033508626146368
+      euclidean_error: 6.25686682168558e-05
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0032809830052885625
+    base_right_marker_pose:
+      angle_rotation: 9.521565971226124
+      euclidean_error: -0.00016985701833993616
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.438729160090073
+      euclidean_error: 0.002660191685470825
+    wrist_top_marker_pose:
+      angle_rotation: 18.186188014737702
+      euclidean_error: -0.0012038041977884273
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003319948914046522
+    base_right_marker_pose:
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+      euclidean_error: -0.0014525999168796266
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.002808739853475295
+    wrist_top_marker_pose:
+      angle_rotation: 17.576079720612295
+      euclidean_error: -0.0018602521393327187
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002985730313244672
+    base_right_marker_pose:
+      angle_rotation: 10.639831921532165
+      euclidean_error: -0.001203277656156465
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0024779480488648087
+    wrist_top_marker_pose:
+      angle_rotation: 24.19496257287259
+      euclidean_error: 0.0004547220604764757
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.904070034073941
+      euclidean_error: -0.0033815613595828964
+    base_right_marker_pose:
+      angle_rotation: 10.000994423101051
+      euclidean_error: -0.001251001579632538
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.8616376773246
+      euclidean_error: 0.003603096744303702
+    wrist_top_marker_pose:
+      angle_rotation: 20.43535228311112
+      euclidean_error: -0.0007898187331839557
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002880945717360972
+    base_right_marker_pose:
+      angle_rotation: 7.252147745551049
+      euclidean_error: -0.0008210989396195689
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0030651304790557665
+    wrist_top_marker_pose:
+      angle_rotation: 20.66930853860899
+      euclidean_error: 0.00040586693206157154
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0037850261183258738
+    base_right_marker_pose:
+      angle_rotation: 8.827559639413721
+      euclidean_error: -0.0003258151551985833
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.185371212270535
+      euclidean_error: 0.002913588150122104
+    wrist_top_marker_pose:
+      angle_rotation: 25.85813704293075
+      euclidean_error: -0.00044093513495935266
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0034362237459494294
+    base_right_marker_pose:
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+      euclidean_error: -0.0019989317869132384
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.71242652239941
+      euclidean_error: 0.0030730901522389997
+    wrist_top_marker_pose:
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+      euclidean_error: -0.0005210925506257125
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003087403449113957
+    base_right_marker_pose:
+      angle_rotation: 7.459295220924659
+      euclidean_error: -0.0013643165187059436
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.489166704486344
+      euclidean_error: 0.0023113821858257166
+    wrist_top_marker_pose:
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+      euclidean_error: -0.0005672922069747122
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003153974457523412
+    base_right_marker_pose:
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+      euclidean_error: -0.0005624168411758612
+    shoulder_marker_pose:
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+      euclidean_error: 0.006969034474584523
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.002664299056884256
+    wrist_top_marker_pose:
+      angle_rotation: 22.323134150846144
+      euclidean_error: -0.000531958091095186
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003630412223875612
+    base_right_marker_pose:
+      angle_rotation: 11.02358869079897
+      euclidean_error: -0.0016554471990223307
+    shoulder_marker_pose:
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+      euclidean_error: 0.006653321431908776
+    wrist_inside_marker_pose:
+      angle_rotation: 21.891983792679603
+      euclidean_error: 0.0025035750604606166
+    wrist_top_marker_pose:
+      angle_rotation: 21.113853673346973
+      euclidean_error: 0.00046727792092615683
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003164850821311793
+    base_right_marker_pose:
+      angle_rotation: 12.320895922396293
+      euclidean_error: -0.0005897060050475966
+    shoulder_marker_pose:
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+      euclidean_error: 0.007368911773469655
+    wrist_inside_marker_pose:
+      angle_rotation: 21.219361843968304
+      euclidean_error: 0.0025889695538583446
+    wrist_top_marker_pose:
+      angle_rotation: 22.732406164575735
+      euclidean_error: -3.388246964608488e-05
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002912653208165472
+    base_right_marker_pose:
+      angle_rotation: 9.101097448700239
+      euclidean_error: -0.0016500352686085185
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.827163662825676
+      euclidean_error: 0.00323419752069265
+    wrist_top_marker_pose:
+      angle_rotation: 24.04852947942666
+      euclidean_error: 0.00011805354430260984
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003569195232450806
+    base_right_marker_pose:
+      angle_rotation: 8.136635817479414
+      euclidean_error: -0.001167889676969014
+    shoulder_marker_pose:
+      angle_rotation: 19.571817591701468
+      euclidean_error: 0.006415194194556384
+    wrist_inside_marker_pose:
+      angle_rotation: 20.763021593398168
+      euclidean_error: 0.001958480806691587
+    wrist_top_marker_pose:
+      angle_rotation: 23.669941057624104
+      euclidean_error: -0.0006639402629849966
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.909381024541312
+      euclidean_error: -0.0029925030997296487
+    base_right_marker_pose:
+      angle_rotation: 10.008230628105688
+      euclidean_error: -0.000996822745998549
+    shoulder_marker_pose:
+      angle_rotation: 22.993994135210617
+      euclidean_error: 0.007036349596146296
+    wrist_inside_marker_pose:
+      angle_rotation: 18.296667811504587
+      euclidean_error: 0.0020107914279240413
+    wrist_top_marker_pose:
+      angle_rotation: 17.8111602846493
+      euclidean_error: -0.0013187372499806616
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.16335811236372
+      euclidean_error: -0.0033434826663691908
+    base_right_marker_pose:
+      angle_rotation: 6.935230085956433
+      euclidean_error: -0.0009460597745578614
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.874829115867552
+      euclidean_error: 0.002856782734300345
+    wrist_top_marker_pose:
+      angle_rotation: 22.542950324400923
+      euclidean_error: -0.0008557794856248746
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8382599648307636
+      euclidean_error: -0.0035012180107900637
+    base_right_marker_pose:
+      angle_rotation: 6.5211083522606845
+      euclidean_error: -0.0006171051034219444
+    shoulder_marker_pose:
+      angle_rotation: 23.75795912374862
+      euclidean_error: 0.006263597374645102
+    wrist_inside_marker_pose:
+      angle_rotation: 19.616507435920443
+      euclidean_error: 0.0028307168267717175
+    wrist_top_marker_pose:
+      angle_rotation: 16.29900557172142
+      euclidean_error: -0.0009352199600575206
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.760978089445825
+      euclidean_error: -0.003567842136566135
+    base_right_marker_pose:
+      angle_rotation: 9.455824329408053
+      euclidean_error: -0.0011242491671459298
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.31724045504011
+      euclidean_error: 0.0024847753341458167
+    wrist_top_marker_pose:
+      angle_rotation: 21.94012990157031
+      euclidean_error: -0.0005784907788282112
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8535807635759514
+      euclidean_error: -0.0036260210624809996
+    base_right_marker_pose:
+      angle_rotation: 6.830215588882195
+      euclidean_error: -0.001444873773383426
+    shoulder_marker_pose:
+      angle_rotation: 20.110693033713574
+      euclidean_error: 0.0061003567321213925
+    wrist_inside_marker_pose:
+      angle_rotation: 21.067224685084852
+      euclidean_error: 0.003369512388720741
+    wrist_top_marker_pose:
+      angle_rotation: 21.6066558022591
+      euclidean_error: -0.0007585502608220551
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3278598069848337
+      euclidean_error: -0.003596335418134977
+    base_right_marker_pose:
+      angle_rotation: 7.958693845328913
+      euclidean_error: -0.0010816107773506944
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.996059603820527
+      euclidean_error: 0.002182681909326023
+    wrist_top_marker_pose:
+      angle_rotation: 21.362962543092014
+      euclidean_error: -0.00032918516691349264
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9252954673498643
+      euclidean_error: -0.0035401089792115314
+    base_right_marker_pose:
+      angle_rotation: 5.712841930679503
+      euclidean_error: -0.00010361586150720026
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.80697472647006
+      euclidean_error: 0.002284389132877096
+    wrist_top_marker_pose:
+      angle_rotation: 13.822520175608682
+      euclidean_error: -0.001970227022915716
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.58631668281472
+      euclidean_error: -0.003405602785239714
+    base_right_marker_pose:
+      angle_rotation: 7.723328245027171
+      euclidean_error: -0.0015968472857088578
+    shoulder_marker_pose:
+      angle_rotation: 23.717755150116478
+      euclidean_error: 0.006481844725907737
+    wrist_inside_marker_pose:
+      angle_rotation: 20.354397951000784
+      euclidean_error: 0.0022371916168165695
+    wrist_top_marker_pose:
+      angle_rotation: 21.83831608214776
+      euclidean_error: -0.0003488494983096002
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.671368111039271
+      euclidean_error: -0.0032958922621394438
+    base_right_marker_pose:
+      angle_rotation: 7.618293069902942
+      euclidean_error: -0.0008055279076613076
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.800737218004482
+      euclidean_error: 0.0025637519581322987
+    wrist_top_marker_pose:
+      angle_rotation: 21.999153599322515
+      euclidean_error: -0.00029158214258517834
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.998133894542499
+      euclidean_error: -0.0028550790085488664
+    base_right_marker_pose:
+      angle_rotation: 10.056101484202236
+      euclidean_error: -0.00101864149244979
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.59777037392767
+      euclidean_error: 0.003696455854913072
+    wrist_top_marker_pose:
+      angle_rotation: 15.36321967927525
+      euclidean_error: 0.0004885311338294063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.87481586839102
+      euclidean_error: -0.003814699244302777
+    base_right_marker_pose:
+      angle_rotation: 10.71503859936232
+      euclidean_error: -0.0018764322115423226
+    shoulder_marker_pose:
+      angle_rotation: 24.37441928254007
+      euclidean_error: 0.006187560892556676
+    wrist_inside_marker_pose:
+      angle_rotation: 18.006422991219786
+      euclidean_error: 0.002174447506425037
+    wrist_top_marker_pose:
+      angle_rotation: 24.134584064291513
+      euclidean_error: -0.0002659495472360218
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.076536735155024
+      euclidean_error: -0.0034197887328570875
+    base_right_marker_pose:
+      angle_rotation: 7.5987507169775155
+      euclidean_error: -0.00021421286109213344
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.16831213016709
+      euclidean_error: 0.0022221184144741724
+    wrist_top_marker_pose:
+      angle_rotation: 21.192536573762563
+      euclidean_error: -0.0004450759796155168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.237588951658725
+      euclidean_error: -0.003200593264796159
+    base_right_marker_pose:
+      angle_rotation: 8.4066984799782
+      euclidean_error: -0.0012350343890354942
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.269965215906822
+      euclidean_error: 0.0024062995907782048
+    wrist_top_marker_pose:
+      angle_rotation: 19.198760811218733
+      euclidean_error: -0.0017519508714942678
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.343655271774881
+      euclidean_error: -0.0029848338040052713
+    base_right_marker_pose:
+      angle_rotation: 7.41104094518756
+      euclidean_error: -0.0007691133338302292
+    shoulder_marker_pose:
+      angle_rotation: 20.296086654009084
+      euclidean_error: 0.006170292660199417
+    wrist_inside_marker_pose:
+      angle_rotation: 22.15367985619258
+      euclidean_error: 0.0027143864717216193
+    wrist_top_marker_pose:
+      angle_rotation: 22.19410611328353
+      euclidean_error: -0.0001254959902933228
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.00241070840804
+      euclidean_error: -0.003297347542820517
+    base_right_marker_pose:
+      angle_rotation: 11.900142982452364
+      euclidean_error: -0.000295174499519657
+    shoulder_marker_pose:
+      angle_rotation: 23.650120463890527
+      euclidean_error: 0.007143869172012263
+    wrist_inside_marker_pose:
+      angle_rotation: 21.37435014588894
+      euclidean_error: 0.002767146539102261
+    wrist_top_marker_pose:
+      angle_rotation: 15.924402244131391
+      euclidean_error: -0.0008971266786814702
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.020678208873493
+      euclidean_error: -0.003290178218485318
+    base_right_marker_pose:
+      angle_rotation: 9.070789220589532
+      euclidean_error: -0.0013920056273463155
+    shoulder_marker_pose:
+      angle_rotation: 20.7930121546023
+      euclidean_error: 0.006384669107946439
+    wrist_inside_marker_pose:
+      angle_rotation: 18.640389808796698
+      euclidean_error: 0.002728637163792902
+    wrist_top_marker_pose:
+      angle_rotation: 22.82029797612036
+      euclidean_error: -0.0008864151773909645
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6028027743477375
+      euclidean_error: -0.003064523713441125
+    base_right_marker_pose:
+      angle_rotation: 9.45772602542126
+      euclidean_error: -0.000519723761088664
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.172467741437078
+      euclidean_error: 0.003071202476705559
+    wrist_top_marker_pose:
+      angle_rotation: 17.950959550635055
+      euclidean_error: -0.0002651535573959807
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.4198302837103425
+      euclidean_error: -0.002836758013943119
+    base_right_marker_pose:
+      angle_rotation: 6.937264084339779
+      euclidean_error: -0.00045190892080726464
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.263387973423782
+      euclidean_error: 0.0026784788670950466
+    wrist_top_marker_pose:
+      angle_rotation: 25.494273242623397
+      euclidean_error: 0.00021743097129256483
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.2186273191301655
+      euclidean_error: -0.003095472560457946
+    base_right_marker_pose:
+      angle_rotation: 8.057467418846903
+      euclidean_error: -0.001610973636328561
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.04849090770908
+      euclidean_error: 0.001688250072605535
+    wrist_top_marker_pose:
+      angle_rotation: 20.034920929378956
+      euclidean_error: -0.001521379546319479
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.0317993269622345
+      euclidean_error: -0.0030950103234630433
+    base_right_marker_pose:
+      angle_rotation: 6.048376339720815
+      euclidean_error: -0.0013241721958220376
+    shoulder_marker_pose:
+      angle_rotation: 21.63416601581793
+      euclidean_error: 0.006718414687379437
+    wrist_inside_marker_pose:
+      angle_rotation: 21.47765965110154
+      euclidean_error: 0.0031743614965044076
+    wrist_top_marker_pose:
+      angle_rotation: 26.877180181058023
+      euclidean_error: 0.00010849619700437074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.377312692593278
+      euclidean_error: -0.0029405833433135964
+    base_right_marker_pose:
+      angle_rotation: 7.343510903859224
+      euclidean_error: -0.0014586823167302976
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.081470632319537
+      euclidean_error: 0.002734356733982146
+    wrist_top_marker_pose:
+      angle_rotation: 21.702328135167985
+      euclidean_error: 0.0006281423018921206
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.018633925098125
+      euclidean_error: -0.0034833302447893066
+    base_right_marker_pose:
+      angle_rotation: 9.148459302908602
+      euclidean_error: -0.0005675687025883391
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.405537590420035
+      euclidean_error: 0.002723129312249273
+    wrist_top_marker_pose:
+      angle_rotation: 17.195629612018053
+      euclidean_error: 3.039361808221397e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.208763758081033
+      euclidean_error: -0.0033157698008656755
+    base_right_marker_pose:
+      angle_rotation: 6.915671742976078
+      euclidean_error: -0.002136353072459851
+    shoulder_marker_pose:
+      angle_rotation: 22.765507348930615
+      euclidean_error: 0.005631234972959809
+    wrist_inside_marker_pose:
+      angle_rotation: 22.815107472098042
+      euclidean_error: 0.002947628635717847
+    wrist_top_marker_pose:
+      angle_rotation: 22.89565280696155
+      euclidean_error: -0.0014430185827593034
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.731639777980065
+      euclidean_error: -0.0026102683496479484
+    base_right_marker_pose:
+      angle_rotation: 7.198872839736449
+      euclidean_error: -0.0014723366763681467
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.778102201779028
+      euclidean_error: 0.002081194627685079
+    wrist_top_marker_pose:
+      angle_rotation: 21.249870330403066
+      euclidean_error: -0.0011840039739769992
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9850940824787315
+      euclidean_error: -0.0034976049243803375
+    base_right_marker_pose:
+      angle_rotation: 8.284886917310109
+      euclidean_error: -0.0013708541705793609
+    shoulder_marker_pose:
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+      euclidean_error: 0.006732008983120319
+    wrist_inside_marker_pose:
+      angle_rotation: 21.56156174764506
+      euclidean_error: 0.0029327670629861746
+    wrist_top_marker_pose:
+      angle_rotation: 22.6231715714573
+      euclidean_error: -0.0008566836140841971
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.602744189633985
+      euclidean_error: -0.0034774164354924864
+    base_right_marker_pose:
+      angle_rotation: 12.063975956152268
+      euclidean_error: -0.001166689311146607
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.754209353123372
+      euclidean_error: 0.0027960410233089927
+    wrist_top_marker_pose:
+      angle_rotation: 21.695845969655892
+      euclidean_error: 0.00040709103121916446
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.453983483975938
+      euclidean_error: -0.0032447263057371334
+    base_right_marker_pose:
+      angle_rotation: 12.52673714162596
+      euclidean_error: -0.0002977968532006381
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.187889482595928
+      euclidean_error: 0.0034853038277963266
+    wrist_top_marker_pose:
+      angle_rotation: 23.40588713615053
+      euclidean_error: 0.0014326484046803811
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1178647288076413
+      euclidean_error: -0.0033571329964456886
+    base_right_marker_pose:
+      angle_rotation: 7.041558687214392
+      euclidean_error: -0.00043712863330447327
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.047779721336706
+      euclidean_error: 0.003028355666126581
+    wrist_top_marker_pose:
+      angle_rotation: 21.990803829077777
+      euclidean_error: -0.0008608130900042976
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.318868910200014
+      euclidean_error: -0.003413792935861193
+    base_right_marker_pose:
+      angle_rotation: 8.541476570492183
+      euclidean_error: -0.00043068353039232843
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.488426959694035
+      euclidean_error: 0.002457041838836549
+    wrist_top_marker_pose:
+      angle_rotation: 21.863065290650898
+      euclidean_error: -0.00045493508174820896
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.560539846193916
+      euclidean_error: -0.0033605279105973773
+    base_right_marker_pose:
+      angle_rotation: 10.743244479988151
+      euclidean_error: -0.0007433168799336753
+    shoulder_marker_pose:
+      angle_rotation: 25.057348038105367
+      euclidean_error: 0.006985087979259008
+    wrist_inside_marker_pose:
+      angle_rotation: 19.683540261240847
+      euclidean_error: 0.002449469390859327
+    wrist_top_marker_pose:
+      angle_rotation: 22.331015559608396
+      euclidean_error: 0.0004541557336497082
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.183259356357329
+      euclidean_error: -0.002743010686241165
+    base_right_marker_pose:
+      angle_rotation: 6.463975744351221
+      euclidean_error: -0.0009064863537319168
+    shoulder_marker_pose:
+      angle_rotation: 21.642425240740177
+      euclidean_error: 0.005985638423716355
+    wrist_inside_marker_pose:
+      angle_rotation: 17.226797661540658
+      euclidean_error: 0.0031793499309874518
+    wrist_top_marker_pose:
+      angle_rotation: 17.155213866065495
+      euclidean_error: -0.0010222241301348634
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.424014879992216
+      euclidean_error: -0.003246331230230215
+    base_right_marker_pose:
+      angle_rotation: 5.6894768823097905
+      euclidean_error: -0.001175205621120945
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.074596698450712
+      euclidean_error: 0.002723774224030917
+    wrist_top_marker_pose:
+      angle_rotation: 22.06501619567032
+      euclidean_error: 0.0015188856204697565
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.948775423127588
+      euclidean_error: -0.003151781488319405
+    base_right_marker_pose:
+      angle_rotation: 5.113578879971902
+      euclidean_error: -0.0007703083253183252
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 14.666330628799304
+      euclidean_error: 0.0026120750805463944
+    wrist_top_marker_pose:
+      angle_rotation: 22.36827074867159
+      euclidean_error: -0.0009164113556177078
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.084436318289224
+      euclidean_error: -0.0029937119049141536
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.54980055416307
+      euclidean_error: 0.0026922063715275613
+    wrist_top_marker_pose:
+      angle_rotation: 22.52542109662894
+      euclidean_error: 0.000245459760160438
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0030913308089572933
+    base_right_marker_pose:
+      angle_rotation: 9.218339087613417
+      euclidean_error: -0.0003301552772949634
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.610311888113067
+      euclidean_error: 0.0026577321045158087
+    wrist_top_marker_pose:
+      angle_rotation: 20.636996050186966
+      euclidean_error: -0.00020849735978845096
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.3910405334706235
+      euclidean_error: -0.0029544769537084292
+    base_right_marker_pose:
+      angle_rotation: 10.730390636364081
+      euclidean_error: -0.0011586641683591914
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.14028629611404
+      euclidean_error: 0.002767298348801961
+    wrist_top_marker_pose:
+      angle_rotation: 23.445041527614293
+      euclidean_error: -0.00016807492509951505
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.298123053734591
+      euclidean_error: -0.003390646422939625
+    base_right_marker_pose:
+      angle_rotation: 7.6959345754939665
+      euclidean_error: -0.0021446459091675196
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.698191139719395
+      euclidean_error: 0.002867727442013024
+    wrist_top_marker_pose:
+      angle_rotation: 22.5856636107755
+      euclidean_error: -0.00016035023063543097
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.136261675889473
+      euclidean_error: -0.003318615042087192
+    base_right_marker_pose:
+      angle_rotation: 10.608431433098584
+      euclidean_error: -0.0011981826999514222
+    shoulder_marker_pose:
+      angle_rotation: 18.94672102934911
+      euclidean_error: 0.006226776172406967
+    wrist_inside_marker_pose:
+      angle_rotation: 21.596129868077277
+      euclidean_error: 0.002908282078619151
+    wrist_top_marker_pose:
+      angle_rotation: 22.345838967351735
+      euclidean_error: 0.00043038951663565417
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.0412381070765395
+      euclidean_error: -0.0029327651164461344
+    base_right_marker_pose:
+      angle_rotation: 9.880480041595115
+      euclidean_error: -0.0013541197877291467
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.670738472814765
+      euclidean_error: 0.0013495849292803896
+    wrist_top_marker_pose:
+      angle_rotation: 18.667740689093932
+      euclidean_error: -0.0018066410987142012
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.656746161892408
+      euclidean_error: -0.0031260647936814934
+    base_right_marker_pose:
+      angle_rotation: 6.417429983075504
+      euclidean_error: -0.0008845460926286686
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.793582638754753
+      euclidean_error: 0.003202559514938197
+    wrist_top_marker_pose:
+      angle_rotation: 26.26776944051771
+      euclidean_error: 0.0006512940843743653
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3078905420234634
+      euclidean_error: -0.003568395464657148
+    base_right_marker_pose:
+      angle_rotation: 9.287396543758543
+      euclidean_error: -0.0012087451185996967
+    shoulder_marker_pose:
+      angle_rotation: 25.21394933499847
+      euclidean_error: 0.005807706067014418
+    wrist_inside_marker_pose:
+      angle_rotation: 17.150230817788856
+      euclidean_error: 0.002657492891896429
+    wrist_top_marker_pose:
+      angle_rotation: 23.75142433351907
+      euclidean_error: -0.00048020627137690397
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5144628087919596
+      euclidean_error: -0.0032195021430510007
+    base_right_marker_pose:
+      angle_rotation: 9.378412493031561
+      euclidean_error: -0.0012604347504024949
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.809512780211133
+      euclidean_error: 0.0019415742021920979
+    wrist_top_marker_pose:
+      angle_rotation: 21.21751306932758
+      euclidean_error: -0.0005783864116732929
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0029469023265010774
+    base_right_marker_pose:
+      angle_rotation: 10.025163089231683
+      euclidean_error: -0.0009028907915694662
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.250228159141898
+      euclidean_error: 0.0015870961212494095
+    wrist_top_marker_pose:
+      angle_rotation: 21.227503215823916
+      euclidean_error: -0.0009752991685489931
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.927099142642357
+      euclidean_error: -0.0034810177121351593
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.94663913234084
+      euclidean_error: 0.0023629009342424068
+    wrist_top_marker_pose:
+      angle_rotation: 17.715483625899523
+      euclidean_error: -0.0016701473930336164
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.860783632745201
+      euclidean_error: -0.0030028464082827444
+    base_right_marker_pose:
+      angle_rotation: 7.26045175104982
+      euclidean_error: -0.00034385450437268705
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.893672197399972
+      euclidean_error: 0.0032897699795551016
+    wrist_top_marker_pose:
+      angle_rotation: 26.021318209871485
+      euclidean_error: 0.0011883135382951826
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.539021266394786
+      euclidean_error: -0.0031232737052471204
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.8022812953996
+      euclidean_error: 0.002595443409669662
+    wrist_top_marker_pose:
+      angle_rotation: 22.72699290473383
+      euclidean_error: -0.0012305901614213521
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.47952359591109
+      euclidean_error: -0.003247545094411719
+    base_right_marker_pose:
+      angle_rotation: 11.647193364108864
+      euclidean_error: -0.0010823523406994218
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.308286296091122
+      euclidean_error: 0.0016970779699848615
+    wrist_top_marker_pose:
+      angle_rotation: 19.152765106718554
+      euclidean_error: -0.00027381818070848496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.880200495181909
+      euclidean_error: -0.003208547882800672
+    base_right_marker_pose:
+      angle_rotation: 6.460613126202221
+      euclidean_error: -0.0014859663612711849
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.03271734051242
+      euclidean_error: 0.002617374528158689
+    wrist_top_marker_pose:
+      angle_rotation: 22.481667919568867
+      euclidean_error: -0.0008655569399877994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.023417797715682
+      euclidean_error: -0.0033194800187124063
+    base_right_marker_pose:
+      angle_rotation: 9.0464744047279
+      euclidean_error: -0.0009970422251601718
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.218230092440763
+      euclidean_error: 0.003268471648823379
+    wrist_top_marker_pose:
+      angle_rotation: 20.496958669902334
+      euclidean_error: -0.000123418894473315
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.168961726349834
+      euclidean_error: -0.0035238630024059248
+    base_right_marker_pose:
+      angle_rotation: 9.70622467011787
+      euclidean_error: -0.0014931130126459857
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.05218579414898
+      euclidean_error: 0.00296565068336363
+    wrist_top_marker_pose:
+      angle_rotation: 25.392758885870638
+      euclidean_error: 0.0007009292795195909
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.332465441192618
+      euclidean_error: -0.0032297877112075213
+    base_right_marker_pose:
+      angle_rotation: 5.990177949160125
+      euclidean_error: -0.00010330942159464396
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.760603725801637
+      euclidean_error: 0.003744482995383547
+    wrist_top_marker_pose:
+      angle_rotation: 25.401714983580646
+      euclidean_error: -0.00014912155085233803
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.061457699542029
+      euclidean_error: -0.0033607511215109076
+    base_right_marker_pose:
+      angle_rotation: 7.078853936493593
+      euclidean_error: -0.0010758211762262881
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.100483939571703
+      euclidean_error: 0.0027386754840934557
+    wrist_top_marker_pose:
+      angle_rotation: 25.14256570146245
+      euclidean_error: 0.0005482371204891257
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.0932533357846825
+      euclidean_error: -0.0033370207649709993
+    base_right_marker_pose:
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+      euclidean_error: -0.0006368952768860403
+    shoulder_marker_pose:
+      angle_rotation: 25.0584663316395
+      euclidean_error: 0.006283508524457471
+    wrist_inside_marker_pose:
+      angle_rotation: 24.03332518205566
+      euclidean_error: 0.0024730147173724903
+    wrist_top_marker_pose:
+      angle_rotation: 28.710930921342072
+      euclidean_error: -0.00028081315097849835
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0030208740579791282
+    base_right_marker_pose:
+      angle_rotation: 9.35174050518533
+      euclidean_error: -0.0013517952457051674
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.070257191870045
+      euclidean_error: 0.0025758481811606337
+    wrist_top_marker_pose:
+      angle_rotation: 20.285186649416953
+      euclidean_error: -0.0008015483016829972
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6877117808949555
+      euclidean_error: -0.003829690203099867
+    base_right_marker_pose:
+      angle_rotation: 10.964915547404113
+      euclidean_error: -0.0009133327388302082
+    shoulder_marker_pose:
+      angle_rotation: 21.905973748254016
+      euclidean_error: 0.006171178099641295
+    wrist_inside_marker_pose:
+      angle_rotation: 22.01244577001922
+      euclidean_error: 0.0027205272661883217
+    wrist_top_marker_pose:
+      angle_rotation: 22.836763145186385
+      euclidean_error: 0.00021365549201324274
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0025748067486459636
+    base_right_marker_pose:
+      angle_rotation: 10.279537807963255
+      euclidean_error: -0.0012804010288862688
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.060512875530524
+      euclidean_error: 0.002525378602091677
+    wrist_top_marker_pose:
+      angle_rotation: 21.38427097755144
+      euclidean_error: 0.0003900426342205998
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0029357845413510164
+    base_right_marker_pose:
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+      euclidean_error: -0.00035912193333342834
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.993313780278523
+      euclidean_error: 0.0029649087841981947
+    wrist_top_marker_pose:
+      angle_rotation: 26.363111188978824
+      euclidean_error: 0.0001708183257402851
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0036224540800156024
+    base_right_marker_pose:
+      angle_rotation: 7.756354447401963
+      euclidean_error: -0.0011607920424653306
+    shoulder_marker_pose:
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+      euclidean_error: 0.0063490530967337255
+    wrist_inside_marker_pose:
+      angle_rotation: 18.27445422831773
+      euclidean_error: 0.0025905197666449276
+    wrist_top_marker_pose:
+      angle_rotation: 18.959425206356855
+      euclidean_error: -0.0011132758416440014
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003032800565808569
+    base_right_marker_pose:
+      angle_rotation: 9.500291959618778
+      euclidean_error: 0.00010478849100858945
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.255053899765397
+      euclidean_error: 0.003374646363541123
+    wrist_top_marker_pose:
+      angle_rotation: 22.735379842454385
+      euclidean_error: -0.0005399244657465774
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002607730815404663
+    base_right_marker_pose:
+      angle_rotation: 11.335591655712857
+      euclidean_error: -0.0012869041610922283
+    shoulder_marker_pose:
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+      euclidean_error: 0.0063883459505970075
+    wrist_inside_marker_pose:
+      angle_rotation: 20.08535955453228
+      euclidean_error: 0.0018374959996844131
+    wrist_top_marker_pose:
+      angle_rotation: 22.31558969311931
+      euclidean_error: -0.0006431586778440357
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0029267701386983536
+    base_right_marker_pose:
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+      euclidean_error: -0.0005725251328495551
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0029348558421592452
+    wrist_top_marker_pose:
+      angle_rotation: 18.59399636348442
+      euclidean_error: -0.0013290825890768243
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0030608171018471353
+    base_right_marker_pose:
+      angle_rotation: 7.3664518301242765
+      euclidean_error: -0.0013718463884450083
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0031080091548776334
+    wrist_top_marker_pose:
+      angle_rotation: 23.57538296062903
+      euclidean_error: -9.150037481919782e-06
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0036926518357152105
+    base_right_marker_pose:
+      angle_rotation: 7.588992512337436
+      euclidean_error: -0.0014663234486517185
+    shoulder_marker_pose:
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+      euclidean_error: 0.0064884877872543045
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.002999713119781533
+    wrist_top_marker_pose:
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+      euclidean_error: 0.00024999222499733076
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0032217475530175177
+    base_right_marker_pose:
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+      euclidean_error: -0.0006028444340351324
+    shoulder_marker_pose:
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+      euclidean_error: 0.006683115083190416
+    wrist_inside_marker_pose:
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+      euclidean_error: 0.0025584140244757636
+    wrist_top_marker_pose:
+      angle_rotation: 16.371460638368607
+      euclidean_error: -0.0019856550079691004
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0026596567651127057
+    base_right_marker_pose:
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+      euclidean_error: -0.0012778054207585043
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.669602129010062
+      euclidean_error: 0.002895627307827442
+    wrist_top_marker_pose:
+      angle_rotation: 19.888256406947086
+      euclidean_error: 0.0004432306032522426
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0027774991340268063
+    base_right_marker_pose:
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+      euclidean_error: -0.0005020116101869254
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.245846667034346
+      euclidean_error: 0.002729779661967968
+    wrist_top_marker_pose:
+      angle_rotation: 23.53167817922749
+      euclidean_error: 0.0009787067735312904
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002964752521250058
+    base_right_marker_pose:
+      angle_rotation: 8.447568165324661
+      euclidean_error: -0.0010836198828387822
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.998781636189026
+      euclidean_error: 0.003030509876204457
+    wrist_top_marker_pose:
+      angle_rotation: 23.432438051248837
+      euclidean_error: 0.0008393373017839822
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0034697461741926006
+    base_right_marker_pose:
+      angle_rotation: 8.667978199763104
+      euclidean_error: -0.0013241404464908735
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.40090596711872
+      euclidean_error: 0.0029077379622538535
+    wrist_top_marker_pose:
+      angle_rotation: 21.897515291862643
+      euclidean_error: 0.000543181662863601
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1181561692554274
+      euclidean_error: -0.003623474586745612
+    base_right_marker_pose:
+      angle_rotation: 9.620090197509215
+      euclidean_error: -0.0005888806688666426
+    shoulder_marker_pose:
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+      euclidean_error: 0.0065432663453331985
+    wrist_inside_marker_pose:
+      angle_rotation: 19.075957647378807
+      euclidean_error: 0.0026023174492971757
+    wrist_top_marker_pose:
+      angle_rotation: 19.91598696910449
+      euclidean_error: -0.00013666441500881366
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0033760600503695004
+    base_right_marker_pose:
+      angle_rotation: 7.750109440491115
+      euclidean_error: -0.0013514736442884479
+    shoulder_marker_pose:
+      angle_rotation: 26.816225703695522
+      euclidean_error: 0.006251520889284157
+    wrist_inside_marker_pose:
+      angle_rotation: 20.199548964126826
+      euclidean_error: 0.003230955193274432
+    wrist_top_marker_pose:
+      angle_rotation: 22.799461422608864
+      euclidean_error: -0.001100206465107334
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.777195238672663
+      euclidean_error: -0.003492471622758009
+    base_right_marker_pose:
+      angle_rotation: 9.668981691677471
+      euclidean_error: -0.001302629231411112
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.4533224446189
+      euclidean_error: 0.0027069116578305463
+    wrist_top_marker_pose:
+      angle_rotation: 17.366428186739046
+      euclidean_error: -0.001300537352989073
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.884957147722337
+      euclidean_error: -0.002997382021275974
+    base_right_marker_pose:
+      angle_rotation: 7.957316412515499
+      euclidean_error: -0.0005336578801868885
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.934137778235357
+      euclidean_error: 0.002106425524033506
+    wrist_top_marker_pose:
+      angle_rotation: 21.838110357583645
+      euclidean_error: -0.001059888289458799
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.037129470343031
+      euclidean_error: -0.003256049945731365
+    base_right_marker_pose:
+      angle_rotation: 7.4348942366291935
+      euclidean_error: -0.0011586720904459558
+    shoulder_marker_pose:
+      angle_rotation: 22.72169590975667
+      euclidean_error: 0.006220334697710994
+    wrist_inside_marker_pose:
+      angle_rotation: 21.45089568312485
+      euclidean_error: 0.0024049026155391617
+    wrist_top_marker_pose:
+      angle_rotation: 19.194648620966703
+      euclidean_error: -0.00010664335162746674
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.058298043578191
+      euclidean_error: -0.0033940748054051006
+    base_right_marker_pose:
+      angle_rotation: 8.96285933450392
+      euclidean_error: -0.001355905773346655
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.047561629344777
+      euclidean_error: 0.002810288508099945
+    wrist_top_marker_pose:
+      angle_rotation: 18.087090963351585
+      euclidean_error: -0.0013004575687232123
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 8.145526728639403
+      euclidean_error: -0.002677698375351145
+    base_right_marker_pose:
+      angle_rotation: 11.688843464827745
+      euclidean_error: -0.000859941087652305
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.428922609757397
+      euclidean_error: 0.003462974492545179
+    wrist_top_marker_pose:
+      angle_rotation: 20.186493374850826
+      euclidean_error: -0.0005099882714593162
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.390261362997827
+      euclidean_error: -0.0032457728911889916
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.653813222169372
+      euclidean_error: 0.002447849073268893
+    wrist_top_marker_pose:
+      angle_rotation: 21.761846387101205
+      euclidean_error: -0.0001942267159991129
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1502776691262677
+      euclidean_error: -0.0036424968443007355
+    base_right_marker_pose:
+      angle_rotation: 7.211587363285201
+      euclidean_error: -0.0008391385365372761
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.051506354463637
+      euclidean_error: 0.003010403704336362
+    wrist_top_marker_pose:
+      angle_rotation: 24.07516583413365
+      euclidean_error: 0.0010501521336241382
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4899511584148692
+      euclidean_error: -0.003693440548291571
+    base_right_marker_pose:
+      angle_rotation: 8.90187874781319
+      euclidean_error: -0.0008507183581829558
+    shoulder_marker_pose:
+      angle_rotation: 23.446760578801758
+      euclidean_error: 0.005363231420211112
+    wrist_inside_marker_pose:
+      angle_rotation: 22.35430028091128
+      euclidean_error: 0.0030807721678738353
+    wrist_top_marker_pose:
+      angle_rotation: 23.092847781339874
+      euclidean_error: 0.00015081329599697657
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.491963156413739
+      euclidean_error: -0.0029786282165584765
+    base_right_marker_pose:
+      angle_rotation: 9.764948294435845
+      euclidean_error: -0.00019198254191221675
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.013332456067694
+      euclidean_error: 0.0026586044386199825
+    wrist_top_marker_pose:
+      angle_rotation: 19.99214031524029
+      euclidean_error: -0.00023965988089802437
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5140388561221982
+      euclidean_error: -0.00368700648708975
+    base_right_marker_pose:
+      angle_rotation: 6.298916528278123
+      euclidean_error: -0.0018104753668112261
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.77000222384049
+      euclidean_error: 0.002112360109026934
+    wrist_top_marker_pose:
+      angle_rotation: 27.273660551449723
+      euclidean_error: -0.0008623733743098327
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.228118732113306
+      euclidean_error: -0.0028815321760818913
+    base_right_marker_pose:
+      angle_rotation: 6.062405061230236
+      euclidean_error: -0.0006330535784575542
+    shoulder_marker_pose:
+      angle_rotation: 20.256663543182952
+      euclidean_error: 0.005895387881942549
+    wrist_inside_marker_pose:
+      angle_rotation: 19.37000011680251
+      euclidean_error: 0.003100364625414076
+    wrist_top_marker_pose:
+      angle_rotation: 18.595089871596088
+      euclidean_error: 0.0006266644754910899
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.001337663553806
+      euclidean_error: -0.0030903000705198025
+    base_right_marker_pose:
+      angle_rotation: 10.980693400204096
+      euclidean_error: -0.0007050210229826437
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.96503427404893
+      euclidean_error: 0.002231461380611588
+    wrist_top_marker_pose:
+      angle_rotation: 22.354224934291913
+      euclidean_error: -0.0016905988583686415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.993731391575941
+      euclidean_error: -0.003500810249295716
+    base_right_marker_pose:
+      angle_rotation: 10.716909883659854
+      euclidean_error: -0.001389264268292223
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.020304974266242
+      euclidean_error: 0.00294003566486567
+    wrist_top_marker_pose:
+      angle_rotation: 24.68177756614845
+      euclidean_error: -0.0010081119004379246
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8011257638443627
+      euclidean_error: -0.0036601897968839836
+    base_right_marker_pose:
+      angle_rotation: 9.238355003986092
+      euclidean_error: -0.0011347806508300584
+    shoulder_marker_pose:
+      angle_rotation: 25.143643952873365
+      euclidean_error: 0.0057071800785016835
+    wrist_inside_marker_pose:
+      angle_rotation: 22.338459956454443
+      euclidean_error: 0.002593678475121486
+    wrist_top_marker_pose:
+      angle_rotation: 20.681216898679242
+      euclidean_error: -0.0005351797835376759
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.120069780200114
+      euclidean_error: -0.0034633377917778763
+    base_right_marker_pose:
+      angle_rotation: 7.199293420032821
+      euclidean_error: -0.0012566011135914934
+    shoulder_marker_pose:
+      angle_rotation: 24.224296960829594
+      euclidean_error: 0.0055853676488351045
+    wrist_inside_marker_pose:
+      angle_rotation: 20.595958444605234
+      euclidean_error: 0.0027442653092064617
+    wrist_top_marker_pose:
+      angle_rotation: 25.043059559008434
+      euclidean_error: 0.00010349951962174142
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.691171803550968
+      euclidean_error: -0.0032131518305076323
+    base_right_marker_pose:
+      angle_rotation: 8.706858574689191
+      euclidean_error: -0.0009956143738741874
+    shoulder_marker_pose:
+      angle_rotation: 23.461953857262312
+      euclidean_error: 0.006172649713389933
+    wrist_inside_marker_pose:
+      angle_rotation: 20.743418358086128
+      euclidean_error: 0.0026413384636096993
+    wrist_top_marker_pose:
+      angle_rotation: 22.448879866556506
+      euclidean_error: 0.0006495921925304682
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6553268635926526
+      euclidean_error: -0.003501221779816599
+    base_right_marker_pose:
+      angle_rotation: 4.8740232490166
+      euclidean_error: -0.001120524034074366
+    shoulder_marker_pose:
+      angle_rotation: 21.324046332558023
+      euclidean_error: 0.006190939689324937
+    wrist_inside_marker_pose:
+      angle_rotation: 22.211408824772278
+      euclidean_error: 0.0034419552102129547
+    wrist_top_marker_pose:
+      angle_rotation: 22.996232962422145
+      euclidean_error: -0.000473997941045301
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6817767352507187
+      euclidean_error: -0.0032942875502258717
+    base_right_marker_pose:
+      angle_rotation: 8.63763567391644
+      euclidean_error: -0.0006861941501028479
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.080845649199876
+      euclidean_error: 0.0028996400788977583
+    wrist_top_marker_pose:
+      angle_rotation: 22.7924362657574
+      euclidean_error: -0.0009033870567114466
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5569928945549956
+      euclidean_error: -0.0038035655454252693
+    base_right_marker_pose:
+      angle_rotation: 7.471485353895784
+      euclidean_error: -0.0017679099653361563
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.16065632104234
+      euclidean_error: 0.0019682448547891918
+    wrist_top_marker_pose:
+      angle_rotation: 18.698143869053094
+      euclidean_error: -0.0006776681839396614
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1740015377600566
+      euclidean_error: -0.0032046938693700566
+    base_right_marker_pose:
+      angle_rotation: 9.138265267784787
+      euclidean_error: -0.0008349868155642648
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.73578733453309
+      euclidean_error: 0.003107771584147212
+    wrist_top_marker_pose:
+      angle_rotation: 19.590151675914516
+      euclidean_error: -0.0011079752062570503
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.495587766994977
+      euclidean_error: -0.00358685445917839
+    base_right_marker_pose:
+      angle_rotation: 8.795445305063446
+      euclidean_error: -0.001770754600644464
+    shoulder_marker_pose:
+      angle_rotation: 21.99315134552907
+      euclidean_error: 0.006301911089205525
+    wrist_inside_marker_pose:
+      angle_rotation: 23.023011840743127
+      euclidean_error: 0.0026011779617294284
+    wrist_top_marker_pose:
+      angle_rotation: 22.97579274726193
+      euclidean_error: -0.00018214551103223897
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8839903692240436
+      euclidean_error: -0.003794219035684776
+    base_right_marker_pose:
+      angle_rotation: 7.194151488243421
+      euclidean_error: -0.0006892250991569204
+    shoulder_marker_pose:
+      angle_rotation: 23.852753699176652
+      euclidean_error: 0.005601908198437422
+    wrist_inside_marker_pose:
+      angle_rotation: 22.117550831643726
+      euclidean_error: 0.0028024431606539224
+    wrist_top_marker_pose:
+      angle_rotation: 26.061787957007258
+      euclidean_error: -0.00015034500212607327
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.6157954064116655
+      euclidean_error: -0.0031934586723598724
+    base_right_marker_pose:
+      angle_rotation: 11.32880545282982
+      euclidean_error: -0.0011844392833596507
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.8156773737812
+      euclidean_error: 0.0026125143394556405
+    wrist_top_marker_pose:
+      angle_rotation: 24.847976840327217
+      euclidean_error: -0.0008332802069911383
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.5041556902397035
+      euclidean_error: -0.0034204197290743643
+    base_right_marker_pose:
+      angle_rotation: 6.7255292180488935
+      euclidean_error: -0.001258659687603636
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.990992585323664
+      euclidean_error: 0.0019413979199272013
+    wrist_top_marker_pose:
+      angle_rotation: 19.9759194543998
+      euclidean_error: -0.0003723385216228836
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0030853792813976266
+    base_right_marker_pose:
+      angle_rotation: 8.148305528943833
+      euclidean_error: -0.0002960899769238745
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.215925570123133
+      euclidean_error: 0.00256405160541906
+    wrist_top_marker_pose:
+      angle_rotation: 20.057394868995814
+      euclidean_error: 0.000770744959640024
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.04253109342003
+      euclidean_error: -0.002725345004629731
+    base_right_marker_pose:
+      angle_rotation: 7.132466688669675
+      euclidean_error: -0.0006725073863860231
+    shoulder_marker_pose:
+      angle_rotation: 27.64323421448548
+      euclidean_error: 0.006539399188809414
+    wrist_inside_marker_pose:
+      angle_rotation: 16.784313108708165
+      euclidean_error: 0.0026166195403892756
+    wrist_top_marker_pose:
+      angle_rotation: 20.94198376570626
+      euclidean_error: -9.886068400355441e-05
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0034987800016220705
+    base_right_marker_pose:
+      angle_rotation: 11.47974221483659
+      euclidean_error: -4.867117671381038e-05
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.5244194014932
+      euclidean_error: 0.002354285692998004
+    wrist_top_marker_pose:
+      angle_rotation: 21.703331624124388
+      euclidean_error: -0.0011519586236087287
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003660725245748009
+    base_right_marker_pose:
+      angle_rotation: 9.776904312325076
+      euclidean_error: -0.0007844183809999627
+    shoulder_marker_pose:
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+      euclidean_error: 0.0070868501871268474
+    wrist_inside_marker_pose:
+      angle_rotation: 21.488748816693295
+      euclidean_error: 0.0030361895160320174
+    wrist_top_marker_pose:
+      angle_rotation: 21.677718674097306
+      euclidean_error: 0.0011444574605207203
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.003456876454121516
+    base_right_marker_pose:
+      angle_rotation: 9.34991997672621
+      euclidean_error: -0.0013345912581929076
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.390672201490002
+      euclidean_error: 0.0030571919943762627
+    wrist_top_marker_pose:
+      angle_rotation: 26.990502314760775
+      euclidean_error: 0.0013977910217172207
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.449284268136562
+      euclidean_error: -0.00357935270200449
+    base_right_marker_pose:
+      angle_rotation: 11.36666320400104
+      euclidean_error: -0.0002501531560398229
+    shoulder_marker_pose:
+      angle_rotation: 20.825890893064653
+      euclidean_error: 0.005920923103636566
+    wrist_inside_marker_pose:
+      angle_rotation: 21.59462702663246
+      euclidean_error: 0.0026757093872523674
+    wrist_top_marker_pose:
+      angle_rotation: 24.056712672024823
+      euclidean_error: -0.0008380632730025095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.655903190890305
+      euclidean_error: -0.003359285064260198
+    base_right_marker_pose:
+      angle_rotation: 6.674732762801386
+      euclidean_error: -0.0011717947608349544
+    shoulder_marker_pose:
+      angle_rotation: 24.584566545451345
+      euclidean_error: 0.005826611927678749
+    wrist_inside_marker_pose:
+      angle_rotation: 19.728010523709834
+      euclidean_error: 0.0023135101847329143
+    wrist_top_marker_pose:
+      angle_rotation: 18.95088497468197
+      euclidean_error: -0.001247289015430919
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5345583961991305
+      euclidean_error: -0.003574930924788111
+    base_right_marker_pose:
+      angle_rotation: 7.7416685262080485
+      euclidean_error: -0.0007968582584900741
+    shoulder_marker_pose:
+      angle_rotation: 21.509714254300867
+      euclidean_error: 0.005447029553464988
+    wrist_inside_marker_pose:
+      angle_rotation: 20.20298134646355
+      euclidean_error: 0.002097795944122738
+    wrist_top_marker_pose:
+      angle_rotation: 19.952962679302
+      euclidean_error: -0.0011967132390146018
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.061511832457839
+      euclidean_error: -0.00362432723628614
+    base_right_marker_pose:
+      angle_rotation: 8.44323817227505
+      euclidean_error: -0.0017543829207016248
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.906860730195188
+      euclidean_error: 0.002331405219276106
+    wrist_top_marker_pose:
+      angle_rotation: 24.366279101985832
+      euclidean_error: 8.533719617886959e-05
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.002936325588298927
+    base_right_marker_pose:
+      angle_rotation: 11.77147119527257
+      euclidean_error: -0.00045076677826705325
+    shoulder_marker_pose:
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+      euclidean_error: 0.006647156044448099
+    wrist_inside_marker_pose:
+      angle_rotation: 18.992999058516656
+      euclidean_error: 0.003117604741500246
+    wrist_top_marker_pose:
+      angle_rotation: 18.133046195697002
+      euclidean_error: -0.000663003019726327
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7609907434159404
+      euclidean_error: -0.0038148258495012133
+    base_right_marker_pose:
+      angle_rotation: 6.793922966276128
+      euclidean_error: -0.0009306112353705265
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.325050654420387
+      euclidean_error: 0.0020359577198980627
+    wrist_top_marker_pose:
+      angle_rotation: 24.13709739672942
+      euclidean_error: -0.0008795673244765823
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.501500713612744
+      euclidean_error: -0.0034566114325195185
+    base_right_marker_pose:
+      angle_rotation: 6.542021561390403
+      euclidean_error: -0.0010710694141051746
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.629150802834964
+      euclidean_error: 0.0029301695349132073
+    wrist_top_marker_pose:
+      angle_rotation: 20.747139577975602
+      euclidean_error: -6.063004894962809e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.709684674313529
+      euclidean_error: -0.003809021593134565
+    base_right_marker_pose:
+      angle_rotation: 7.322010535110115
+      euclidean_error: -0.0011564699473406437
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.533432000073354
+      euclidean_error: 0.002301804984672473
+    wrist_top_marker_pose:
+      angle_rotation: 20.64995680380501
+      euclidean_error: -0.0005941836884069129
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.031798471734164
+      euclidean_error: -0.003496651530196626
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.227734775677167
+      euclidean_error: 0.0028410963009593004
+    wrist_top_marker_pose:
+      angle_rotation: 22.701155869748447
+      euclidean_error: 6.110473103215774e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.033438809059234
+      euclidean_error: -0.0030601946122242873
+    base_right_marker_pose:
+      angle_rotation: 9.37778563074626
+      euclidean_error: -0.0004377876121358648
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.862908205482228
+      euclidean_error: 0.004057532796194807
+    wrist_top_marker_pose:
+      angle_rotation: 23.75347495574579
+      euclidean_error: 0.00013794551463164328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.43712176789163
+      euclidean_error: -0.003521565368293955
+    base_right_marker_pose:
+      angle_rotation: 6.912414644246199
+      euclidean_error: -0.0025307012538351437
+    shoulder_marker_pose:
+      angle_rotation: 21.99440235468457
+      euclidean_error: 0.005920431910723889
+    wrist_inside_marker_pose:
+      angle_rotation: 22.770120628189893
+      euclidean_error: 0.0022559745844277224
+    wrist_top_marker_pose:
+      angle_rotation: 23.35048066399856
+      euclidean_error: -0.0003925500724059061
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.293759801294912
+      euclidean_error: -0.0032985938340100995
+    base_right_marker_pose:
+      angle_rotation: 7.237534759202476
+      euclidean_error: -0.0004817995280704812
+    shoulder_marker_pose:
+      angle_rotation: 18.241937763921154
+      euclidean_error: 0.005750584691817773
+    wrist_inside_marker_pose:
+      angle_rotation: 21.212206399134065
+      euclidean_error: 0.003159983640402708
+    wrist_top_marker_pose:
+      angle_rotation: 20.636401882836186
+      euclidean_error: -0.0002648538280132229
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1364178779005085
+      euclidean_error: -0.003452114321758515
+    base_right_marker_pose:
+      angle_rotation: 5.602130180084346
+      euclidean_error: -0.0011419001498020886
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.407721872918746
+      euclidean_error: 0.0020082083063723832
+    wrist_top_marker_pose:
+      angle_rotation: 16.337567349176517
+      euclidean_error: -0.0014541830570108383
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.688190882228947
+      euclidean_error: -0.0031024700715205356
+    base_right_marker_pose:
+      angle_rotation: 8.42630293027863
+      euclidean_error: -0.0017268112926333012
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.446261642120785
+      euclidean_error: 0.002325013958668687
+    wrist_top_marker_pose:
+      angle_rotation: 18.994962054123285
+      euclidean_error: -0.0009738508362466813
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.221068966505626
+      euclidean_error: -0.0033277360724902616
+    base_right_marker_pose:
+      angle_rotation: 7.8833666466560475
+      euclidean_error: -0.0007444006524774949
+    shoulder_marker_pose:
+      angle_rotation: 23.935069089207115
+      euclidean_error: 0.005561302819246494
+    wrist_inside_marker_pose:
+      angle_rotation: 19.897145836027637
+      euclidean_error: 0.002108863437775499
+    wrist_top_marker_pose:
+      angle_rotation: 21.398244483571546
+      euclidean_error: -0.0006521689827686528
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5234397734244878
+      euclidean_error: -0.0037684506295918574
+    base_right_marker_pose:
+      angle_rotation: 6.9957357762718555
+      euclidean_error: -0.0008761059415415273
+    shoulder_marker_pose:
+      angle_rotation: 25.64563655611646
+      euclidean_error: 0.006212720043628717
+    wrist_inside_marker_pose:
+      angle_rotation: 23.873715664365005
+      euclidean_error: 0.002743417950042071
+    wrist_top_marker_pose:
+      angle_rotation: 24.9404915788669
+      euclidean_error: 9.916272900245549e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.168560205429286
+      euclidean_error: -0.0027705726055829993
+    base_right_marker_pose:
+      angle_rotation: 7.212322926050819
+      euclidean_error: -0.0007780034391380308
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.66639353320865
+      euclidean_error: 0.0023087762365973097
+    wrist_top_marker_pose:
+      angle_rotation: 23.06482471928922
+      euclidean_error: -0.0008468799658580828
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.299205787700715
+      euclidean_error: -0.003240053551670674
+    base_right_marker_pose:
+      angle_rotation: 9.013710817870374
+      euclidean_error: -0.0011497059139939925
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.851372445804394
+      euclidean_error: 0.002145673299938977
+    wrist_top_marker_pose:
+      angle_rotation: 21.433770330608528
+      euclidean_error: 5.6827070294751536e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.349289344239849
+      euclidean_error: -0.003215073287656467
+    base_right_marker_pose:
+      angle_rotation: 10.678302279797778
+      euclidean_error: -0.0018374997285588446
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.83528605578952
+      euclidean_error: 0.0023902954228374185
+    wrist_top_marker_pose:
+      angle_rotation: 20.997581129179466
+      euclidean_error: -0.0008059467798996467
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.070252364220248
+      euclidean_error: -0.002982499854652265
+    base_right_marker_pose:
+      angle_rotation: 4.736607146943484
+      euclidean_error: -6.744818412873776e-05
+    shoulder_marker_pose:
+      angle_rotation: 22.585135499958554
+      euclidean_error: 0.005765353165316567
+    wrist_inside_marker_pose:
+      angle_rotation: 24.777528232498998
+      euclidean_error: 0.002408605946729536
+    wrist_top_marker_pose:
+      angle_rotation: 23.832586983368714
+      euclidean_error: 0.0005363286394998168
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6594345292429145
+      euclidean_error: -0.002986458599998909
+    base_right_marker_pose:
+      angle_rotation: 5.685920579359344
+      euclidean_error: -0.0006050998417177489
+    shoulder_marker_pose:
+      angle_rotation: 21.821267673809658
+      euclidean_error: 0.006073870140707038
+    wrist_inside_marker_pose:
+      angle_rotation: 19.789379028001676
+      euclidean_error: 0.002334317618839732
+    wrist_top_marker_pose:
+      angle_rotation: 19.71301654556163
+      euclidean_error: -0.0017132416604671574
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.3646965172076255
+      euclidean_error: -0.0028638199427376554
+    base_right_marker_pose:
+      angle_rotation: 9.007232710961382
+      euclidean_error: -3.827105992360025e-05
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.744155251647094
+      euclidean_error: 0.0027783593450589894
+    wrist_top_marker_pose:
+      angle_rotation: 24.04023383973492
+      euclidean_error: -0.0005636299367272057
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.279660215088988
+      euclidean_error: -0.003967274882079819
+    base_right_marker_pose:
+      angle_rotation: 6.661222309148797
+      euclidean_error: -0.0003817472928930865
+    shoulder_marker_pose:
+      angle_rotation: 20.991107961312064
+      euclidean_error: 0.005420264042609646
+    wrist_inside_marker_pose:
+      angle_rotation: 21.994922713365906
+      euclidean_error: 0.002172506710519939
+    wrist_top_marker_pose:
+      angle_rotation: 22.67274972929576
+      euclidean_error: -0.001525055731728675
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7857324835167088
+      euclidean_error: -0.0034466532109266312
+    base_right_marker_pose:
+      angle_rotation: 6.032785686830556
+      euclidean_error: -0.00028102017443421
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.932204070899616
+      euclidean_error: 0.002682297034169112
+    wrist_top_marker_pose:
+      angle_rotation: 22.018154076929157
+      euclidean_error: -0.00033040512568660585
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.549078036487853
+      euclidean_error: -0.003482797018707462
+    base_right_marker_pose:
+      angle_rotation: 12.426331866555552
+      euclidean_error: 9.439227284213647e-05
+    shoulder_marker_pose:
+      angle_rotation: 22.105320382609335
+      euclidean_error: 0.006981211603292348
+    wrist_inside_marker_pose:
+      angle_rotation: 24.27614938225521
+      euclidean_error: 0.0026051497852858096
+    wrist_top_marker_pose:
+      angle_rotation: 21.081024464867117
+      euclidean_error: -0.00017151155621786263
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.591841357289137
+      euclidean_error: -0.0037248195129957473
+    base_right_marker_pose:
+      angle_rotation: 7.373001193733974
+      euclidean_error: -0.00046392153462371244
+    shoulder_marker_pose:
+      angle_rotation: 18.003528075388513
+      euclidean_error: 0.00658380919567203
+    wrist_inside_marker_pose:
+      angle_rotation: 20.041593711997212
+      euclidean_error: 0.0023744350246074353
+    wrist_top_marker_pose:
+      angle_rotation: 24.006484109520432
+      euclidean_error: -0.00034237404780845804
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4366432916659213
+      euclidean_error: -0.0033081549274530664
+    base_right_marker_pose:
+      angle_rotation: 8.772157674377516
+      euclidean_error: -0.0016250593711630845
+    shoulder_marker_pose:
+      angle_rotation: 22.24743883858243
+      euclidean_error: 0.0058114131995694596
+    wrist_inside_marker_pose:
+      angle_rotation: 20.119929552301965
+      euclidean_error: 0.0024379196244381784
+    wrist_top_marker_pose:
+      angle_rotation: 21.21334423952068
+      euclidean_error: -0.0015748822002848994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1927386551025587
+      euclidean_error: -0.003552084649511067
+    base_right_marker_pose:
+      angle_rotation: 8.316806732866828
+      euclidean_error: -0.0006222570252124582
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.27603020467303
+      euclidean_error: 0.0027491625756741467
+    wrist_top_marker_pose:
+      angle_rotation: 19.453976921488145
+      euclidean_error: -0.00017088358186889696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0419258951150296
+      euclidean_error: -0.0032219295944700965
+    base_right_marker_pose:
+      angle_rotation: 8.237127633724727
+      euclidean_error: -0.00030556191347586026
+    shoulder_marker_pose:
+      angle_rotation: 22.605525748743435
+      euclidean_error: 0.0057914750389937986
+    wrist_inside_marker_pose:
+      angle_rotation: 23.092630971531413
+      euclidean_error: 0.003029246561683463
+    wrist_top_marker_pose:
+      angle_rotation: 21.599932142775028
+      euclidean_error: -0.000448106816846372
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.519302783731072
+      euclidean_error: -0.003333844388225482
+    base_right_marker_pose:
+      angle_rotation: 7.270074834738405
+      euclidean_error: -0.0014014976256880862
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.35372130605888
+      euclidean_error: 0.003298657176979969
+    wrist_top_marker_pose:
+      angle_rotation: 17.848604896050272
+      euclidean_error: 8.193675302847758e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2873930049022655
+      euclidean_error: -0.003620784334603111
+    base_right_marker_pose:
+      angle_rotation: 6.551195577261092
+      euclidean_error: -0.0004305001091138294
+    shoulder_marker_pose:
+      angle_rotation: 20.360444773646986
+      euclidean_error: 0.006613294695557936
+    wrist_inside_marker_pose:
+      angle_rotation: 24.144143658094663
+      euclidean_error: 0.002221551450609427
+    wrist_top_marker_pose:
+      angle_rotation: 18.90405935782737
+      euclidean_error: -0.0007369303825710549
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.254257972980179
+      euclidean_error: -0.003469793321141945
+    base_right_marker_pose:
+      angle_rotation: 8.860601149509167
+      euclidean_error: -0.0007767558858625678
+    shoulder_marker_pose:
+      angle_rotation: 19.981557034543762
+      euclidean_error: 0.005907477658430138
+    wrist_inside_marker_pose:
+      angle_rotation: 18.664794629015738
+      euclidean_error: 0.002091599063552829
+    wrist_top_marker_pose:
+      angle_rotation: 23.621368971957413
+      euclidean_error: -0.0003531224699687696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.991897292613231
+      euclidean_error: -0.0032899594809422394
+    base_right_marker_pose:
+      angle_rotation: 7.555367067738069
+      euclidean_error: -0.0010977473735530596
+    shoulder_marker_pose:
+      angle_rotation: 22.151554087848144
+      euclidean_error: 0.005844474856776416
+    wrist_inside_marker_pose:
+      angle_rotation: 22.71746278675871
+      euclidean_error: 0.0035339353555827735
+    wrist_top_marker_pose:
+      angle_rotation: 25.4575614119241
+      euclidean_error: -3.198789845293426e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6532400548886574
+      euclidean_error: -0.0038524231163191702
+    base_right_marker_pose:
+      angle_rotation: 7.863478390905613
+      euclidean_error: -0.0009642999220299542
+    shoulder_marker_pose:
+      angle_rotation: 17.183183987693347
+      euclidean_error: 0.006060582828539052
+    wrist_inside_marker_pose:
+      angle_rotation: 17.95204592630146
+      euclidean_error: 0.002359724886322523
+    wrist_top_marker_pose:
+      angle_rotation: 20.91372152025768
+      euclidean_error: -0.0010018067584898205
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7311411617850627
+      euclidean_error: -0.0036030536398866664
+    base_right_marker_pose:
+      angle_rotation: 9.579010265356672
+      euclidean_error: -0.0014997384990151907
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.126904012704397
+      euclidean_error: 0.0023072862169596364
+    wrist_top_marker_pose:
+      angle_rotation: 29.20380524192317
+      euclidean_error: 0.0009586459901971267
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.392341125211579
+      euclidean_error: -0.00293906709508851
+    base_right_marker_pose:
+      angle_rotation: 9.888456672258211
+      euclidean_error: 0.00014264264806063132
+    shoulder_marker_pose:
+      angle_rotation: 17.143172279079682
+      euclidean_error: 0.006527908119385417
+    wrist_inside_marker_pose:
+      angle_rotation: 21.59578525681581
+      euclidean_error: 0.003414907654414323
+    wrist_top_marker_pose:
+      angle_rotation: 26.999641409886152
+      euclidean_error: -8.6803225262444e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.2495252195130035
+      euclidean_error: -0.0034166656134397844
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.522467903563765
+      euclidean_error: 0.0016996122909039846
+    wrist_top_marker_pose:
+      angle_rotation: 22.257931077393327
+      euclidean_error: -0.00010121727322232044
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9267890307796853
+      euclidean_error: -0.003600396941130901
+    base_right_marker_pose:
+      angle_rotation: 6.102150041297335
+      euclidean_error: -0.0013936309536021207
+    shoulder_marker_pose:
+      angle_rotation: 28.132984907632288
+      euclidean_error: 0.00617293913933703
+    wrist_inside_marker_pose:
+      angle_rotation: 20.070757994442364
+      euclidean_error: 0.0027529462526055815
+    wrist_top_marker_pose:
+      angle_rotation: 22.571687003937324
+      euclidean_error: -0.0002285843258043041
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.194928368485583
+      euclidean_error: -0.003168175026027842
+    base_right_marker_pose:
+      angle_rotation: 7.812459304107816
+      euclidean_error: -0.0013561134946117326
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.656759080685756
+      euclidean_error: 0.002834790881892313
+    wrist_top_marker_pose:
+      angle_rotation: 25.18800420333535
+      euclidean_error: -0.0005337193927886785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.378496719712967
+      euclidean_error: -0.0031637060748571644
+    base_right_marker_pose:
+      angle_rotation: 10.089827706769093
+      euclidean_error: -0.00121862795420824
+    shoulder_marker_pose:
+      angle_rotation: 24.784722197802452
+      euclidean_error: 0.006245721797101034
+    wrist_inside_marker_pose:
+      angle_rotation: 20.33215725993365
+      euclidean_error: 0.0020989405333163846
+    wrist_top_marker_pose:
+      angle_rotation: 23.94118291291845
+      euclidean_error: 7.846067327954565e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.424289393315872
+      euclidean_error: -0.003126760081130553
+    base_right_marker_pose:
+      angle_rotation: 8.826717251101714
+      euclidean_error: -0.00020904668413013194
+    shoulder_marker_pose:
+      angle_rotation: 20.26910834732648
+      euclidean_error: 0.006022766575304539
+    wrist_inside_marker_pose:
+      angle_rotation: 21.43622436338744
+      euclidean_error: 0.0028162862944305367
+    wrist_top_marker_pose:
+      angle_rotation: 24.792402641361708
+      euclidean_error: -1.3876629546993868e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.038548455987599
+      euclidean_error: -0.0030148819191773146
+    base_right_marker_pose:
+      angle_rotation: 6.141599355373687
+      euclidean_error: -0.0011750791473423838
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.176464186020485
+      euclidean_error: 0.002984815901972415
+    wrist_top_marker_pose:
+      angle_rotation: 21.403847002004756
+      euclidean_error: 0.0002963519914072066
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.138341241611715
+      euclidean_error: -0.0033111895842248273
+    base_right_marker_pose:
+      angle_rotation: 9.491735747359913
+      euclidean_error: -0.00040038149278187607
+    shoulder_marker_pose:
+      angle_rotation: 21.501720655637932
+      euclidean_error: 0.006292107280312043
+    wrist_inside_marker_pose:
+      angle_rotation: 18.58508612328436
+      euclidean_error: 0.0015095552147896818
+    wrist_top_marker_pose:
+      angle_rotation: 19.521486518062822
+      euclidean_error: -0.0019016038055926776
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9321933377407103
+      euclidean_error: -0.0031911777624966664
+    base_right_marker_pose:
+      angle_rotation: 9.785376460481336
+      euclidean_error: -0.0019482867085033329
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.750062842439995
+      euclidean_error: 0.002497689719686891
+    wrist_top_marker_pose:
+      angle_rotation: 24.74419108636491
+      euclidean_error: -0.0012251896880003388
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.75349739812957
+      euclidean_error: -0.0033008537183665254
+    base_right_marker_pose:
+      angle_rotation: 7.534128402575327
+      euclidean_error: -0.001010648800738534
+    shoulder_marker_pose:
+      angle_rotation: 19.722790326210486
+      euclidean_error: 0.005734838936989006
+    wrist_inside_marker_pose:
+      angle_rotation: 21.46003517041201
+      euclidean_error: 0.0022808774333775705
+    wrist_top_marker_pose:
+      angle_rotation: 21.436287233486627
+      euclidean_error: -0.0007658252604085813
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.816966509825717
+      euclidean_error: -0.003408260891203163
+    base_right_marker_pose:
+      angle_rotation: 9.998589793277068
+      euclidean_error: -0.0008170089891744725
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.28417688568865
+      euclidean_error: 0.0037677705042062914
+    wrist_top_marker_pose:
+      angle_rotation: 22.945974123800443
+      euclidean_error: -0.0005708984434830144
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.973494145059849
+      euclidean_error: -0.003177850101837798
+    base_right_marker_pose:
+      angle_rotation: 8.420617797517002
+      euclidean_error: -0.0013856112762432593
+    shoulder_marker_pose:
+      angle_rotation: 24.413550320284674
+      euclidean_error: 0.006657698363743636
+    wrist_inside_marker_pose:
+      angle_rotation: 21.444841954243245
+      euclidean_error: 0.003055631332838149
+    wrist_top_marker_pose:
+      angle_rotation: 24.09283051300354
+      euclidean_error: 0.00015783759075727044
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    base_right_marker_pose:
+      angle_rotation: 7.000490251065032
+      euclidean_error: -0.0007834527366957778
+    shoulder_marker_pose:
+      angle_rotation: 22.864460164284832
+      euclidean_error: 0.00567369959484898
+    wrist_inside_marker_pose:
+      angle_rotation: 23.08148090699038
+      euclidean_error: 0.002427445705461939
+    wrist_top_marker_pose:
+      angle_rotation: 20.120392893543062
+      euclidean_error: -0.0012679039211976884
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8340725946118264
+      euclidean_error: -0.003074143738695745
+    base_right_marker_pose:
+      angle_rotation: 9.335059597472169
+      euclidean_error: -0.00027525054963450923
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.8397534860683
+      euclidean_error: 0.0031317736928825335
+    wrist_top_marker_pose:
+      angle_rotation: 26.065073475585596
+      euclidean_error: 0.0005546705576093824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.432167181848362
+      euclidean_error: -0.003753954703336504
+    base_right_marker_pose:
+      angle_rotation: 7.393481440233619
+      euclidean_error: -0.0013042439936270522
+    shoulder_marker_pose:
+      angle_rotation: 23.032947538831436
+      euclidean_error: 0.006308533542944805
+    wrist_inside_marker_pose:
+      angle_rotation: 19.76042629864142
+      euclidean_error: 0.002504904341576686
+    wrist_top_marker_pose:
+      angle_rotation: 21.422656914629204
+      euclidean_error: -0.0010006033681625448
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3274398877744287
+      euclidean_error: -0.0032405662022372272
+    base_right_marker_pose:
+      angle_rotation: 7.803829955406637
+      euclidean_error: -0.0002368426446758276
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.191591231204793
+      euclidean_error: 0.0017220836682600993
+    wrist_top_marker_pose:
+      angle_rotation: 21.281347627577453
+      euclidean_error: -0.001409427861166379
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8297059270263922
+      euclidean_error: -0.00334223991249194
+    base_right_marker_pose:
+      angle_rotation: 6.120309872196195
+      euclidean_error: -0.0009961059975295283
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.039131755835502
+      euclidean_error: 0.003299948211615722
+    wrist_top_marker_pose:
+      angle_rotation: 23.643590336772714
+      euclidean_error: 0.0006187896641900448
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.142725630207122
+      euclidean_error: -0.0034831128967102165
+    base_right_marker_pose:
+      angle_rotation: 9.89833608728375
+      euclidean_error: -0.0020371758480446367
+    shoulder_marker_pose:
+      angle_rotation: 24.84363103830044
+      euclidean_error: 0.006009749565345945
+    wrist_inside_marker_pose:
+      angle_rotation: 21.522514018063866
+      euclidean_error: 0.0025614863083603945
+    wrist_top_marker_pose:
+      angle_rotation: 26.03630361436317
+      euclidean_error: 0.0004959810097494577
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9001077953619605
+      euclidean_error: -0.0034289184956161067
+    base_right_marker_pose:
+      angle_rotation: 6.588025895387191
+      euclidean_error: -0.0009996212614697964
+    shoulder_marker_pose:
+      angle_rotation: 21.61075964711059
+      euclidean_error: 0.005649183453342865
+    wrist_inside_marker_pose:
+      angle_rotation: 23.483685909861492
+      euclidean_error: 0.002064405317224849
+    wrist_top_marker_pose:
+      angle_rotation: 19.78619801638988
+      euclidean_error: -0.00034578530534434826
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.77891615718914
+      euclidean_error: -0.003076335548036102
+    base_right_marker_pose:
+      angle_rotation: 8.935828700623725
+      euclidean_error: -0.0008049549012818513
+    shoulder_marker_pose:
+      angle_rotation: 21.15633179639622
+      euclidean_error: 0.007208020614929644
+    wrist_inside_marker_pose:
+      angle_rotation: 20.462013816514535
+      euclidean_error: 0.0030382059711988596
+    wrist_top_marker_pose:
+      angle_rotation: 20.515941580076454
+      euclidean_error: -0.0010219363291089634
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.661140763972422
+      euclidean_error: -0.003202961044649122
+    base_right_marker_pose:
+      angle_rotation: 7.656666006531046
+      euclidean_error: -0.0004709442433051825
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.45528731485674
+      euclidean_error: 0.003396525294825592
+    wrist_top_marker_pose:
+      angle_rotation: 25.219834548627876
+      euclidean_error: 0.0008038339416182039
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4410417891546077
+      euclidean_error: -0.003609257580312164
+    base_right_marker_pose:
+      angle_rotation: 8.815901388347632
+      euclidean_error: -0.0005833844089430107
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.0884925363635
+      euclidean_error: 0.0013361397974922529
+    wrist_top_marker_pose:
+      angle_rotation: 21.3854576432049
+      euclidean_error: -0.0009804442483885012
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0484728446978218
+      euclidean_error: -0.0036695380431975844
+    base_right_marker_pose:
+      angle_rotation: 10.103952044982005
+      euclidean_error: -0.0012239937083922126
+    shoulder_marker_pose:
+      angle_rotation: 22.42892536034538
+      euclidean_error: 0.006374090476537364
+    wrist_inside_marker_pose:
+      angle_rotation: 24.1986242387875
+      euclidean_error: 0.0024922025071338894
+    wrist_top_marker_pose:
+      angle_rotation: 22.119637595372975
+      euclidean_error: 0.00011109680761378637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.721666097380241
+      euclidean_error: -0.0037919794333067802
+    base_right_marker_pose:
+      angle_rotation: 9.495036944759086
+      euclidean_error: -0.0012922013604261817
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.17674226740131
+      euclidean_error: 0.0022616307165713723
+    wrist_top_marker_pose:
+      angle_rotation: 23.049433758093926
+      euclidean_error: -0.00042603250057737796
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.206994765908498
+      euclidean_error: -0.003669387509837585
+    base_right_marker_pose:
+      angle_rotation: 8.681240744112005
+      euclidean_error: -0.0002698075653791987
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.843670269988387
+      euclidean_error: 0.0025541148977459294
+    wrist_top_marker_pose:
+      angle_rotation: 22.545503313724748
+      euclidean_error: -0.00012957384266432115
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6003112533295685
+      euclidean_error: -0.0035893888398403906
+    base_right_marker_pose:
+      angle_rotation: 6.115860651946215
+      euclidean_error: -0.002029084771348222
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.362154897928296
+      euclidean_error: 0.0029975243678945773
+    wrist_top_marker_pose:
+      angle_rotation: 19.19433394506603
+      euclidean_error: 0.00010549295793971236
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.763855681925482
+      euclidean_error: -0.0032251607065242327
+    base_right_marker_pose:
+      angle_rotation: 8.023438079169216
+      euclidean_error: -0.001377495595119238
+    shoulder_marker_pose:
+      angle_rotation: 19.943550724670594
+      euclidean_error: 0.005950600139435824
+    wrist_inside_marker_pose:
+      angle_rotation: 23.278826029286513
+      euclidean_error: 0.003618464900048357
+    wrist_top_marker_pose:
+      angle_rotation: 19.73179434272633
+      euclidean_error: -0.00033797745126984413
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.766210184022297
+      euclidean_error: -0.0031042280071766903
+    base_right_marker_pose:
+      angle_rotation: 10.417308440012226
+      euclidean_error: -0.000692791864427833
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.233726842412224
+      euclidean_error: 0.0029031044825414964
+    wrist_top_marker_pose:
+      angle_rotation: 21.84492043691767
+      euclidean_error: -0.0003254828661881648
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7818068325936696
+      euclidean_error: -0.0037049294400214317
+    base_right_marker_pose:
+      angle_rotation: 6.200798067291884
+      euclidean_error: -0.0012408932628054092
+    shoulder_marker_pose:
+      angle_rotation: 20.391047212178126
+      euclidean_error: 0.006677838504541511
+    wrist_inside_marker_pose:
+      angle_rotation: 21.35053434436304
+      euclidean_error: 0.0024250254650965974
+    wrist_top_marker_pose:
+      angle_rotation: 23.886771188429734
+      euclidean_error: -0.0007285759250457158
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.861860378712534
+      euclidean_error: -0.0033209966817014935
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.691819977261762
+      euclidean_error: 0.003662390027750928
+    wrist_top_marker_pose:
+      angle_rotation: 25.170486870586192
+      euclidean_error: 0.0006938338921608223
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.833518553792161
+      euclidean_error: -0.0034465932486443807
+    base_right_marker_pose:
+      angle_rotation: 9.112224038202118
+      euclidean_error: -0.00047396116286824164
+    shoulder_marker_pose:
+      angle_rotation: 21.383636428778683
+      euclidean_error: 0.005744419824358249
+    wrist_inside_marker_pose:
+      angle_rotation: 22.936033464289704
+      euclidean_error: 0.0033015805829098577
+    wrist_top_marker_pose:
+      angle_rotation: 25.581955472468128
+      euclidean_error: -4.686342664383947e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.941886340102433
+      euclidean_error: -0.0032949713736336594
+    base_right_marker_pose:
+      angle_rotation: 8.567729352391137
+      euclidean_error: -0.0012694046348094012
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.11338671166333
+      euclidean_error: 0.0019757054365483473
+    wrist_top_marker_pose:
+      angle_rotation: 22.23607756698913
+      euclidean_error: -0.0010435495426700525
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.165958789559202
+      euclidean_error: -0.0032346686322489715
+    base_right_marker_pose:
+      angle_rotation: 10.919587298932907
+      euclidean_error: -0.00011154198187302011
+    shoulder_marker_pose:
+      angle_rotation: 19.261372353792655
+      euclidean_error: 0.006398245031160599
+    wrist_inside_marker_pose:
+      angle_rotation: 23.782853430341078
+      euclidean_error: 0.0036180578826111587
+    wrist_top_marker_pose:
+      angle_rotation: 22.693817196338582
+      euclidean_error: -7.400836168680591e-06
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.156937769681221
+      euclidean_error: -0.0031745949412090857
+    base_right_marker_pose:
+      angle_rotation: 10.303536329657131
+      euclidean_error: 9.806171693371724e-05
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.794741951085296
+      euclidean_error: 0.0032331740340991733
+    wrist_top_marker_pose:
+      angle_rotation: 22.859165586473036
+      euclidean_error: 0.00012789694510972893
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.038087449063642
+      euclidean_error: -0.003171552649984255
+    base_right_marker_pose:
+      angle_rotation: 9.855441041865058
+      euclidean_error: -0.0010163928089895746
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.299740270309165
+      euclidean_error: 0.0028050939334446356
+    wrist_top_marker_pose:
+      angle_rotation: 20.69909659599833
+      euclidean_error: 0.00026043587852231376
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.045524522089207
+      euclidean_error: -0.0035095841699471775
+    base_right_marker_pose:
+      angle_rotation: 7.348387818752991
+      euclidean_error: -0.0014191015772142546
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.66684976764353
+      euclidean_error: 0.0037240433522586214
+    wrist_top_marker_pose:
+      angle_rotation: 26.551416800265812
+      euclidean_error: 0.0006371219225994595
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1416962295184274
+      euclidean_error: -0.003516402140595676
+    base_right_marker_pose:
+      angle_rotation: 6.845283957052089
+      euclidean_error: -0.00042279233958919527
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.74763965300158
+      euclidean_error: 0.003584066953635223
+    wrist_top_marker_pose:
+      angle_rotation: 22.733565667319166
+      euclidean_error: 0.0001297106952459215
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.334266156323935
+      euclidean_error: -0.003829779824151003
+    base_right_marker_pose:
+      angle_rotation: 9.972179308611198
+      euclidean_error: -0.0001454517033171454
+    shoulder_marker_pose:
+      angle_rotation: 21.357355530810253
+      euclidean_error: 0.005410886354327071
+    wrist_inside_marker_pose:
+      angle_rotation: 19.96684634451418
+      euclidean_error: 0.002581157131902323
+    wrist_top_marker_pose:
+      angle_rotation: 23.690076103118344
+      euclidean_error: -0.0007868003381799049
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.895476649723829
+      euclidean_error: -0.0034039016354622254
+    base_right_marker_pose:
+      angle_rotation: 9.777107816072316
+      euclidean_error: -0.0011213532793439285
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.48978568002951
+      euclidean_error: 0.002475580086444662
+    wrist_top_marker_pose:
+      angle_rotation: 21.52656814545714
+      euclidean_error: -0.00025301061017091175
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.481652418280326
+      euclidean_error: -0.003036184613417703
+    base_right_marker_pose:
+      angle_rotation: 8.46572981012105
+      euclidean_error: -0.0011601411966994934
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.08415360789241
+      euclidean_error: 0.0028091241824167446
+    wrist_top_marker_pose:
+      angle_rotation: 23.458537646191854
+      euclidean_error: 0.00015538384149305084
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.7785934301459365
+      euclidean_error: -0.0029047921893964324
+    base_right_marker_pose:
+      angle_rotation: 7.136378939031745
+      euclidean_error: -0.001626568124906136
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.018304533720993
+      euclidean_error: 0.0028824723042613076
+    wrist_top_marker_pose:
+      angle_rotation: 21.401702417956926
+      euclidean_error: 0.00029545803823660677
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.529297538968397
+      euclidean_error: -0.003216116156222637
+    base_right_marker_pose:
+      angle_rotation: 6.3815506836728675
+      euclidean_error: -0.00029072571539590086
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.723177318873645
+      euclidean_error: 0.003254221193357165
+    wrist_top_marker_pose:
+      angle_rotation: 23.104454483018028
+      euclidean_error: 0.00043859701247561667
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.619060659897244
+      euclidean_error: -0.003820494223482518
+    base_right_marker_pose:
+      angle_rotation: 6.250357915186235
+      euclidean_error: -0.0006916622788862847
+    shoulder_marker_pose:
+      angle_rotation: 22.99658189824155
+      euclidean_error: 0.006153734840926184
+    wrist_inside_marker_pose:
+      angle_rotation: 23.397368521989467
+      euclidean_error: 0.0014828247855267485
+    wrist_top_marker_pose:
+      angle_rotation: 24.44882835392501
+      euclidean_error: -0.0009034633736928477
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5576233255365057
+      euclidean_error: -0.0034140785840531818
+    base_right_marker_pose:
+      angle_rotation: 11.444983453764442
+      euclidean_error: -0.0005201343376090017
+    shoulder_marker_pose:
+      angle_rotation: 22.43109232526581
+      euclidean_error: 0.007029433561844489
+    wrist_inside_marker_pose:
+      angle_rotation: 21.40909434203305
+      euclidean_error: 0.0024836820526465964
+    wrist_top_marker_pose:
+      angle_rotation: 22.0218911653085
+      euclidean_error: -0.0009887228832071715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.212586876665048
+      euclidean_error: -0.003552617407654779
+    base_right_marker_pose:
+      angle_rotation: 4.320998144413948
+      euclidean_error: -0.001428374918000519
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.780443127809992
+      euclidean_error: 0.0028820151035146013
+    wrist_top_marker_pose:
+      angle_rotation: 23.36100378036405
+      euclidean_error: -2.8138631681051685e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.9363922592211855
+      euclidean_error: -0.0032427153111400653
+    base_right_marker_pose:
+      angle_rotation: 5.750151007404276
+      euclidean_error: -0.001200630957429616
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.419075534341868
+      euclidean_error: 0.0029699857561044096
+    wrist_top_marker_pose:
+      angle_rotation: 19.000656817365105
+      euclidean_error: -0.000152663366403627
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.321645724336245
+      euclidean_error: -0.0032321286702533536
+    base_right_marker_pose:
+      angle_rotation: 8.03921971584628
+      euclidean_error: -0.0007563182037132465
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.92381264413331
+      euclidean_error: 0.003180512087457177
+    wrist_top_marker_pose:
+      angle_rotation: 24.49007887391267
+      euclidean_error: -0.0006328153545884785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.248724933706557
+      euclidean_error: -0.0033515278844373775
+    base_right_marker_pose:
+      angle_rotation: 6.448098196873698
+      euclidean_error: 0.000302977472651178
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.35642248007283
+      euclidean_error: 0.003725090404800624
+    wrist_top_marker_pose:
+      angle_rotation: 19.15747493005541
+      euclidean_error: 0.00013854055276119048
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.417120263690314
+      euclidean_error: -0.0030651236001876248
+    base_right_marker_pose:
+      angle_rotation: 9.128695212689445
+      euclidean_error: -0.000993419684075847
+    shoulder_marker_pose:
+      angle_rotation: 23.309826471216166
+      euclidean_error: 0.005821967818390283
+    wrist_inside_marker_pose:
+      angle_rotation: 20.983652384255205
+      euclidean_error: 0.002826313893248389
+    wrist_top_marker_pose:
+      angle_rotation: 20.581185323417248
+      euclidean_error: -1.972209081824161e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6259218465907517
+      euclidean_error: -0.003812072007558287
+    base_right_marker_pose:
+      angle_rotation: 9.48699211589623
+      euclidean_error: -0.001185721785341376
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.795584088186914
+      euclidean_error: 0.002522286589806466
+    wrist_top_marker_pose:
+      angle_rotation: 22.68052760047628
+      euclidean_error: 0.00026811094522793955
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.795518964807339
+      euclidean_error: -0.003739229848905623
+    base_right_marker_pose:
+      angle_rotation: 8.421082547115379
+      euclidean_error: -0.0011273943378590223
+    shoulder_marker_pose:
+      angle_rotation: 17.74340495130183
+      euclidean_error: 0.0058529202916906
+    wrist_inside_marker_pose:
+      angle_rotation: 18.349047262189153
+      euclidean_error: 0.002310308404339656
+    wrist_top_marker_pose:
+      angle_rotation: 21.443991939774683
+      euclidean_error: -0.0002083135472924491
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.256331618313653
+      euclidean_error: -0.0031937115020811424
+    base_right_marker_pose:
+      angle_rotation: 8.019263855086725
+      euclidean_error: -0.0009187046268432919
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.389688202458192
+      euclidean_error: 0.0030671658127342516
+    wrist_top_marker_pose:
+      angle_rotation: 20.42861106245463
+      euclidean_error: -0.00018374539104859533
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.246208210274718
+      euclidean_error: -0.0030181409555486427
+    base_right_marker_pose:
+      angle_rotation: 8.430724126975857
+      euclidean_error: -0.00011348168067637499
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.485151087036012
+      euclidean_error: 0.002344036923196402
+    wrist_top_marker_pose:
+      angle_rotation: 20.763890887597807
+      euclidean_error: -0.0006797252070982474
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7434512624828713
+      euclidean_error: -0.003319505947516954
+    base_right_marker_pose:
+      angle_rotation: 8.660035751191169
+      euclidean_error: -0.0009824883295138642
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.715525482715375
+      euclidean_error: 0.003006121702262665
+    wrist_top_marker_pose:
+      angle_rotation: 22.53907784187222
+      euclidean_error: -0.0005654500858021105
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9537039280764907
+      euclidean_error: -0.0033531019667470963
+    base_right_marker_pose:
+      angle_rotation: 8.208871029722257
+      euclidean_error: -0.0009029042067730808
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.625722659271062
+      euclidean_error: 0.00231997456738553
+    wrist_top_marker_pose:
+      angle_rotation: 26.30635745173297
+      euclidean_error: -0.0005475205461350496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4175573818731397
+      euclidean_error: -0.003653257235011198
+    base_right_marker_pose:
+      angle_rotation: 9.188933823195343
+      euclidean_error: -0.0007267608108407764
+    shoulder_marker_pose:
+      angle_rotation: 22.842195037635747
+      euclidean_error: 0.0057360580662485505
+    wrist_inside_marker_pose:
+      angle_rotation: 22.72859515123766
+      euclidean_error: 0.0029441867036006375
+    wrist_top_marker_pose:
+      angle_rotation: 19.872376854755455
+      euclidean_error: -0.0010056591971454587
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8676713839622405
+      euclidean_error: -0.0036949402812892496
+    base_right_marker_pose:
+      angle_rotation: 9.03938389041333
+      euclidean_error: 0.00010685666123566584
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.543755130202236
+      euclidean_error: 0.0023569005228598616
+    wrist_top_marker_pose:
+      angle_rotation: 20.102708736211568
+      euclidean_error: -0.0008536436072389408
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1328736159394626
+      euclidean_error: -0.003605576371230601
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.30069296968748
+      euclidean_error: 0.0020844531519481624
+    wrist_top_marker_pose:
+      angle_rotation: 20.654681189351518
+      euclidean_error: -0.0004996577515040679
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2333607013718084
+      euclidean_error: -0.0036325131396510724
+    base_right_marker_pose:
+      angle_rotation: 7.324906373702744
+      euclidean_error: -0.0005883037823181114
+    shoulder_marker_pose:
+      angle_rotation: 20.404565721953244
+      euclidean_error: 0.005996050133574404
+    wrist_inside_marker_pose:
+      angle_rotation: 20.664684387606524
+      euclidean_error: 0.003500798026169538
+    wrist_top_marker_pose:
+      angle_rotation: 24.23363139910229
+      euclidean_error: 0.0012465769279293992
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.369400747978905
+      euclidean_error: -0.003526175332554282
+    base_right_marker_pose:
+      angle_rotation: 11.830475255803206
+      euclidean_error: -0.0008182980760024217
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.662377005562732
+      euclidean_error: 0.002759771530129518
+    wrist_top_marker_pose:
+      angle_rotation: 19.450575127543896
+      euclidean_error: 9.474956574873072e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6755986567961796
+      euclidean_error: -0.003535948420901547
+    base_right_marker_pose:
+      angle_rotation: 7.005812295947589
+      euclidean_error: -0.0013565743225868454
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.76079316196607
+      euclidean_error: 0.002515527210648849
+    wrist_top_marker_pose:
+      angle_rotation: 19.49849368978481
+      euclidean_error: 0.00045581452677201373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.258774888333966
+      euclidean_error: -0.0032353233471720255
+    base_right_marker_pose:
+      angle_rotation: 8.673575451089992
+      euclidean_error: -0.00039505057051070214
+    shoulder_marker_pose:
+      angle_rotation: 19.92402504719562
+      euclidean_error: 0.006576877202838394
+    wrist_inside_marker_pose:
+      angle_rotation: 24.452096788540334
+      euclidean_error: 0.0036192210613568143
+    wrist_top_marker_pose:
+      angle_rotation: 20.16896630309702
+      euclidean_error: 0.00017996653327323475
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6259290723771618
+      euclidean_error: -0.003786236403204968
+    base_right_marker_pose:
+      angle_rotation: 10.387673967868901
+      euclidean_error: -0.0008731793435190482
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.32556118919933
+      euclidean_error: 0.002834948626468159
+    wrist_top_marker_pose:
+      angle_rotation: 25.007211580039122
+      euclidean_error: 0.0002330507892405187
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0996315239561563
+      euclidean_error: -0.0030296849188707897
+    base_right_marker_pose:
+      angle_rotation: 8.951853998946516
+      euclidean_error: 0.00039334976110605435
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.18679918920981
+      euclidean_error: 0.002674223621244698
+    wrist_top_marker_pose:
+      angle_rotation: 24.402073456295042
+      euclidean_error: -0.0005046888978871289
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5250025229620887
+      euclidean_error: -0.003657273435991648
+    base_right_marker_pose:
+      angle_rotation: 7.500803797013402
+      euclidean_error: -0.000410346348990287
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.313485015344934
+      euclidean_error: 0.0016583911302860965
+    wrist_top_marker_pose:
+      angle_rotation: 23.970364268756864
+      euclidean_error: 3.244154537551669e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7244890686459615
+      euclidean_error: -0.004023238503312987
+    base_right_marker_pose:
+      angle_rotation: 9.76677013015081
+      euclidean_error: -0.0005880199404169062
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.87492055169577
+      euclidean_error: 0.002528645296707488
+    wrist_top_marker_pose:
+      angle_rotation: 23.99936400432323
+      euclidean_error: -0.0009015609946584346
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.200550285509219
+      euclidean_error: -0.003287934714138796
+    base_right_marker_pose:
+      angle_rotation: 12.65598412186003
+      euclidean_error: -0.001131256967422778
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.72642756757379
+      euclidean_error: 0.0024852564656185905
+    wrist_top_marker_pose:
+      angle_rotation: 21.486590592274066
+      euclidean_error: -0.0015835575826737003
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.288327998946959
+      euclidean_error: -0.0028483405381488636
+    base_right_marker_pose:
+      angle_rotation: 8.060737742153966
+      euclidean_error: -0.00043648270571994274
+    shoulder_marker_pose:
+      angle_rotation: 22.546080540234147
+      euclidean_error: 0.005853807737425609
+    wrist_inside_marker_pose:
+      angle_rotation: 22.485827089139864
+      euclidean_error: 0.002076628277166259
+    wrist_top_marker_pose:
+      angle_rotation: 23.839204413180283
+      euclidean_error: -0.0011836719837454712
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9176380455457884
+      euclidean_error: -0.0035787703463801
+    base_right_marker_pose:
+      angle_rotation: 10.501349952073104
+      euclidean_error: -0.001037344750086322
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.910489715735547
+      euclidean_error: 0.0029948154267596117
+    wrist_top_marker_pose:
+      angle_rotation: 21.32664855646042
+      euclidean_error: -0.0004039677417743137
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.145094828380306
+      euclidean_error: -0.0031002689772822167
+    base_right_marker_pose:
+      angle_rotation: 7.481643884342658
+      euclidean_error: -0.0009061619084700379
+    shoulder_marker_pose:
+      angle_rotation: 21.49558378359045
+      euclidean_error: 0.00677708300579305
+    wrist_inside_marker_pose:
+      angle_rotation: 18.22371883209245
+      euclidean_error: 0.0024040940446720116
+    wrist_top_marker_pose:
+      angle_rotation: 22.372194084127255
+      euclidean_error: -0.0010627450570669383
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.985307018577271
+      euclidean_error: -0.003034357633899143
+    base_right_marker_pose:
+      angle_rotation: 5.238865589943887
+      euclidean_error: 0.0005963907255901457
+    shoulder_marker_pose:
+      angle_rotation: 24.224344411773163
+      euclidean_error: 0.006388147588707871
+    wrist_inside_marker_pose:
+      angle_rotation: 23.4760889127165
+      euclidean_error: 0.0028342508675192057
+    wrist_top_marker_pose:
+      angle_rotation: 23.488563420089832
+      euclidean_error: 5.514161076525248e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7294832470707875
+      euclidean_error: -0.0037496337168057003
+    base_right_marker_pose:
+      angle_rotation: 7.556637025830408
+      euclidean_error: -0.0021487621934668244
+    shoulder_marker_pose:
+      angle_rotation: 23.984585875260525
+      euclidean_error: 0.006021893328989614
+    wrist_inside_marker_pose:
+      angle_rotation: 21.5120263864736
+      euclidean_error: 0.0020024253336063946
+    wrist_top_marker_pose:
+      angle_rotation: 22.240287369753883
+      euclidean_error: -0.00042806349050550363
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9325486674201153
+      euclidean_error: -0.003690017511979282
+    base_right_marker_pose:
+      angle_rotation: 8.001988169026058
+      euclidean_error: -0.0020523962839186227
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.766234604692464
+      euclidean_error: 0.004113446341910576
+    wrist_top_marker_pose:
+      angle_rotation: 23.97316124611688
+      euclidean_error: 0.0008814868596731529
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.708772459252649
+      euclidean_error: -0.003559820879346587
+    base_right_marker_pose:
+      angle_rotation: 8.411325127239845
+      euclidean_error: -0.0015472671648827374
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.364468347705586
+      euclidean_error: 0.0024684889412441846
+    wrist_top_marker_pose:
+      angle_rotation: 20.33296737878173
+      euclidean_error: 0.00018189826902648143
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9023096631533685
+      euclidean_error: -0.0034254177941760444
+    base_right_marker_pose:
+      angle_rotation: 8.710863866019753
+      euclidean_error: -0.0009546056316928064
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.86586788892588
+      euclidean_error: 0.002442189903079761
+    wrist_top_marker_pose:
+      angle_rotation: 22.144435671222922
+      euclidean_error: -0.0016564851027037752
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.94520298481897
+      euclidean_error: -0.0037523304873303687
+    base_right_marker_pose:
+      angle_rotation: 8.593734806617741
+      euclidean_error: -0.0011306353712692285
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.018064519570462
+      euclidean_error: 0.0021119695163762664
+    wrist_top_marker_pose:
+      angle_rotation: 18.757384195481787
+      euclidean_error: -0.0010893896484034382
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8613436573694448
+      euclidean_error: -0.004111022264638775
+    base_right_marker_pose:
+      angle_rotation: 6.330965327766477
+      euclidean_error: -0.0017010935497009383
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.358055643133675
+      euclidean_error: 0.00265712273119989
+    wrist_top_marker_pose:
+      angle_rotation: 19.113564734811938
+      euclidean_error: -0.0017383271476749673
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.059887267047264
+      euclidean_error: -0.003040948343499994
+    base_right_marker_pose:
+      angle_rotation: 9.020782584733304
+      euclidean_error: -0.0012082449501201742
+    shoulder_marker_pose:
+      angle_rotation: 25.910140491591516
+      euclidean_error: 0.005410075867225195
+    wrist_inside_marker_pose:
+      angle_rotation: 22.384552512229927
+      euclidean_error: 0.0025436298662723233
+    wrist_top_marker_pose:
+      angle_rotation: 23.39517119853185
+      euclidean_error: 1.1854349209028392e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3983136527297515
+      euclidean_error: -0.0035160997224479296
+    base_right_marker_pose:
+      angle_rotation: 8.069762409051165
+      euclidean_error: -0.0011808137445211697
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.032998117642194
+      euclidean_error: 0.0022206072664223697
+    wrist_top_marker_pose:
+      angle_rotation: 24.57705270246568
+      euclidean_error: -0.0006231776211143014
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.879916329042637
+      euclidean_error: -0.0033165970913660026
+    base_right_marker_pose:
+      angle_rotation: 7.2183493491305795
+      euclidean_error: -0.0015366758811502512
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.42080467310792
+      euclidean_error: 0.0028107728989108516
+    wrist_top_marker_pose:
+      angle_rotation: 28.982366774361324
+      euclidean_error: 0.0010963525772645921
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.970644186896233
+      euclidean_error: -0.0032857760475728526
+    base_right_marker_pose:
+      angle_rotation: 7.393692896369706
+      euclidean_error: -0.00010132529693918091
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.183096129092664
+      euclidean_error: 0.003378930686996906
+    wrist_top_marker_pose:
+      angle_rotation: 23.064165431804504
+      euclidean_error: 0.00039029453959149585
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9839186049125797
+      euclidean_error: -0.00373514458083124
+    base_right_marker_pose:
+      angle_rotation: 7.766580245256374
+      euclidean_error: -0.0014552458715221261
+    shoulder_marker_pose:
+      angle_rotation: 21.90741795243106
+      euclidean_error: 0.006937619933096939
+    wrist_inside_marker_pose:
+      angle_rotation: 21.92810424686063
+      euclidean_error: 0.002688272553767135
+    wrist_top_marker_pose:
+      angle_rotation: 22.88910867877255
+      euclidean_error: -0.00027893953990054676
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.656967756174734
+      euclidean_error: -0.0036838596080654984
+    base_right_marker_pose:
+      angle_rotation: 9.32794575981132
+      euclidean_error: -0.0005085751695689256
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.35954865102216
+      euclidean_error: 0.0033033934826105504
+    wrist_top_marker_pose:
+      angle_rotation: 20.967005295765105
+      euclidean_error: -0.0009919569677709905
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.8233830100264194
+      euclidean_error: -0.003250896152862004
+    base_right_marker_pose:
+      angle_rotation: 9.721294679678236
+      euclidean_error: -0.0006999586201076324
+    shoulder_marker_pose:
+      angle_rotation: 19.384446852110916
+      euclidean_error: 0.006422202861538162
+    wrist_inside_marker_pose:
+      angle_rotation: 23.204626894241308
+      euclidean_error: 0.003304552432854324
+    wrist_top_marker_pose:
+      angle_rotation: 26.18112752834139
+      euclidean_error: -0.0004352924270186742
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.874686770898625
+      euclidean_error: -0.003319162918113072
+    base_right_marker_pose:
+      angle_rotation: 7.271790033499571
+      euclidean_error: -6.53416306831689e-05
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.55384915933725
+      euclidean_error: 0.0020665920295572793
+    wrist_top_marker_pose:
+      angle_rotation: 19.949576314369533
+      euclidean_error: -0.00035951370939424354
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.20980189909879
+      euclidean_error: -0.0031697577270917154
+    base_right_marker_pose:
+      angle_rotation: 9.367904211632725
+      euclidean_error: -0.0007469719986606949
+    shoulder_marker_pose:
+      angle_rotation: 19.29328252042646
+      euclidean_error: 0.006215089443666
+    wrist_inside_marker_pose:
+      angle_rotation: 25.0235221447293
+      euclidean_error: 0.002300483581676338
+    wrist_top_marker_pose:
+      angle_rotation: 22.28048194906858
+      euclidean_error: 0.00028531497999950695
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5589716310578767
+      euclidean_error: -0.0035756759609639754
+    base_right_marker_pose:
+      angle_rotation: 12.083250522374517
+      euclidean_error: -0.0004913422225610864
+    shoulder_marker_pose:
+      angle_rotation: 21.77081575316699
+      euclidean_error: 0.006402717125844393
+    wrist_inside_marker_pose:
+      angle_rotation: 18.620823926888427
+      euclidean_error: 0.0033229559933861674
+    wrist_top_marker_pose:
+      angle_rotation: 25.567736851661447
+      euclidean_error: 0.0002992179117290439
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4213139314560626
+      euclidean_error: -0.0034975015205903626
+    base_right_marker_pose:
+      angle_rotation: 7.559172555009363
+      euclidean_error: -0.0013347361868993879
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.308452866472937
+      euclidean_error: 0.0032646911136473555
+    wrist_top_marker_pose:
+      angle_rotation: 26.12061359621848
+      euclidean_error: 0.0003360631630838773
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6905031885192665
+      euclidean_error: -0.003334692240597903
+    base_right_marker_pose:
+      angle_rotation: 7.142785727407777
+      euclidean_error: -0.0007112020096363691
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.58146278017677
+      euclidean_error: 0.0027148901825247984
+    wrist_top_marker_pose:
+      angle_rotation: 18.16472753886226
+      euclidean_error: -0.0007498921727191465
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.300554420934384
+      euclidean_error: -0.0036211094886888784
+    base_right_marker_pose:
+      angle_rotation: 8.35068682383616
+      euclidean_error: -0.0008090220435246209
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.133230029260588
+      euclidean_error: 0.0028512388583740167
+    wrist_top_marker_pose:
+      angle_rotation: 23.250221736146795
+      euclidean_error: 7.858962288609384e-06
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.578302555796026
+      euclidean_error: -0.0032424656790710493
+    base_right_marker_pose:
+      angle_rotation: 8.122042691279885
+      euclidean_error: -0.0007879109820206898
+    shoulder_marker_pose:
+      angle_rotation: 21.154615587417222
+      euclidean_error: 0.00673305107104516
+    wrist_inside_marker_pose:
+      angle_rotation: 22.360594132572018
+      euclidean_error: 0.0026771244923821103
+    wrist_top_marker_pose:
+      angle_rotation: 24.658104226007328
+      euclidean_error: -0.0011383621292334611
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.753573975803386
+      euclidean_error: -0.0036332308411947123
+    base_right_marker_pose:
+      angle_rotation: 7.279311411866311
+      euclidean_error: -0.0010746844181438453
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.027414050971387
+      euclidean_error: 0.00331695631193063
+    wrist_top_marker_pose:
+      angle_rotation: 25.582845195094336
+      euclidean_error: -0.00011117995695086869
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9220950817517761
+      euclidean_error: -0.0037669305152638888
+    base_right_marker_pose:
+      angle_rotation: 6.130693576400567
+      euclidean_error: -0.001753236393137958
+    shoulder_marker_pose:
+      angle_rotation: 23.627414016165268
+      euclidean_error: 0.004540629833331367
+    wrist_inside_marker_pose:
+      angle_rotation: 23.823272440637293
+      euclidean_error: 0.0036575799396837416
+    wrist_top_marker_pose:
+      angle_rotation: 21.53992025170483
+      euclidean_error: 0.00017998559686027704
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.166154061959244
+      euclidean_error: -0.003855492041566655
+    base_right_marker_pose:
+      angle_rotation: 8.209404355882542
+      euclidean_error: -0.0015979320526187113
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.549860596971335
+      euclidean_error: 0.001985768770850438
+    wrist_top_marker_pose:
+      angle_rotation: 22.21125039189643
+      euclidean_error: -0.0016867995624220145
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.98692929819045
+      euclidean_error: -0.0034144661617653282
+    base_right_marker_pose:
+      angle_rotation: 5.697630656237447
+      euclidean_error: -0.00048026426353098284
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.278849011131644
+      euclidean_error: 0.0028891508606296856
+    wrist_top_marker_pose:
+      angle_rotation: 20.612589225682946
+      euclidean_error: 6.206995581881092e-05
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.325177304859456
+      euclidean_error: -0.003432257108538117
+    base_right_marker_pose:
+      angle_rotation: 9.541462560022536
+      euclidean_error: 0.000802316639218037
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.22378816304504
+      euclidean_error: 0.0031596099292926505
+    wrist_top_marker_pose:
+      angle_rotation: 23.82050397064692
+      euclidean_error: 0.0007614064788150632
diff --git a/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281734.yaml b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281734.yaml
new file mode 100644
index 0000000..dcf401d
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_errors_data_134322070297_202204281734.yaml
@@ -0,0 +1,9600 @@
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8700541963956914
+      euclidean_error: -0.008754484553870068
+    base_right_marker_pose:
+      angle_rotation: 6.2517223893710465
+      euclidean_error: -0.006957134781431451
+    shoulder_marker_pose:
+      angle_rotation: 22.423251701790978
+      euclidean_error: -0.0010996751612986078
+    wrist_inside_marker_pose:
+      angle_rotation: 25.171855957860107
+      euclidean_error: -0.0022684022873097343
+    wrist_top_marker_pose:
+      angle_rotation: 18.039981077070525
+      euclidean_error: -0.004351566828033615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8527032284409637
+      euclidean_error: -0.00899099631879563
+    base_right_marker_pose:
+      angle_rotation: 4.779144198255883
+      euclidean_error: -0.007550594966071578
+    shoulder_marker_pose:
+      angle_rotation: 20.469062035338215
+      euclidean_error: -0.0006769987902633945
+    wrist_inside_marker_pose:
+      angle_rotation: 17.903359058647887
+      euclidean_error: -0.0023577702220497487
+    wrist_top_marker_pose:
+      angle_rotation: 14.924783223333124
+      euclidean_error: -0.0064507939601163855
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.225742464044455
+      euclidean_error: -0.009172976301217273
+    base_right_marker_pose:
+      angle_rotation: 6.188668750268196
+      euclidean_error: -0.0071828185286804125
+    shoulder_marker_pose:
+      angle_rotation: 28.0829084119242
+      euclidean_error: -0.002131740522689718
+    wrist_inside_marker_pose:
+      angle_rotation: 20.916114124011283
+      euclidean_error: -0.0008242410289693858
+    wrist_top_marker_pose:
+      angle_rotation: 22.334391696777956
+      euclidean_error: -0.004039757235896113
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.312234236023289
+      euclidean_error: -0.009212459894360259
+    base_right_marker_pose:
+      angle_rotation: 6.212454307537734
+      euclidean_error: -0.006928956033651401
+    shoulder_marker_pose:
+      angle_rotation: 21.325528094438223
+      euclidean_error: -0.0022538934455121895
+    wrist_inside_marker_pose:
+      angle_rotation: 18.911165779243273
+      euclidean_error: -0.0030801798905002453
+    wrist_top_marker_pose:
+      angle_rotation: 15.6501802987213
+      euclidean_error: -0.005687590757193717
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.65351634655595
+      euclidean_error: -0.00916833049505561
+    base_right_marker_pose:
+      angle_rotation: 5.026861881568983
+      euclidean_error: -0.007300025853654968
+    shoulder_marker_pose:
+      angle_rotation: 24.972926616303255
+      euclidean_error: -0.0003741565467868524
+    wrist_inside_marker_pose:
+      angle_rotation: 24.51338652658921
+      euclidean_error: -0.0011817060132114365
+    wrist_top_marker_pose:
+      angle_rotation: 20.438173618201386
+      euclidean_error: -0.00391083400015646
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6099158607771469
+      euclidean_error: -0.009264588536591067
+    base_right_marker_pose:
+      angle_rotation: 6.9878766148431275
+      euclidean_error: -0.007062641027834382
+    shoulder_marker_pose:
+      angle_rotation: 20.98452764570093
+      euclidean_error: -0.0021501930133348557
+    wrist_inside_marker_pose:
+      angle_rotation: 21.21078919103078
+      euclidean_error: -0.002369685204605343
+    wrist_top_marker_pose:
+      angle_rotation: 12.260711748691723
+      euclidean_error: -0.007113004104903675
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.67794435983776
+      euclidean_error: -0.009063243644396923
+    base_right_marker_pose:
+      angle_rotation: 6.294407023131757
+      euclidean_error: -0.007251317530125756
+    shoulder_marker_pose:
+      angle_rotation: 25.886931097386505
+      euclidean_error: -0.001321661362704507
+    wrist_inside_marker_pose:
+      angle_rotation: 19.437718236556925
+      euclidean_error: -0.004183376458413046
+    wrist_top_marker_pose:
+      angle_rotation: 22.802673746641762
+      euclidean_error: -0.005325139437568405
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3361786469888464
+      euclidean_error: -0.009169192296559436
+    base_right_marker_pose:
+      angle_rotation: 6.272373537148326
+      euclidean_error: -0.007432315925064548
+    shoulder_marker_pose:
+      angle_rotation: 24.888767575473253
+      euclidean_error: -0.002699630421917898
+    wrist_inside_marker_pose:
+      angle_rotation: 22.900871139143305
+      euclidean_error: -0.0014694746598151731
+    wrist_top_marker_pose:
+      angle_rotation: 19.499841743662984
+      euclidean_error: -0.004065302805459137
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1576186663852854
+      euclidean_error: -0.00924713391292109
+    base_right_marker_pose:
+      angle_rotation: 3.6462352367229895
+      euclidean_error: -0.007593643947946926
+    shoulder_marker_pose:
+      angle_rotation: 23.220580960876887
+      euclidean_error: -0.0018643077229961724
+    wrist_inside_marker_pose:
+      angle_rotation: 19.697821969648796
+      euclidean_error: -0.003200128273541103
+    wrist_top_marker_pose:
+      angle_rotation: 15.587893266018638
+      euclidean_error: -0.005933505495614222
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8725318417868784
+      euclidean_error: -0.008947237856530399
+    base_right_marker_pose:
+      angle_rotation: 6.190297775826922
+      euclidean_error: -0.006641635498257137
+    shoulder_marker_pose:
+      angle_rotation: 25.372906428983388
+      euclidean_error: 5.146037661396541e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 16.055991568772498
+      euclidean_error: -0.0023249011544523857
+    wrist_top_marker_pose:
+      angle_rotation: 13.693774680814006
+      euclidean_error: -0.0045604460606782915
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.295278308880591
+      euclidean_error: -0.008895047704910564
+    base_right_marker_pose:
+      angle_rotation: 4.2948019284379395
+      euclidean_error: -0.007179159276695657
+    shoulder_marker_pose:
+      angle_rotation: 22.327189572386096
+      euclidean_error: -0.0008062610780656954
+    wrist_inside_marker_pose:
+      angle_rotation: 19.11400988460904
+      euclidean_error: -0.0023903636320883326
+    wrist_top_marker_pose:
+      angle_rotation: 15.662809034654382
+      euclidean_error: -0.005602539682164065
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.632972278420226
+      euclidean_error: -0.008794895809991043
+    base_right_marker_pose:
+      angle_rotation: 5.249888833237884
+      euclidean_error: -0.007333039162745525
+    shoulder_marker_pose:
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+      euclidean_error: -0.0013254952473017445
+    wrist_inside_marker_pose:
+      angle_rotation: 16.03667205747641
+      euclidean_error: -0.003808352885981914
+    wrist_top_marker_pose:
+      angle_rotation: 17.918451677747235
+      euclidean_error: -0.004250487760230515
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2240592608042484
+      euclidean_error: -0.008891555052716438
+    base_right_marker_pose:
+      angle_rotation: 7.225770794574941
+      euclidean_error: -0.006729596940282079
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.639449710654365
+      euclidean_error: -0.002503861286222153
+    wrist_top_marker_pose:
+      angle_rotation: 12.45469837230551
+      euclidean_error: -0.005854506030699147
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.203742173523285
+      euclidean_error: -0.00906466498779901
+    base_right_marker_pose:
+      angle_rotation: 5.644021071318496
+      euclidean_error: -0.007039268774736485
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.230933285063525
+      euclidean_error: -0.003160238775881008
+    wrist_top_marker_pose:
+      angle_rotation: 24.98702024681323
+      euclidean_error: -0.004744612214039212
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9569929511897295
+      euclidean_error: -0.00915355737105994
+    base_right_marker_pose:
+      angle_rotation: 5.469773242750417
+      euclidean_error: -0.0074860235075311365
+    shoulder_marker_pose:
+      angle_rotation: 19.232414837175707
+      euclidean_error: -0.0020068066821430364
+    wrist_inside_marker_pose:
+      angle_rotation: 18.15679927978005
+      euclidean_error: -0.003468616571431271
+    wrist_top_marker_pose:
+      angle_rotation: 20.511718384083935
+      euclidean_error: -0.005375506513940476
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.585954204924068
+      euclidean_error: -0.008955894904911665
+    base_right_marker_pose:
+      angle_rotation: 4.493969119022728
+      euclidean_error: -0.006918302947544364
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.707207761198635
+      euclidean_error: -0.0018434688815840428
+    wrist_top_marker_pose:
+      angle_rotation: 13.797778524916204
+      euclidean_error: -0.005632899279894521
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5063310269939705
+      euclidean_error: -0.008804792485416324
+    base_right_marker_pose:
+      angle_rotation: 6.705828877487528
+      euclidean_error: -0.0066799552018232955
+    shoulder_marker_pose:
+      angle_rotation: 21.86164332034281
+      euclidean_error: -0.0012769625903130688
+    wrist_inside_marker_pose:
+      angle_rotation: 19.295812021911086
+      euclidean_error: -0.002835059145425034
+    wrist_top_marker_pose:
+      angle_rotation: 16.51303942379467
+      euclidean_error: -0.005522175702618148
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.339320424819093
+      euclidean_error: -0.00900993657847371
+    base_right_marker_pose:
+      angle_rotation: 4.908939623361814
+      euclidean_error: -0.006877400140549383
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.17959304775413
+      euclidean_error: -0.0020833271596106817
+    wrist_top_marker_pose:
+      angle_rotation: 19.982750005323666
+      euclidean_error: -0.005742697187372525
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4374815094431788
+      euclidean_error: -0.008762363514294824
+    base_right_marker_pose:
+      angle_rotation: 5.356469137134479
+      euclidean_error: -0.006618827112756853
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.525006441280585
+      euclidean_error: -0.003157676308903401
+    wrist_top_marker_pose:
+      angle_rotation: 16.471571426664436
+      euclidean_error: -0.006695694233855187
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3267303806597606
+      euclidean_error: -0.009152967985308402
+    base_right_marker_pose:
+      angle_rotation: 6.376197451997205
+      euclidean_error: -0.006886652246233194
+    shoulder_marker_pose:
+      angle_rotation: 24.851740995273737
+      euclidean_error: -0.0009450251248318553
+    wrist_inside_marker_pose:
+      angle_rotation: 18.251090091578344
+      euclidean_error: -0.001612382012796565
+    wrist_top_marker_pose:
+      angle_rotation: 25.513671655550954
+      euclidean_error: -0.003731799123513402
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9980585669534854
+      euclidean_error: -0.009016331750183793
+    base_right_marker_pose:
+      angle_rotation: 6.832695371008159
+      euclidean_error: -0.007471656093945844
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.46334343942556
+      euclidean_error: -0.002313200785546754
+    wrist_top_marker_pose:
+      angle_rotation: 16.785295082783808
+      euclidean_error: -0.005501773877346849
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3566305373954077
+      euclidean_error: -0.00862191303087878
+    base_right_marker_pose:
+      angle_rotation: 6.071506239267503
+      euclidean_error: -0.007264681502638148
+    shoulder_marker_pose:
+      angle_rotation: 25.226235916289692
+      euclidean_error: -0.0015878464165614004
+    wrist_inside_marker_pose:
+      angle_rotation: 19.850377067296048
+      euclidean_error: -0.002020540827434747
+    wrist_top_marker_pose:
+      angle_rotation: 20.79441166955517
+      euclidean_error: -0.003263679058484348
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.727510623754036
+      euclidean_error: -0.008969404973754314
+    base_right_marker_pose:
+      angle_rotation: 6.058821461619705
+      euclidean_error: -0.00692044223925925
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.756790908836482
+      euclidean_error: -0.004129871830686915
+    wrist_top_marker_pose:
+      angle_rotation: 15.0270877301796
+      euclidean_error: -0.005659622333608394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6990064207689417
+      euclidean_error: -0.009045617043402454
+    base_right_marker_pose:
+      angle_rotation: 5.902897420217838
+      euclidean_error: -0.007060195032793648
+    shoulder_marker_pose:
+      angle_rotation: 18.579385153643035
+      euclidean_error: -0.0009041504453137783
+    wrist_inside_marker_pose:
+      angle_rotation: 16.575827756624566
+      euclidean_error: -0.002216311781027658
+    wrist_top_marker_pose:
+      angle_rotation: 17.03501924871344
+      euclidean_error: -0.003995105678661015
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.905724892124115
+      euclidean_error: -0.009107558517981285
+    base_right_marker_pose:
+      angle_rotation: 5.56522661955814
+      euclidean_error: -0.006906820408257297
+    shoulder_marker_pose:
+      angle_rotation: 23.825296120903918
+      euclidean_error: -0.00018004856282771708
+    wrist_inside_marker_pose:
+      angle_rotation: 20.418131637613204
+      euclidean_error: -0.0023371602524668855
+    wrist_top_marker_pose:
+      angle_rotation: 16.087191059966162
+      euclidean_error: -0.004056842278431616
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.670051270255458
+      euclidean_error: -0.008993815348309786
+    base_right_marker_pose:
+      angle_rotation: 6.796299391985128
+      euclidean_error: -0.006385747783421047
+    shoulder_marker_pose:
+      angle_rotation: 20.149038634912895
+      euclidean_error: -0.000611068286533567
+    wrist_inside_marker_pose:
+      angle_rotation: 21.764106681531466
+      euclidean_error: -0.0030724847478085238
+    wrist_top_marker_pose:
+      angle_rotation: 13.699905085032539
+      euclidean_error: -0.0054792550864847245
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8366385877602696
+      euclidean_error: -0.009127821834504446
+    base_right_marker_pose:
+      angle_rotation: 4.64845384535349
+      euclidean_error: -0.006049746300934689
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.58310213190179
+      euclidean_error: -0.0018727954195283392
+    wrist_top_marker_pose:
+      angle_rotation: 23.99383317007363
+      euclidean_error: -0.003655385658089094
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.749508492716454
+      euclidean_error: -0.009209518688556795
+    base_right_marker_pose:
+      angle_rotation: 4.734925088783757
+      euclidean_error: -0.007026493398696987
+    shoulder_marker_pose:
+      angle_rotation: 25.555380194684968
+      euclidean_error: -0.0005330450603155956
+    wrist_inside_marker_pose:
+      angle_rotation: 17.68442200508209
+      euclidean_error: -0.0022051932500570803
+    wrist_top_marker_pose:
+      angle_rotation: 16.856290860716914
+      euclidean_error: -0.004662685638069597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9394065948794275
+      euclidean_error: -0.009012055903881322
+    base_right_marker_pose:
+      angle_rotation: 4.954718409359531
+      euclidean_error: -0.0073735719800761546
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.484858884645003
+      euclidean_error: -0.0018105308523452823
+    wrist_top_marker_pose:
+      angle_rotation: 17.8563006227944
+      euclidean_error: -0.005442812814510201
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3038119163388253
+      euclidean_error: -0.009036434086898137
+    base_right_marker_pose:
+      angle_rotation: 5.229128975244092
+      euclidean_error: -0.007235270828511053
+    shoulder_marker_pose:
+      angle_rotation: 19.964995168766556
+      euclidean_error: -0.0009160398457092045
+    wrist_inside_marker_pose:
+      angle_rotation: 19.50921783216463
+      euclidean_error: -0.0031798389106920677
+    wrist_top_marker_pose:
+      angle_rotation: 19.79003970347302
+      euclidean_error: -0.005475085690037962
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.171249638306325
+      euclidean_error: -0.008668092013407902
+    base_right_marker_pose:
+      angle_rotation: 5.311798839398052
+      euclidean_error: -0.006456549516050236
+    shoulder_marker_pose:
+      angle_rotation: 22.973554260942922
+      euclidean_error: -0.0012351589516649275
+    wrist_inside_marker_pose:
+      angle_rotation: 17.787334642201344
+      euclidean_error: -0.0017650773288150345
+    wrist_top_marker_pose:
+      angle_rotation: 20.322529428146453
+      euclidean_error: -0.003896363099982092
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.302028216131634
+      euclidean_error: -0.009260498732119649
+    base_right_marker_pose:
+      angle_rotation: 6.560495232464449
+      euclidean_error: -0.0065898013477536654
+    shoulder_marker_pose:
+      angle_rotation: 23.36400976449294
+      euclidean_error: -0.0007738654956531699
+    wrist_inside_marker_pose:
+      angle_rotation: 18.58347753226829
+      euclidean_error: -0.00241264129723584
+    wrist_top_marker_pose:
+      angle_rotation: 19.972766894953228
+      euclidean_error: -0.003906417600613832
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.542884638719216
+      euclidean_error: -0.00913343642502451
+    base_right_marker_pose:
+      angle_rotation: 6.885621623708193
+      euclidean_error: -0.006812435104004644
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.227142488376245
+      euclidean_error: -0.002846835029104766
+    wrist_top_marker_pose:
+      angle_rotation: 16.966463805429935
+      euclidean_error: -0.005922520599459524
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3449375795826004
+      euclidean_error: -0.008966897924355677
+    base_right_marker_pose:
+      angle_rotation: 7.044953602634469
+      euclidean_error: -0.006938882688610759
+    shoulder_marker_pose:
+      angle_rotation: 16.446151033841623
+      euclidean_error: -0.0011366238209200574
+    wrist_inside_marker_pose:
+      angle_rotation: 21.281336396370428
+      euclidean_error: -0.0025915316257788534
+    wrist_top_marker_pose:
+      angle_rotation: 21.751727976850695
+      euclidean_error: -0.004723397533705098
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0454587088801537
+      euclidean_error: -0.009130801560881974
+    base_right_marker_pose:
+      angle_rotation: 5.699285004701666
+      euclidean_error: -0.007200322429330774
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.999248300660472
+      euclidean_error: -0.002895403129643981
+    wrist_top_marker_pose:
+      angle_rotation: 17.19052259493613
+      euclidean_error: -0.004878413585815311
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4225492599207996
+      euclidean_error: -0.00930597685074186
+    base_right_marker_pose:
+      angle_rotation: 5.727775780127459
+      euclidean_error: -0.007286303624039259
+    shoulder_marker_pose:
+      angle_rotation: 26.285824133931005
+      euclidean_error: -0.0013539566479856546
+    wrist_inside_marker_pose:
+      angle_rotation: 22.980784223282022
+      euclidean_error: -0.002058190430047291
+    wrist_top_marker_pose:
+      angle_rotation: 22.568007890816247
+      euclidean_error: -0.005887807603288331
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0864460436991545
+      euclidean_error: -0.008780158812493388
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 20.28358542119808
+      euclidean_error: -0.0010264598657346857
+    wrist_inside_marker_pose:
+      angle_rotation: 18.442267572348616
+      euclidean_error: -0.0031274431631235222
+    wrist_top_marker_pose:
+      angle_rotation: 18.69629208138716
+      euclidean_error: -0.004072447563147064
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7471980368152122
+      euclidean_error: -0.009148432599757061
+    base_right_marker_pose:
+      angle_rotation: 6.345984304309463
+      euclidean_error: -0.006692666373145251
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.236690123106197
+      euclidean_error: -0.0018891800347635712
+    wrist_top_marker_pose:
+      angle_rotation: 18.794102260133577
+      euclidean_error: -0.004697150060055666
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7737846745692893
+      euclidean_error: -0.009011118295795928
+    base_right_marker_pose:
+      angle_rotation: 5.972964368302578
+      euclidean_error: -0.007124987379826586
+    shoulder_marker_pose:
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+      euclidean_error: -0.00048344786902165815
+    wrist_inside_marker_pose:
+      angle_rotation: 20.996505459339897
+      euclidean_error: -0.002535332731426587
+    wrist_top_marker_pose:
+      angle_rotation: 19.546049312259303
+      euclidean_error: -0.004285092079643893
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008927629805607573
+    base_right_marker_pose:
+      angle_rotation: 6.028645073211606
+      euclidean_error: -0.006871503569634618
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.86059932631396
+      euclidean_error: -0.0016621135908128082
+    wrist_top_marker_pose:
+      angle_rotation: 21.309542275805423
+      euclidean_error: -0.002882273696581006
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7669286755421325
+      euclidean_error: -0.008981931287570188
+    base_right_marker_pose:
+      angle_rotation: 5.713272412580608
+      euclidean_error: -0.007078716608449054
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.095025745007533
+      euclidean_error: -0.0031231662536518323
+    wrist_top_marker_pose:
+      angle_rotation: 16.034119526023794
+      euclidean_error: -0.0061208373542086525
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.114619965557871
+      euclidean_error: -0.008738704649134066
+    base_right_marker_pose:
+      angle_rotation: 6.802606607693791
+      euclidean_error: -0.006483594716246821
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.53752176526243
+      euclidean_error: -0.0018506653629691838
+    wrist_top_marker_pose:
+      angle_rotation: 16.8726607115493
+      euclidean_error: -0.005528999449778138
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3788825112297016
+      euclidean_error: -0.008942632841101195
+    base_right_marker_pose:
+      angle_rotation: 6.732904201149572
+      euclidean_error: -0.006650343790569169
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.991126711789825
+      euclidean_error: -0.0007441554397402683
+    wrist_top_marker_pose:
+      angle_rotation: 15.824568181929406
+      euclidean_error: -0.004521191672266833
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.885065398935252
+      euclidean_error: -0.009024170422562205
+    base_right_marker_pose:
+      angle_rotation: 5.118624595858404
+      euclidean_error: -0.006563528590688761
+    shoulder_marker_pose:
+      angle_rotation: 24.464876326154034
+      euclidean_error: -0.0018695108707303953
+    wrist_inside_marker_pose:
+      angle_rotation: 19.14811149992289
+      euclidean_error: -0.002085423438959344
+    wrist_top_marker_pose:
+      angle_rotation: 19.993015886418526
+      euclidean_error: -0.004192230574246225
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6094505077475616
+      euclidean_error: -0.008858495951093337
+    base_right_marker_pose:
+      angle_rotation: 6.9575855244706295
+      euclidean_error: -0.0066834867903230455
+    shoulder_marker_pose:
+      angle_rotation: 21.752017293295108
+      euclidean_error: -0.001561307942287704
+    wrist_inside_marker_pose:
+      angle_rotation: 20.140163729738983
+      euclidean_error: -0.0019088278010070958
+    wrist_top_marker_pose:
+      angle_rotation: 15.056083348553228
+      euclidean_error: -0.005279551936595794
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008962563755362085
+    base_right_marker_pose:
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+      euclidean_error: -0.007138811172353154
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.25707754796714
+      euclidean_error: -0.001662733193292465
+    wrist_top_marker_pose:
+      angle_rotation: 13.808889681187548
+      euclidean_error: -0.004523955020634185
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7247187206366865
+      euclidean_error: -0.008990041074948829
+    base_right_marker_pose:
+      angle_rotation: 5.5694136144666615
+      euclidean_error: -0.006740874314380418
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.658243769254515
+      euclidean_error: -0.0025982259869418156
+    wrist_top_marker_pose:
+      angle_rotation: 20.151541699013908
+      euclidean_error: -0.005278919862219178
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.460769693044493
+      euclidean_error: -0.008790440648406839
+    base_right_marker_pose:
+      angle_rotation: 5.9061320625969005
+      euclidean_error: -0.006989156236209437
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.663175785315964
+      euclidean_error: -0.0026427475252251975
+    wrist_top_marker_pose:
+      angle_rotation: 23.45049676955144
+      euclidean_error: -0.004621933311747095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.133737189043102
+      euclidean_error: -0.00910111596514529
+    base_right_marker_pose:
+      angle_rotation: 7.607671273236331
+      euclidean_error: -0.0067106633803358795
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.4542989303612
+      euclidean_error: -0.0020721058238879486
+    wrist_top_marker_pose:
+      angle_rotation: 18.814897743888146
+      euclidean_error: -0.0050309390978479085
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.936000117623692
+      euclidean_error: -0.008925706766276575
+    base_right_marker_pose:
+      angle_rotation: 6.358139253685663
+      euclidean_error: -0.006707288261626143
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.4436293872395
+      euclidean_error: -0.0014317721446115428
+    wrist_top_marker_pose:
+      angle_rotation: 18.925326374450115
+      euclidean_error: -0.004053847622182971
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.433347389775569
+      euclidean_error: -0.00870013266773495
+    base_right_marker_pose:
+      angle_rotation: 4.835282855518476
+      euclidean_error: -0.006560315567138986
+    shoulder_marker_pose:
+      angle_rotation: 19.69143049885824
+      euclidean_error: -0.0002830240920119742
+    wrist_inside_marker_pose:
+      angle_rotation: 14.612625552336267
+      euclidean_error: -0.0012105177200953943
+    wrist_top_marker_pose:
+      angle_rotation: 12.557281744548716
+      euclidean_error: -0.004025624109383452
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.043722786568651
+      euclidean_error: -0.009007164465605011
+    base_right_marker_pose:
+      angle_rotation: 5.9839965198146565
+      euclidean_error: -0.006548820407035416
+    shoulder_marker_pose:
+      angle_rotation: 25.794295332255043
+      euclidean_error: -0.0013679587962075468
+    wrist_inside_marker_pose:
+      angle_rotation: 21.11668514035213
+      euclidean_error: -0.001104343062453994
+    wrist_top_marker_pose:
+      angle_rotation: 18.97723906261624
+      euclidean_error: -0.0037266198495991
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9288317536768833
+      euclidean_error: -0.009277790088483173
+    base_right_marker_pose:
+      angle_rotation: 4.7820252235881195
+      euclidean_error: -0.00730765612716322
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.13792389515167
+      euclidean_error: -0.0020078885258631995
+    wrist_top_marker_pose:
+      angle_rotation: 15.071689757334678
+      euclidean_error: -0.004940580400576877
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7176319313522903
+      euclidean_error: -0.00900541135488886
+    base_right_marker_pose:
+      angle_rotation: 7.213453797883736
+      euclidean_error: -0.006913860474515809
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.600467009700353
+      euclidean_error: -0.001209281658070549
+    wrist_top_marker_pose:
+      angle_rotation: 23.170202011790096
+      euclidean_error: -0.0040306278670263485
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.828528342275658
+      euclidean_error: -0.009001972435637162
+    base_right_marker_pose:
+      angle_rotation: 5.752864471070724
+      euclidean_error: -0.007071046085857735
+    shoulder_marker_pose:
+      angle_rotation: 20.995582710352956
+      euclidean_error: -0.0012874447837075698
+    wrist_inside_marker_pose:
+      angle_rotation: 21.305100701115553
+      euclidean_error: -0.002074732501695542
+    wrist_top_marker_pose:
+      angle_rotation: 18.986315576164206
+      euclidean_error: -0.004942873033733419
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.588711585613682
+      euclidean_error: -0.008861783187728234
+    base_right_marker_pose:
+      angle_rotation: 6.434875603249432
+      euclidean_error: -0.006458745845525304
+    shoulder_marker_pose:
+      angle_rotation: 19.426844691164444
+      euclidean_error: 0.0002185194787325262
+    wrist_inside_marker_pose:
+      angle_rotation: 24.723257610803
+      euclidean_error: -0.001919187291894886
+    wrist_top_marker_pose:
+      angle_rotation: 16.82438358587238
+      euclidean_error: -0.0028636452748860286
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.940553288328553
+      euclidean_error: -0.008824060617798835
+    base_right_marker_pose:
+      angle_rotation: 6.719023315569858
+      euclidean_error: -0.006325228952995032
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.45438983996946
+      euclidean_error: -0.002761357778942264
+    wrist_top_marker_pose:
+      angle_rotation: 19.757045032605166
+      euclidean_error: -0.00397782406497893
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0890107499690163
+      euclidean_error: -0.008898358507310133
+    base_right_marker_pose:
+      angle_rotation: 6.0884408907232155
+      euclidean_error: -0.006489798627794752
+    shoulder_marker_pose:
+      angle_rotation: 16.026335286056504
+      euclidean_error: -0.000963996990104965
+    wrist_inside_marker_pose:
+      angle_rotation: 22.86941959510706
+      euclidean_error: -0.0008103145161120207
+    wrist_top_marker_pose:
+      angle_rotation: 15.911715301078198
+      euclidean_error: -0.003928997991160199
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1894102704815352
+      euclidean_error: -0.00909181451199137
+    base_right_marker_pose:
+      angle_rotation: 6.735715830011956
+      euclidean_error: -0.006503417878082618
+    shoulder_marker_pose:
+      angle_rotation: 21.46456450404343
+      euclidean_error: -0.0006356699300911206
+    wrist_inside_marker_pose:
+      angle_rotation: 29.154786204846257
+      euclidean_error: -0.002028218304581886
+    wrist_top_marker_pose:
+      angle_rotation: 22.776427609150257
+      euclidean_error: -0.003977742916817184
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8527503281111497
+      euclidean_error: -0.00909221155190354
+    base_right_marker_pose:
+      angle_rotation: 3.372890930044286
+      euclidean_error: -0.007187141817693421
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.751866426077125
+      euclidean_error: -0.0020724771418508814
+    wrist_top_marker_pose:
+      angle_rotation: 20.635168648411213
+      euclidean_error: -0.004211556849025522
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.030090428585961
+      euclidean_error: -0.009088941423596508
+    base_right_marker_pose:
+      angle_rotation: 4.364840404813859
+      euclidean_error: -0.0072342736444998
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.78601180019739
+      euclidean_error: -0.0026564108642814777
+    wrist_top_marker_pose:
+      angle_rotation: 12.234957366679376
+      euclidean_error: -0.0064661993117475225
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7479185276265063
+      euclidean_error: -0.008870098701841966
+    base_right_marker_pose:
+      angle_rotation: 5.095972494068015
+      euclidean_error: -0.006512774281180134
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.787188781698536
+      euclidean_error: -0.0015272909987755767
+    wrist_top_marker_pose:
+      angle_rotation: 16.010898961128675
+      euclidean_error: -0.0035740481634826127
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.843119196047358
+      euclidean_error: -0.009023952410532887
+    base_right_marker_pose:
+      angle_rotation: 5.1040480914052155
+      euclidean_error: -0.00666776317608353
+    shoulder_marker_pose:
+      angle_rotation: 19.39311533580608
+      euclidean_error: -0.00045987806027691924
+    wrist_inside_marker_pose:
+      angle_rotation: 22.03310755470923
+      euclidean_error: -0.0020222437522772196
+    wrist_top_marker_pose:
+      angle_rotation: 16.514462604203032
+      euclidean_error: -0.004612761364491735
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4579155892666735
+      euclidean_error: -0.008769503439607473
+    base_right_marker_pose:
+      angle_rotation: 5.232557942308732
+      euclidean_error: -0.006922599236443672
+    shoulder_marker_pose:
+      angle_rotation: 21.969050195011185
+      euclidean_error: -0.00037748035772833255
+    wrist_inside_marker_pose:
+      angle_rotation: 17.2281077588517
+      euclidean_error: -0.001401581790878903
+    wrist_top_marker_pose:
+      angle_rotation: 14.973092900253544
+      euclidean_error: -0.0036499431168030005
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.233701616682825
+      euclidean_error: -0.008886946682423735
+    base_right_marker_pose:
+      angle_rotation: 6.321613230065682
+      euclidean_error: -0.006955355455446788
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.571194860126216
+      euclidean_error: -0.0032740664521238028
+    wrist_top_marker_pose:
+      angle_rotation: 20.42966241332247
+      euclidean_error: -0.005587872477942457
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.078495161355069
+      euclidean_error: -0.008748476104456282
+    base_right_marker_pose:
+      angle_rotation: 5.874922277623158
+      euclidean_error: -0.00655547907988574
+    shoulder_marker_pose:
+      angle_rotation: 22.0491780775309
+      euclidean_error: -0.0011673223092909524
+    wrist_inside_marker_pose:
+      angle_rotation: 16.884445062049853
+      euclidean_error: -0.002752922600294916
+    wrist_top_marker_pose:
+      angle_rotation: 18.429975348816075
+      euclidean_error: -0.005349873469992161
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.510473398396273
+      euclidean_error: -0.008807187467544053
+    base_right_marker_pose:
+      angle_rotation: 5.7680926592485235
+      euclidean_error: -0.007219503351986067
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.394139495648666
+      euclidean_error: -0.002511576216041589
+    wrist_top_marker_pose:
+      angle_rotation: 19.732687544817946
+      euclidean_error: -0.004646030960875902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.201970498624764
+      euclidean_error: -0.00873026943365196
+    base_right_marker_pose:
+      angle_rotation: 5.857838786290015
+      euclidean_error: -0.006271664691118728
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.4459631896426
+      euclidean_error: -0.0015796492307238452
+    wrist_top_marker_pose:
+      angle_rotation: 21.824556395134007
+      euclidean_error: -0.0031686434239962535
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5920316095388465
+      euclidean_error: -0.008983423851966488
+    base_right_marker_pose:
+      angle_rotation: 4.917094898059851
+      euclidean_error: -0.006891355630443519
+    shoulder_marker_pose:
+      angle_rotation: 20.835233211585184
+      euclidean_error: -0.0009815907961263637
+    wrist_inside_marker_pose:
+      angle_rotation: 16.563677279287997
+      euclidean_error: -0.0028711311632626524
+    wrist_top_marker_pose:
+      angle_rotation: 12.032212948718302
+      euclidean_error: -0.005119098386566434
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.711311577459119
+      euclidean_error: -0.008750387245781477
+    base_right_marker_pose:
+      angle_rotation: 5.230585585121435
+      euclidean_error: -0.006777002281488698
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.264082206188046
+      euclidean_error: -0.0023156309980735257
+    wrist_top_marker_pose:
+      angle_rotation: 15.19753640528885
+      euclidean_error: -0.005549006901230613
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6152630949076217
+      euclidean_error: -0.009177874409439957
+    base_right_marker_pose:
+      angle_rotation: 4.4267782249261485
+      euclidean_error: -0.006964934144889523
+    shoulder_marker_pose:
+      angle_rotation: 22.413916143637074
+      euclidean_error: -0.002100946526813585
+    wrist_inside_marker_pose:
+      angle_rotation: 21.518460814382546
+      euclidean_error: -0.001312961382131661
+    wrist_top_marker_pose:
+      angle_rotation: 19.00996055781166
+      euclidean_error: -0.004002945894908128
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.561592371793092
+      euclidean_error: -0.008723054106313466
+    base_right_marker_pose:
+      angle_rotation: 4.670628153109829
+      euclidean_error: -0.006892806714900002
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.85684467607253
+      euclidean_error: -0.002351463100555118
+    wrist_top_marker_pose:
+      angle_rotation: 18.728075450256743
+      euclidean_error: -0.003795767193566002
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.442361578177242
+      euclidean_error: -0.008670316300925074
+    base_right_marker_pose:
+      angle_rotation: 5.141693575117749
+      euclidean_error: -0.00678516898467485
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.45339194543617
+      euclidean_error: -0.0019160213573297113
+    wrist_top_marker_pose:
+      angle_rotation: 18.453214528575067
+      euclidean_error: -0.0046196345760871615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2083050057949607
+      euclidean_error: -0.00864555021044644
+    base_right_marker_pose:
+      angle_rotation: 6.706065047631491
+      euclidean_error: -0.0068530791437874106
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.310233254319026
+      euclidean_error: -0.0034373938228680068
+    wrist_top_marker_pose:
+      angle_rotation: 17.93910837515178
+      euclidean_error: -0.006640082974417205
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.509721283263389
+      euclidean_error: -0.008699569118536088
+    base_right_marker_pose:
+      angle_rotation: 4.858212963705674
+      euclidean_error: -0.007094852379633476
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.952283230186737
+      euclidean_error: -0.0026206023279873314
+    wrist_top_marker_pose:
+      angle_rotation: 21.221758395472055
+      euclidean_error: -0.00428422155739594
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3314591702736323
+      euclidean_error: -0.00873057441472258
+    base_right_marker_pose:
+      angle_rotation: 5.698350332496391
+      euclidean_error: -0.006574624586261568
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.880488232894876
+      euclidean_error: -0.002771502790240521
+    wrist_top_marker_pose:
+      angle_rotation: 21.867020841647143
+      euclidean_error: -0.00464275294201133
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.993123118017948
+      euclidean_error: -0.008661280218509204
+    base_right_marker_pose:
+      angle_rotation: 4.543158751696705
+      euclidean_error: -0.006668938242535449
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.90024497352313
+      euclidean_error: -0.0019383591423175472
+    wrist_top_marker_pose:
+      angle_rotation: 13.560395834780584
+      euclidean_error: -0.0041415576394280285
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.67561100054951
+      euclidean_error: -0.008786392065517123
+    base_right_marker_pose:
+      angle_rotation: 6.17103705246552
+      euclidean_error: -0.006314337436237771
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.858161806700547
+      euclidean_error: -0.00233508926321091
+    wrist_top_marker_pose:
+      angle_rotation: 22.472368419912012
+      euclidean_error: -0.004090710556605481
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.315560597271109
+      euclidean_error: -0.009086793211834476
+    base_right_marker_pose:
+      angle_rotation: 6.038526619667273
+      euclidean_error: -0.00657668142561052
+    shoulder_marker_pose:
+      angle_rotation: 24.15420397163612
+      euclidean_error: -0.0015346573364632965
+    wrist_inside_marker_pose:
+      angle_rotation: 25.03495738971673
+      euclidean_error: -0.001669861689697294
+    wrist_top_marker_pose:
+      angle_rotation: 24.212608640630073
+      euclidean_error: -0.0034579895874350397
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.464237217503613
+      euclidean_error: -0.008941685533555566
+    base_right_marker_pose:
+      angle_rotation: 5.5586879762539265
+      euclidean_error: -0.00683437631083561
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.980086601313992
+      euclidean_error: -0.0018365047419268699
+    wrist_top_marker_pose:
+      angle_rotation: 19.7495573341359
+      euclidean_error: -0.004459973699616371
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8587454249479034
+      euclidean_error: -0.008808798783192295
+    base_right_marker_pose:
+      angle_rotation: 5.152123092617253
+      euclidean_error: -0.006757172756354346
+    shoulder_marker_pose:
+      angle_rotation: 23.956405332361513
+      euclidean_error: -6.65078014177034e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 21.126740359194667
+      euclidean_error: -0.0009459025048221825
+    wrist_top_marker_pose:
+      angle_rotation: 22.148298320010692
+      euclidean_error: -0.0024782668784969486
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9332087862127407
+      euclidean_error: -0.008814169763480262
+    base_right_marker_pose:
+      angle_rotation: 3.908314447016429
+      euclidean_error: -0.0073911345887267554
+    shoulder_marker_pose:
+      angle_rotation: 26.303971977833044
+      euclidean_error: -0.0007472999634580146
+    wrist_inside_marker_pose:
+      angle_rotation: 22.751571197989392
+      euclidean_error: -0.000727902470707753
+    wrist_top_marker_pose:
+      angle_rotation: 20.438515401514028
+      euclidean_error: -0.002835854475197297
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2361030853463966
+      euclidean_error: -0.008908018177575583
+    base_right_marker_pose:
+      angle_rotation: 5.502342205118432
+      euclidean_error: -0.006632041342603867
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.474824735491882
+      euclidean_error: -0.0013067790386772637
+    wrist_top_marker_pose:
+      angle_rotation: 17.310142840751393
+      euclidean_error: -0.005816771698190726
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.351702860112575
+      euclidean_error: -0.008815274806844298
+    base_right_marker_pose:
+      angle_rotation: 5.223914739177669
+      euclidean_error: -0.007014191914201717
+    shoulder_marker_pose:
+      angle_rotation: 24.733043203429794
+      euclidean_error: -0.0013952632907762164
+    wrist_inside_marker_pose:
+      angle_rotation: 21.406484377062412
+      euclidean_error: -0.002508343491173237
+    wrist_top_marker_pose:
+      angle_rotation: 21.487008411329665
+      euclidean_error: -0.003762148748066574
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.950707359964634
+      euclidean_error: -0.008696246017524611
+    base_right_marker_pose:
+      angle_rotation: 5.716764191481991
+      euclidean_error: -0.006723672502667366
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.3856717036178
+      euclidean_error: -0.0025900661797954028
+    wrist_top_marker_pose:
+      angle_rotation: 19.792030165526988
+      euclidean_error: -0.0038121422889155765
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4757348156654104
+      euclidean_error: -0.009084568630077339
+    base_right_marker_pose:
+      angle_rotation: 6.271023619176645
+      euclidean_error: -0.006751018763837546
+    shoulder_marker_pose:
+      angle_rotation: 23.595287238792142
+      euclidean_error: -0.0008480541901232375
+    wrist_inside_marker_pose:
+      angle_rotation: 23.45544090904761
+      euclidean_error: -0.002382132405720272
+    wrist_top_marker_pose:
+      angle_rotation: 17.49576818714693
+      euclidean_error: -0.005246272088775039
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.894029337740061
+      euclidean_error: -0.008544604309001391
+    base_right_marker_pose:
+      angle_rotation: 4.492086058226883
+      euclidean_error: -0.006218973974485342
+    shoulder_marker_pose:
+      angle_rotation: 25.43214235395042
+      euclidean_error: -0.0003317579632869938
+    wrist_inside_marker_pose:
+      angle_rotation: 16.94460677509022
+      euclidean_error: -0.0014743474103474652
+    wrist_top_marker_pose:
+      angle_rotation: 18.12406398566853
+      euclidean_error: -0.003882929722115791
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.008928368064335
+      euclidean_error: -0.009059052917715249
+    base_right_marker_pose:
+      angle_rotation: 5.924568445284808
+      euclidean_error: -0.006121428905726423
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.82852287973765
+      euclidean_error: -0.001569449773956455
+    wrist_top_marker_pose:
+      angle_rotation: 22.3203578968245
+      euclidean_error: -0.0028245694505180108
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9585910975712175
+      euclidean_error: -0.00893079902539351
+    base_right_marker_pose:
+      angle_rotation: 7.777750618148516
+      euclidean_error: -0.006055329934608333
+    shoulder_marker_pose:
+      angle_rotation: 23.24215577175019
+      euclidean_error: -0.0005558565795231729
+    wrist_inside_marker_pose:
+      angle_rotation: 22.672812123175227
+      euclidean_error: -0.0009277600487054283
+    wrist_top_marker_pose:
+      angle_rotation: 17.635857036298006
+      euclidean_error: -0.0038915304268128947
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1077580264802327
+      euclidean_error: -0.009214393907590601
+    base_right_marker_pose:
+      angle_rotation: 7.290186542228817
+      euclidean_error: -0.006544262721015048
+    shoulder_marker_pose:
+      angle_rotation: 24.297217865515098
+      euclidean_error: 0.0006420954968574533
+    wrist_inside_marker_pose:
+      angle_rotation: 23.291600672547077
+      euclidean_error: -0.0014867297345250163
+    wrist_top_marker_pose:
+      angle_rotation: 18.68644101507138
+      euclidean_error: -0.003864739749500745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.699569432742724
+      euclidean_error: -0.008747114771898823
+    base_right_marker_pose:
+      angle_rotation: 4.889526593066202
+      euclidean_error: -0.006452796518397141
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.166105548970098
+      euclidean_error: -0.0016090200747173045
+    wrist_top_marker_pose:
+      angle_rotation: 21.27735409492121
+      euclidean_error: -0.0031964222344187387
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8490832467173597
+      euclidean_error: -0.008817587979624175
+    base_right_marker_pose:
+      angle_rotation: 4.855498264871546
+      euclidean_error: -0.006039236521352076
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.476757652363005
+      euclidean_error: -0.001537863420776442
+    wrist_top_marker_pose:
+      angle_rotation: 20.299450542772483
+      euclidean_error: -0.0028959596518361996
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.404723504377917
+      euclidean_error: -0.00883925351183501
+    base_right_marker_pose:
+      angle_rotation: 7.697239426160206
+      euclidean_error: -0.005872776126735979
+    shoulder_marker_pose:
+      angle_rotation: 22.499325880134737
+      euclidean_error: 8.981725203693891e-06
+    wrist_inside_marker_pose:
+      angle_rotation: 23.509379674863112
+      euclidean_error: -0.001312560229615345
+    wrist_top_marker_pose:
+      angle_rotation: 18.269007344687953
+      euclidean_error: -0.002878887097295668
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.90137850384046
+      euclidean_error: -0.008623284678822563
+    base_right_marker_pose:
+      angle_rotation: 4.0785228948552765
+      euclidean_error: -0.006726155232230413
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.313353370103105
+      euclidean_error: -0.0011279925106264521
+    wrist_top_marker_pose:
+      angle_rotation: 18.590651912904818
+      euclidean_error: -0.0029474280066533742
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8250624698486588
+      euclidean_error: -0.008535372360398918
+    base_right_marker_pose:
+      angle_rotation: 4.8184168863682375
+      euclidean_error: -0.006558903361790658
+    shoulder_marker_pose:
+      angle_rotation: 25.314870928909066
+      euclidean_error: -0.0011276655632933563
+    wrist_inside_marker_pose:
+      angle_rotation: 19.215812366936394
+      euclidean_error: -0.002066399169819544
+    wrist_top_marker_pose:
+      angle_rotation: 13.694908806284669
+      euclidean_error: -0.004930614517941301
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.516211659408304
+      euclidean_error: -0.00860751570044993
+    base_right_marker_pose:
+      angle_rotation: 6.022940078886169
+      euclidean_error: -0.00503012017309501
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.349145534117664
+      euclidean_error: -0.0017327274228408074
+    wrist_top_marker_pose:
+      angle_rotation: 21.240562633097525
+      euclidean_error: -0.0024911960753613016
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.832959854637227
+      euclidean_error: -0.008493748050412475
+    base_right_marker_pose:
+      angle_rotation: 5.5078798542196585
+      euclidean_error: -0.006266343051389178
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.085330601340058
+      euclidean_error: -0.002491557871736383
+    wrist_top_marker_pose:
+      angle_rotation: 16.250143798987047
+      euclidean_error: -0.004349044504761812
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3112847448948175
+      euclidean_error: -0.008885170156900601
+    base_right_marker_pose:
+      angle_rotation: 5.122762143131517
+      euclidean_error: -0.006731037114218741
+    shoulder_marker_pose:
+      angle_rotation: 28.59068921310464
+      euclidean_error: -0.0008440026004856716
+    wrist_inside_marker_pose:
+      angle_rotation: 17.725947409012107
+      euclidean_error: -0.0013455033788661863
+    wrist_top_marker_pose:
+      angle_rotation: 18.705893774427658
+      euclidean_error: -0.0031691493697103557
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.659002968986976
+      euclidean_error: -0.008625848196407104
+    base_right_marker_pose:
+      angle_rotation: 4.728240443036867
+      euclidean_error: -0.0064277738706944865
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.553576484448655
+      euclidean_error: -0.0012190345885816356
+    wrist_top_marker_pose:
+      angle_rotation: 12.19981982194777
+      euclidean_error: -0.005985247282618511
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1035564636618003
+      euclidean_error: -0.008932108992475318
+    base_right_marker_pose:
+      angle_rotation: 5.995089267695302
+      euclidean_error: -0.006436154017791962
+    shoulder_marker_pose:
+      angle_rotation: 24.51766903714347
+      euclidean_error: -0.0011267609059416595
+    wrist_inside_marker_pose:
+      angle_rotation: 24.253053114054463
+      euclidean_error: -0.0023287211827867083
+    wrist_top_marker_pose:
+      angle_rotation: 19.745621157980764
+      euclidean_error: -0.00382936944856882
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.589783773242116
+      euclidean_error: -0.00882969279331991
+    base_right_marker_pose:
+      angle_rotation: 7.038934431416581
+      euclidean_error: -0.006423376088117605
+    shoulder_marker_pose:
+      angle_rotation: 23.690876168963538
+      euclidean_error: -0.00023068559601113758
+    wrist_inside_marker_pose:
+      angle_rotation: 17.34977879399254
+      euclidean_error: -0.002869417204691471
+    wrist_top_marker_pose:
+      angle_rotation: 10.903602374319807
+      euclidean_error: -0.005644230416731233
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7274441354389656
+      euclidean_error: -0.008482857002065969
+    base_right_marker_pose:
+      angle_rotation: 5.781079863125537
+      euclidean_error: -0.00656448565512735
+    shoulder_marker_pose:
+      angle_rotation: 26.20461271008343
+      euclidean_error: -8.315890684384986e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 20.63534910354256
+      euclidean_error: -0.001440089481713147
+    wrist_top_marker_pose:
+      angle_rotation: 14.00210542581737
+      euclidean_error: -0.003668636928632063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0658890824587175
+      euclidean_error: -0.009013849447554345
+    base_right_marker_pose:
+      angle_rotation: 4.235838788719489
+      euclidean_error: -0.007170648725824402
+    shoulder_marker_pose:
+      angle_rotation: 21.040625357011066
+      euclidean_error: -0.0008196190542727466
+    wrist_inside_marker_pose:
+      angle_rotation: 21.59833253790663
+      euclidean_error: -0.0013254127007720218
+    wrist_top_marker_pose:
+      angle_rotation: 23.054720724299983
+      euclidean_error: -0.003824550987458264
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3718777766977475
+      euclidean_error: -0.00863060375358815
+    base_right_marker_pose:
+      angle_rotation: 3.757668655732383
+      euclidean_error: -0.007136138937028025
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.95711299376568
+      euclidean_error: -0.0019038996254835405
+    wrist_top_marker_pose:
+      angle_rotation: 21.189222828336387
+      euclidean_error: -0.0038246065360267867
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1820033472937226
+      euclidean_error: -0.009165737649644123
+    base_right_marker_pose:
+      angle_rotation: 4.000417328756809
+      euclidean_error: -0.006306996177250945
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.456654629878056
+      euclidean_error: -0.0007395363351762052
+    wrist_top_marker_pose:
+      angle_rotation: 21.392096847880946
+      euclidean_error: -0.002730103933008876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2987843912856825
+      euclidean_error: -0.008800485069510366
+    base_right_marker_pose:
+      angle_rotation: 6.698741834564148
+      euclidean_error: -0.006322953416913912
+    shoulder_marker_pose:
+      angle_rotation: 23.845549165114377
+      euclidean_error: -0.00010241417547951492
+    wrist_inside_marker_pose:
+      angle_rotation: 19.860084916343602
+      euclidean_error: -0.001412174842875813
+    wrist_top_marker_pose:
+      angle_rotation: 18.55631701563343
+      euclidean_error: -0.005047509691789243
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2711397035239393
+      euclidean_error: -0.008687262757169578
+    base_right_marker_pose:
+      angle_rotation: 5.43732753698035
+      euclidean_error: -0.006919956952831541
+    shoulder_marker_pose:
+      angle_rotation: 22.0951595610137
+      euclidean_error: -0.0005772565905053373
+    wrist_inside_marker_pose:
+      angle_rotation: 20.37461559084965
+      euclidean_error: -0.0020660310538310744
+    wrist_top_marker_pose:
+      angle_rotation: 20.971029641192793
+      euclidean_error: -0.004226050910684065
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6628372744389615
+      euclidean_error: -0.008725651278940427
+    base_right_marker_pose:
+      angle_rotation: 6.330995638955135
+      euclidean_error: -0.006133696497857999
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.20903988721302
+      euclidean_error: -0.0019304118825937966
+    wrist_top_marker_pose:
+      angle_rotation: 21.05103538038693
+      euclidean_error: -0.0032759606879678715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7098381165778167
+      euclidean_error: -0.009087868344984651
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.72232997236421
+      euclidean_error: -0.0017286525766483374
+    wrist_top_marker_pose:
+      angle_rotation: 17.8329175144307
+      euclidean_error: -0.003597468392043557
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8763899294774222
+      euclidean_error: -0.008519079593596657
+    base_right_marker_pose:
+      angle_rotation: 7.065829409721347
+      euclidean_error: -0.006058267245701798
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.59627034619832
+      euclidean_error: -0.001832203408687172
+    wrist_top_marker_pose:
+      angle_rotation: 16.319278964905543
+      euclidean_error: -0.005065102067891458
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8764480107293673
+      euclidean_error: -0.009187662370943483
+    base_right_marker_pose:
+      angle_rotation: 4.263550248398033
+      euclidean_error: -0.005498117568501715
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.037090992342513
+      euclidean_error: -0.0020199958305214816
+    wrist_top_marker_pose:
+      angle_rotation: 22.362497193592862
+      euclidean_error: -0.003340388123224125
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.281804014777854
+      euclidean_error: -0.008632755802433945
+    base_right_marker_pose:
+      angle_rotation: 5.517635960880105
+      euclidean_error: -0.006180301964222257
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.438440156015517
+      euclidean_error: -0.0016814041358185206
+    wrist_top_marker_pose:
+      angle_rotation: 17.5668510314428
+      euclidean_error: -0.003246087132903419
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7397521599352905
+      euclidean_error: -0.008700656343687774
+    base_right_marker_pose:
+      angle_rotation: 5.4665822052581365
+      euclidean_error: -0.006685650967217294
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.895382460710024
+      euclidean_error: -0.0025943225160631744
+    wrist_top_marker_pose:
+      angle_rotation: 21.881111919989962
+      euclidean_error: -0.0031714796000951173
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.619817910678453
+      euclidean_error: -0.008646635569555805
+    base_right_marker_pose:
+      angle_rotation: 4.943864755411943
+      euclidean_error: -0.006801797839393053
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.555783912470506
+      euclidean_error: -0.0019605971468490413
+    wrist_top_marker_pose:
+      angle_rotation: 17.63783305639886
+      euclidean_error: -0.004663882606174563
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6077517045922785
+      euclidean_error: -0.008780885421986184
+    base_right_marker_pose:
+      angle_rotation: 6.505322851087889
+      euclidean_error: -0.006443220967881191
+    shoulder_marker_pose:
+      angle_rotation: 20.439041392158895
+      euclidean_error: -0.0009425491162072808
+    wrist_inside_marker_pose:
+      angle_rotation: 21.7128627306768
+      euclidean_error: -0.002239128500861498
+    wrist_top_marker_pose:
+      angle_rotation: 22.925195746039837
+      euclidean_error: -0.004369864923338906
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.416362612518454
+      euclidean_error: -0.008802789883767925
+    base_right_marker_pose:
+      angle_rotation: 4.517759809913272
+      euclidean_error: -0.0063446448222365115
+    shoulder_marker_pose:
+      angle_rotation: 22.685327559046712
+      euclidean_error: -0.0012625725383861308
+    wrist_inside_marker_pose:
+      angle_rotation: 19.82816193122913
+      euclidean_error: -0.00324283050427987
+    wrist_top_marker_pose:
+      angle_rotation: 12.362234422498828
+      euclidean_error: -0.00562826517701609
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7217076314657016
+      euclidean_error: -0.009313222567338464
+    base_right_marker_pose:
+      angle_rotation: 5.72456149648858
+      euclidean_error: -0.006691284704215095
+    shoulder_marker_pose:
+      angle_rotation: 22.784613018280858
+      euclidean_error: 9.669514595578299e-06
+    wrist_inside_marker_pose:
+      angle_rotation: 23.349295746093745
+      euclidean_error: -0.001249321333344322
+    wrist_top_marker_pose:
+      angle_rotation: 19.283950620941958
+      euclidean_error: -0.0030365023635092747
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9767406912031762
+      euclidean_error: -0.008748206089844057
+    base_right_marker_pose:
+      angle_rotation: 6.224747695724755
+      euclidean_error: -0.005924486839255172
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.482963343088798
+      euclidean_error: -0.0018005728048902103
+    wrist_top_marker_pose:
+      angle_rotation: 19.3743472157801
+      euclidean_error: -0.003265791255085415
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2945071165660003
+      euclidean_error: -0.008768245065075897
+    base_right_marker_pose:
+      angle_rotation: 5.202224358920279
+      euclidean_error: -0.0065060988783074425
+    shoulder_marker_pose:
+      angle_rotation: 25.056839664181663
+      euclidean_error: 0.00016793811027793204
+    wrist_inside_marker_pose:
+      angle_rotation: 24.16549869801114
+      euclidean_error: -0.0022537559893573977
+    wrist_top_marker_pose:
+      angle_rotation: 20.250696390792246
+      euclidean_error: -0.004896733608227177
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.410734803681949
+      euclidean_error: -0.009024636358842653
+    base_right_marker_pose:
+      angle_rotation: 5.0886269926239995
+      euclidean_error: -0.00698791008288191
+    shoulder_marker_pose:
+      angle_rotation: 24.47026311460783
+      euclidean_error: -0.0005371881451499139
+    wrist_inside_marker_pose:
+      angle_rotation: 16.786187091888035
+      euclidean_error: -0.0020802446905887617
+    wrist_top_marker_pose:
+      angle_rotation: 14.672617961531934
+      euclidean_error: -0.005929142217457883
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8599106893243076
+      euclidean_error: -0.008793711928524961
+    base_right_marker_pose:
+      angle_rotation: 4.643204768025061
+      euclidean_error: -0.006704101033499943
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.543277726357754
+      euclidean_error: -0.0019593871419699704
+    wrist_top_marker_pose:
+      angle_rotation: 20.313296976775135
+      euclidean_error: -0.004514249958343819
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3441309222634015
+      euclidean_error: -0.00860139424572648
+    base_right_marker_pose:
+      angle_rotation: 5.166769541260405
+      euclidean_error: -0.00634572896833141
+    shoulder_marker_pose:
+      angle_rotation: 20.240575346906432
+      euclidean_error: -0.0010969858184564085
+    wrist_inside_marker_pose:
+      angle_rotation: 18.338257721841178
+      euclidean_error: -0.0029756857803047154
+    wrist_top_marker_pose:
+      angle_rotation: 15.433612207188933
+      euclidean_error: -0.005389843877836142
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9064463703918353
+      euclidean_error: -0.009254838396065224
+    base_right_marker_pose:
+      angle_rotation: 5.809708917135692
+      euclidean_error: -0.006517174799955061
+    shoulder_marker_pose:
+      angle_rotation: 19.314873772457833
+      euclidean_error: -0.0019159832946401556
+    wrist_inside_marker_pose:
+      angle_rotation: 21.168357054530365
+      euclidean_error: -0.0022516655693840537
+    wrist_top_marker_pose:
+      angle_rotation: 22.5526038042721
+      euclidean_error: -0.004626417469805411
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.382241397928694
+      euclidean_error: -0.008679643155578676
+    base_right_marker_pose:
+      angle_rotation: 6.19448458644743
+      euclidean_error: -0.006271666498112061
+    shoulder_marker_pose:
+      angle_rotation: 26.49625241637386
+      euclidean_error: -0.0011248899027165304
+    wrist_inside_marker_pose:
+      angle_rotation: 24.313194681038677
+      euclidean_error: -0.0013663599600690635
+    wrist_top_marker_pose:
+      angle_rotation: 22.926248449647485
+      euclidean_error: -0.0024453680504316067
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1423099187027708
+      euclidean_error: -0.008961723167757452
+    base_right_marker_pose:
+      angle_rotation: 5.573815356337558
+      euclidean_error: -0.0070246888227109006
+    shoulder_marker_pose:
+      angle_rotation: 25.836671318643013
+      euclidean_error: -0.0004126954717471598
+    wrist_inside_marker_pose:
+      angle_rotation: 25.009475693202447
+      euclidean_error: -0.00317347430982029
+    wrist_top_marker_pose:
+      angle_rotation: 23.554229069605963
+      euclidean_error: -0.0036826265305789363
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2765684298247666
+      euclidean_error: -0.008845085334369451
+    base_right_marker_pose:
+      angle_rotation: 4.824236130599487
+      euclidean_error: -0.006642327276760396
+    shoulder_marker_pose:
+      angle_rotation: 24.144199403402304
+      euclidean_error: -0.0004694766218708013
+    wrist_inside_marker_pose:
+      angle_rotation: 18.82300892829644
+      euclidean_error: -0.0007274113611093203
+    wrist_top_marker_pose:
+      angle_rotation: 17.095832655677743
+      euclidean_error: -0.0045820195422602294
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6502348212460354
+      euclidean_error: -0.00864385061686479
+    base_right_marker_pose:
+      angle_rotation: 7.6051565194382045
+      euclidean_error: -0.0057707445577592775
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.780824180714568
+      euclidean_error: -0.0014132746556431153
+    wrist_top_marker_pose:
+      angle_rotation: 17.27910520726988
+      euclidean_error: -0.004344892614251972
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.029015364645274
+      euclidean_error: -0.008770096396123361
+    base_right_marker_pose:
+      angle_rotation: 6.992115511072481
+      euclidean_error: -0.006677877466914839
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.919139179297726
+      euclidean_error: -0.0022856949062747267
+    wrist_top_marker_pose:
+      angle_rotation: 17.322453073824633
+      euclidean_error: -0.00470049865565958
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.870895515010639
+      euclidean_error: -0.008881569639662357
+    base_right_marker_pose:
+      angle_rotation: 4.885675748784238
+      euclidean_error: -0.005803024527845646
+    shoulder_marker_pose:
+      angle_rotation: 20.587366383124987
+      euclidean_error: 0.00018134584700579826
+    wrist_inside_marker_pose:
+      angle_rotation: 19.100623959887468
+      euclidean_error: -0.0029918251025360387
+    wrist_top_marker_pose:
+      angle_rotation: 18.05340963471058
+      euclidean_error: -0.004504786999047994
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.627663036133947
+      euclidean_error: -0.00870640886141405
+    base_right_marker_pose:
+      angle_rotation: 4.542703528697759
+      euclidean_error: -0.006592456384615364
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.197082541686715
+      euclidean_error: -0.0019721004430275357
+    wrist_top_marker_pose:
+      angle_rotation: 19.31021838951523
+      euclidean_error: -0.003449388062791825
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3966215170076643
+      euclidean_error: -0.008713117468048592
+    base_right_marker_pose:
+      angle_rotation: 5.533860409382725
+      euclidean_error: -0.0067394710470629615
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.07514084970953
+      euclidean_error: -0.001459401711328856
+    wrist_top_marker_pose:
+      angle_rotation: 17.521089974526994
+      euclidean_error: -0.003307412722560188
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.427037730057369
+      euclidean_error: -0.008780628205555585
+    base_right_marker_pose:
+      angle_rotation: 6.434115956373172
+      euclidean_error: -0.006019435389676531
+    shoulder_marker_pose:
+      angle_rotation: 24.073302849947925
+      euclidean_error: -3.481349820444457e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 17.954440274332804
+      euclidean_error: -0.001860705594854295
+    wrist_top_marker_pose:
+      angle_rotation: 18.950841756328558
+      euclidean_error: -0.00410882429458681
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.974769324554976
+      euclidean_error: -0.008798110417807647
+    base_right_marker_pose:
+      angle_rotation: 7.002162041860179
+      euclidean_error: -0.0060625896061616835
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.063955587999395
+      euclidean_error: -0.002087737465532702
+    wrist_top_marker_pose:
+      angle_rotation: 10.01974277389206
+      euclidean_error: -0.005310397299857161
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.985469109870301
+      euclidean_error: -0.008623778468089593
+    base_right_marker_pose:
+      angle_rotation: 4.618621279024661
+      euclidean_error: -0.006170507942303671
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.172447778347664
+      euclidean_error: -0.0018918121129616328
+    wrist_top_marker_pose:
+      angle_rotation: 9.69480964945423
+      euclidean_error: -0.005690254792568461
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.659712290978119
+      euclidean_error: -0.008819244510488877
+    base_right_marker_pose:
+      angle_rotation: 6.227814749147993
+      euclidean_error: -0.0058741242769371205
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.916907105718753
+      euclidean_error: -0.003024407253390926
+    wrist_top_marker_pose:
+      angle_rotation: 13.932465145391447
+      euclidean_error: -0.003763101245636613
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.818661146451731
+      euclidean_error: -0.008954377718337847
+    base_right_marker_pose:
+      angle_rotation: 6.635610119725368
+      euclidean_error: -0.0063240415394868466
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.503455106752426
+      euclidean_error: -0.002039422132478541
+    wrist_top_marker_pose:
+      angle_rotation: 18.387995896914713
+      euclidean_error: -0.003793681172169494
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1359007010420896
+      euclidean_error: -0.008865954989654479
+    base_right_marker_pose:
+      angle_rotation: 5.242204417567949
+      euclidean_error: -0.00646106586010986
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.735964181225665
+      euclidean_error: -0.0014956533364884894
+    wrist_top_marker_pose:
+      angle_rotation: 17.369680646796404
+      euclidean_error: -0.00409660624721242
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.019673923568739
+      euclidean_error: -0.008891095209144217
+    base_right_marker_pose:
+      angle_rotation: 5.71177234039973
+      euclidean_error: -0.005649297025550837
+    shoulder_marker_pose:
+      angle_rotation: 19.40699605836347
+      euclidean_error: -0.002010390949759855
+    wrist_inside_marker_pose:
+      angle_rotation: 21.460943068760095
+      euclidean_error: -0.0016214214878171873
+    wrist_top_marker_pose:
+      angle_rotation: 19.88257971232039
+      euclidean_error: -0.00451272227896049
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.55205363916674
+      euclidean_error: -0.008789748880675852
+    base_right_marker_pose:
+      angle_rotation: 6.355115846820196
+      euclidean_error: -0.0059532351333677624
+    shoulder_marker_pose:
+      angle_rotation: 15.539923090155629
+      euclidean_error: -0.0009116183943020939
+    wrist_inside_marker_pose:
+      angle_rotation: 21.488004918156552
+      euclidean_error: -0.0018741210556911803
+    wrist_top_marker_pose:
+      angle_rotation: 11.577358305554391
+      euclidean_error: -0.0040225238456474965
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8432579010192354
+      euclidean_error: -0.008742642105054044
+    base_right_marker_pose:
+      angle_rotation: 5.940969670456052
+      euclidean_error: -0.0066999392411973835
+    shoulder_marker_pose:
+      angle_rotation: 22.29661018579626
+      euclidean_error: -0.001147453764620332
+    wrist_inside_marker_pose:
+      angle_rotation: 22.24254314570696
+      euclidean_error: -0.0016931252999966562
+    wrist_top_marker_pose:
+      angle_rotation: 23.565610091797083
+      euclidean_error: -0.003442696209521645
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.897523489352357
+      euclidean_error: -0.008901311028338244
+    base_right_marker_pose:
+      angle_rotation: 6.144676444094806
+      euclidean_error: -0.006446031501698979
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.93066126102891
+      euclidean_error: -0.0009781581741220569
+    wrist_top_marker_pose:
+      angle_rotation: 25.372100285186285
+      euclidean_error: -0.0019280872663774984
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.650112616669779
+      euclidean_error: -0.008928298482307029
+    base_right_marker_pose:
+      angle_rotation: 6.288325677461357
+      euclidean_error: -0.006426757129105121
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.120568405621736
+      euclidean_error: -0.0015303548036025294
+    wrist_top_marker_pose:
+      angle_rotation: 19.009747804782364
+      euclidean_error: -0.0045637112378063005
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7287511218335057
+      euclidean_error: -0.008774005187796252
+    base_right_marker_pose:
+      angle_rotation: 7.215965267265175
+      euclidean_error: -0.00652880597624661
+    shoulder_marker_pose:
+      angle_rotation: 20.45736097186866
+      euclidean_error: -0.0017193501511433285
+    wrist_inside_marker_pose:
+      angle_rotation: 23.667762835232153
+      euclidean_error: -0.002081566903973986
+    wrist_top_marker_pose:
+      angle_rotation: 18.256686326626884
+      euclidean_error: -0.0038572649761983158
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2201002364957874
+      euclidean_error: -0.00853847429103971
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 17.92165669705102
+      euclidean_error: -0.00037865522292523934
+    wrist_inside_marker_pose:
+      angle_rotation: 23.49372191719173
+      euclidean_error: -0.0012788441965582154
+    wrist_top_marker_pose:
+      angle_rotation: 21.271699708850186
+      euclidean_error: -0.002780824707672047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9862806001572646
+      euclidean_error: -0.008613092635900155
+    base_right_marker_pose:
+      angle_rotation: 6.569422668286308
+      euclidean_error: -0.00654126095525609
+    shoulder_marker_pose:
+      angle_rotation: 21.961928784133086
+      euclidean_error: -0.0013420650165117953
+    wrist_inside_marker_pose:
+      angle_rotation: 26.26766640895472
+      euclidean_error: -0.001763379603414994
+    wrist_top_marker_pose:
+      angle_rotation: 18.744691977221613
+      euclidean_error: -0.0041312165147747715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.591113387197413
+      euclidean_error: -0.008750687865304863
+    base_right_marker_pose:
+      angle_rotation: 5.023142646044647
+      euclidean_error: -0.007122121187950525
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.43784522705722
+      euclidean_error: -0.002680100919670858
+    wrist_top_marker_pose:
+      angle_rotation: 17.75716129275327
+      euclidean_error: -0.005000776157269682
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.316402678558572
+      euclidean_error: -0.008366536531346114
+    base_right_marker_pose:
+      angle_rotation: 5.633765975671377
+      euclidean_error: -0.006903531249700556
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.53546905354363
+      euclidean_error: -0.001855522672472243
+    wrist_top_marker_pose:
+      angle_rotation: 13.61663445882269
+      euclidean_error: -0.004738808143499806
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1263516680412586
+      euclidean_error: -0.008871544594629022
+    base_right_marker_pose:
+      angle_rotation: 5.782884198325683
+      euclidean_error: -0.006127466506615331
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.57803510881768
+      euclidean_error: -0.003358947525996525
+    wrist_top_marker_pose:
+      angle_rotation: 14.171571677222664
+      euclidean_error: -0.004375709631052382
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.464581290340953
+      euclidean_error: -0.008744659240811137
+    base_right_marker_pose:
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+      euclidean_error: -0.005705124059442346
+    shoulder_marker_pose:
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+      euclidean_error: 1.1899844401419557e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 17.938367513109092
+      euclidean_error: -0.0027153291832532345
+    wrist_top_marker_pose:
+      angle_rotation: 15.976697097778622
+      euclidean_error: -0.00417429334922792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8697943185262351
+      euclidean_error: -0.009229058141535518
+    base_right_marker_pose:
+      angle_rotation: 5.6464411378124515
+      euclidean_error: -0.006738186809137181
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.86292033344334
+      euclidean_error: -0.0020867664663843932
+    wrist_top_marker_pose:
+      angle_rotation: 15.072138110825305
+      euclidean_error: -0.00478381552667817
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.007380769255815
+      euclidean_error: -0.008717600388011393
+    base_right_marker_pose:
+      angle_rotation: 6.175939598331769
+      euclidean_error: -0.005874936337533998
+    shoulder_marker_pose:
+      angle_rotation: 25.6342756007121
+      euclidean_error: 0.00038141844381234247
+    wrist_inside_marker_pose:
+      angle_rotation: 21.129312735966938
+      euclidean_error: -0.0018970739945924908
+    wrist_top_marker_pose:
+      angle_rotation: 22.128969356281573
+      euclidean_error: -0.0027128910786925475
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.191296968085351
+      euclidean_error: -0.00860288432694567
+    base_right_marker_pose:
+      angle_rotation: 5.969634267510018
+      euclidean_error: -0.005819671154004835
+    shoulder_marker_pose:
+      angle_rotation: 24.492973258746677
+      euclidean_error: 0.0005590339586171167
+    wrist_inside_marker_pose:
+      angle_rotation: 24.559897477702357
+      euclidean_error: -0.001567275276180058
+    wrist_top_marker_pose:
+      angle_rotation: 21.421832345509753
+      euclidean_error: -0.0033243461437143518
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.255341456475095
+      euclidean_error: -0.008863464842435609
+    base_right_marker_pose:
+      angle_rotation: 5.729581898805677
+      euclidean_error: -0.006024569618977793
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.1649550299293
+      euclidean_error: -0.001853738631997226
+    wrist_top_marker_pose:
+      angle_rotation: 20.65288315435825
+      euclidean_error: -0.003044022080376352
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5325458964266658
+      euclidean_error: -0.009085455136200737
+    base_right_marker_pose:
+      angle_rotation: 6.444167497806901
+      euclidean_error: -0.007067209132408769
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.579485413388504
+      euclidean_error: -0.0019348977327227068
+    wrist_top_marker_pose:
+      angle_rotation: 17.17503743106359
+      euclidean_error: -0.004843409315469338
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4725084788896323
+      euclidean_error: -0.008623105563257294
+    base_right_marker_pose:
+      angle_rotation: 4.767414373164422
+      euclidean_error: -0.006488322994050222
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.994510774691253
+      euclidean_error: -0.0009525567828835291
+    wrist_top_marker_pose:
+      angle_rotation: 16.590782327681318
+      euclidean_error: -0.003575571883106088
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1503881508199894
+      euclidean_error: -0.008905229728722541
+    base_right_marker_pose:
+      angle_rotation: 4.42855055329451
+      euclidean_error: -0.006716365391600254
+    shoulder_marker_pose:
+      angle_rotation: 24.682604975199986
+      euclidean_error: -0.00029824010082091235
+    wrist_inside_marker_pose:
+      angle_rotation: 22.88459176727171
+      euclidean_error: -0.003042838499014877
+    wrist_top_marker_pose:
+      angle_rotation: 16.353162679968577
+      euclidean_error: -0.0055341110334535815
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1953483242851686
+      euclidean_error: -0.0085854782175796
+    base_right_marker_pose:
+      angle_rotation: 6.940436076375594
+      euclidean_error: -0.006268286192623207
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.95341853724357
+      euclidean_error: -0.0015685737206797556
+    wrist_top_marker_pose:
+      angle_rotation: 19.718751402842184
+      euclidean_error: -0.0036250527527448284
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.587125639358154
+      euclidean_error: -0.008752590010923433
+    base_right_marker_pose:
+      angle_rotation: 6.8287888463009345
+      euclidean_error: -0.005646960974771131
+    shoulder_marker_pose:
+      angle_rotation: 22.338747053245072
+      euclidean_error: 0.0005870671185762566
+    wrist_inside_marker_pose:
+      angle_rotation: 23.623595379356594
+      euclidean_error: -0.0020260088247329167
+    wrist_top_marker_pose:
+      angle_rotation: 20.910992399422593
+      euclidean_error: -0.003205417037672187
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.288212486538085
+      euclidean_error: -0.008694091171765783
+    base_right_marker_pose:
+      angle_rotation: 4.965737410193047
+      euclidean_error: -0.006208466431483539
+    shoulder_marker_pose:
+      angle_rotation: 22.27143147418682
+      euclidean_error: -0.00024371458284955239
+    wrist_inside_marker_pose:
+      angle_rotation: 18.789187686984558
+      euclidean_error: -0.0016986305007696822
+    wrist_top_marker_pose:
+      angle_rotation: 14.81908875162159
+      euclidean_error: -0.004979545277928876
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2307302699138742
+      euclidean_error: -0.00889541998420973
+    base_right_marker_pose:
+      angle_rotation: 6.356517821886469
+      euclidean_error: -0.006113678935455336
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.96486992958834
+      euclidean_error: -0.0034005235608105533
+    wrist_top_marker_pose:
+      angle_rotation: 16.374351859631936
+      euclidean_error: -0.003650922130995382
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3685420080473922
+      euclidean_error: -0.009031029130236012
+    base_right_marker_pose:
+      angle_rotation: 6.595752060687048
+      euclidean_error: -0.00633894460130624
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 28.434487584568394
+      euclidean_error: -0.0015803946442550787
+    wrist_top_marker_pose:
+      angle_rotation: 24.2323437502512
+      euclidean_error: -0.00302638536096278
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0303309185771714
+      euclidean_error: -0.008882165373955475
+    base_right_marker_pose:
+      angle_rotation: 5.503774000136621
+      euclidean_error: -0.005993483389276633
+    shoulder_marker_pose:
+      angle_rotation: 21.400087545629997
+      euclidean_error: -0.0011588899137598974
+    wrist_inside_marker_pose:
+      angle_rotation: 23.978391366667378
+      euclidean_error: -0.0028517594013103276
+    wrist_top_marker_pose:
+      angle_rotation: 20.33673793599208
+      euclidean_error: -0.00568217241838731
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.597230981443692
+      euclidean_error: -0.008318629424046153
+    base_right_marker_pose:
+      angle_rotation: 5.7995758912948006
+      euclidean_error: -0.0053353763077254035
+    shoulder_marker_pose:
+      angle_rotation: 23.459324207892106
+      euclidean_error: 0.0012604523401614776
+    wrist_inside_marker_pose:
+      angle_rotation: 24.689812714072616
+      euclidean_error: -0.00039111717911088917
+    wrist_top_marker_pose:
+      angle_rotation: 20.138328859798115
+      euclidean_error: -0.0025488012850684028
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8593937031084344
+      euclidean_error: -0.008864273696234215
+    base_right_marker_pose:
+      angle_rotation: 5.760326141276291
+      euclidean_error: -0.0066114059657615964
+    shoulder_marker_pose:
+      angle_rotation: 22.94279950303978
+      euclidean_error: -0.001621843266465861
+    wrist_inside_marker_pose:
+      angle_rotation: 16.051879782857412
+      euclidean_error: -0.0016294168798649533
+    wrist_top_marker_pose:
+      angle_rotation: 17.610599515432746
+      euclidean_error: -0.004289763955729331
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0716125572841486
+      euclidean_error: -0.008710976764151557
+    base_right_marker_pose:
+      angle_rotation: 5.032390928087521
+      euclidean_error: -0.00643176563972947
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.165049883138508
+      euclidean_error: -0.0030878761899444385
+    wrist_top_marker_pose:
+      angle_rotation: 21.86403389277322
+      euclidean_error: -0.003936348673080792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2909238982659046
+      euclidean_error: -0.009004367868028718
+    base_right_marker_pose:
+      angle_rotation: 5.440942739543966
+      euclidean_error: -0.007178470837118089
+    shoulder_marker_pose:
+      angle_rotation: 21.029353365465244
+      euclidean_error: -0.0009348572602205785
+    wrist_inside_marker_pose:
+      angle_rotation: 23.92961314840228
+      euclidean_error: -0.0028549956999871506
+    wrist_top_marker_pose:
+      angle_rotation: 15.496991582761419
+      euclidean_error: -0.003810720646783783
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.299748746918027
+      euclidean_error: -0.008566492571926876
+    base_right_marker_pose:
+      angle_rotation: 5.024574982883278
+      euclidean_error: -0.0061602041424343446
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.20477559487591
+      euclidean_error: -0.0016494149405168468
+    wrist_top_marker_pose:
+      angle_rotation: 8.74617049010585
+      euclidean_error: -0.006118584057966059
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5824950608070703
+      euclidean_error: -0.008740322628912334
+    base_right_marker_pose:
+      angle_rotation: 6.324129866667918
+      euclidean_error: -0.005926185214624735
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.816496363696366
+      euclidean_error: -0.002314889132232434
+    wrist_top_marker_pose:
+      angle_rotation: 20.25443496642976
+      euclidean_error: -0.003057684721163967
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7270265943957477
+      euclidean_error: -0.00866402413104328
+    base_right_marker_pose:
+      angle_rotation: 5.339017940252081
+      euclidean_error: -0.006273842587167455
+    shoulder_marker_pose:
+      angle_rotation: 22.291394085242146
+      euclidean_error: -0.00045536244848143337
+    wrist_inside_marker_pose:
+      angle_rotation: 19.839738426563244
+      euclidean_error: -0.0009605649930451987
+    wrist_top_marker_pose:
+      angle_rotation: 22.240716739221767
+      euclidean_error: -0.0029445722887353476
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.034416948343598
+      euclidean_error: -0.008820123500166255
+    base_right_marker_pose:
+      angle_rotation: 6.163853484435008
+      euclidean_error: -0.005997863010743898
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.13225947754199
+      euclidean_error: -0.0014015230818542612
+    wrist_top_marker_pose:
+      angle_rotation: 21.36883049159327
+      euclidean_error: -0.003329954076193631
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.29128599477746
+      euclidean_error: -0.008848906504388854
+    base_right_marker_pose:
+      angle_rotation: 6.891373652821596
+      euclidean_error: -0.005491296818992297
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.199204127692582
+      euclidean_error: -0.0017092094480618547
+    wrist_top_marker_pose:
+      angle_rotation: 22.42812255273061
+      euclidean_error: -0.0031537275449142754
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7121870789952824
+      euclidean_error: -0.008630906986828224
+    base_right_marker_pose:
+      angle_rotation: 6.525337984126144
+      euclidean_error: -0.006043136711057606
+    shoulder_marker_pose:
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+      euclidean_error: -0.000991063425184624
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.002117985289974089
+    wrist_top_marker_pose:
+      angle_rotation: 15.762696831130722
+      euclidean_error: -0.0043143454995142605
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8139926677632245
+      euclidean_error: -0.00869268247649091
+    base_right_marker_pose:
+      angle_rotation: 4.276588511944655
+      euclidean_error: -0.006130733665769106
+    shoulder_marker_pose:
+      angle_rotation: 21.816124365383477
+      euclidean_error: 0.0001967704886195465
+    wrist_inside_marker_pose:
+      angle_rotation: 22.061605059976195
+      euclidean_error: -0.0024542009837548173
+    wrist_top_marker_pose:
+      angle_rotation: 21.73620274894037
+      euclidean_error: -0.004736033094548953
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5657949822805253
+      euclidean_error: -0.008913417039456806
+    base_right_marker_pose:
+      angle_rotation: 5.577036761482683
+      euclidean_error: -0.006648555278888746
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.376763321885562
+      euclidean_error: -0.0015603662122489759
+    wrist_top_marker_pose:
+      angle_rotation: 18.261848034583597
+      euclidean_error: -0.0033793897236120696
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.1426419992309413
+      euclidean_error: -0.008870110841558643
+    base_right_marker_pose:
+      angle_rotation: 5.745093482044834
+      euclidean_error: -0.005694737287824658
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.428248706296873
+      euclidean_error: -0.001141666329273261
+    wrist_top_marker_pose:
+      angle_rotation: 17.729934066217396
+      euclidean_error: -0.0024883431952020807
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.987372404729142
+      euclidean_error: -0.00874174159110297
+    base_right_marker_pose:
+      angle_rotation: 4.330750519202878
+      euclidean_error: -0.00619801671505682
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.561853574077585
+      euclidean_error: -0.0022797293411301878
+    wrist_top_marker_pose:
+      angle_rotation: 14.087470052798157
+      euclidean_error: -0.005587477151184128
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008894637690447293
+    base_right_marker_pose:
+      angle_rotation: 4.1471767752858355
+      euclidean_error: -0.006771447611639836
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.307926939421296
+      euclidean_error: -0.0011901953351775019
+    wrist_top_marker_pose:
+      angle_rotation: 18.783953752283225
+      euclidean_error: -0.002418355900759006
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0974959336995798
+      euclidean_error: -0.008630235246419038
+    base_right_marker_pose:
+      angle_rotation: 6.958521829055837
+      euclidean_error: -0.005969001378460903
+    shoulder_marker_pose:
+      angle_rotation: 21.962661492658096
+      euclidean_error: 0.00010077117481632758
+    wrist_inside_marker_pose:
+      angle_rotation: 23.650394574149587
+      euclidean_error: -0.0018207263225638037
+    wrist_top_marker_pose:
+      angle_rotation: 19.495437161415346
+      euclidean_error: -0.003345348277518645
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8488600490287515
+      euclidean_error: -0.008564786973270344
+    base_right_marker_pose:
+      angle_rotation: 6.32948311382921
+      euclidean_error: -0.006535356396318859
+    shoulder_marker_pose:
+      angle_rotation: 25.003916706719686
+      euclidean_error: 0.00035233645761789667
+    wrist_inside_marker_pose:
+      angle_rotation: 19.279225578487765
+      euclidean_error: -0.001286650530041511
+    wrist_top_marker_pose:
+      angle_rotation: 16.270491003636273
+      euclidean_error: -0.0035490107321842768
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4001004270255137
+      euclidean_error: -0.008733875034472316
+    base_right_marker_pose:
+      angle_rotation: 5.876233176346493
+      euclidean_error: -0.006824359540610225
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.444605356504503
+      euclidean_error: -0.0006926893196692596
+    wrist_top_marker_pose:
+      angle_rotation: 17.28957562705492
+      euclidean_error: -0.002270217822552434
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.555208701218932
+      euclidean_error: -0.008753138895493784
+    base_right_marker_pose:
+      angle_rotation: 6.045164903889176
+      euclidean_error: -0.006427758449200849
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.60982605547042
+      euclidean_error: -0.0021364772665101173
+    wrist_top_marker_pose:
+      angle_rotation: 13.329909986123944
+      euclidean_error: -0.0049509567558818635
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2388692890803537
+      euclidean_error: -0.008829720791733164
+    base_right_marker_pose:
+      angle_rotation: 3.6261235135845493
+      euclidean_error: -0.006251044712230591
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.217658969573385
+      euclidean_error: -0.001786007699371095
+    wrist_top_marker_pose:
+      angle_rotation: 18.766005298661288
+      euclidean_error: -0.002343344084396959
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.451078100978126
+      euclidean_error: -0.008484180796945351
+    base_right_marker_pose:
+      angle_rotation: 6.3354387319169465
+      euclidean_error: -0.005743953263102619
+    shoulder_marker_pose:
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+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.781451399079735
+      euclidean_error: -0.0015974431994869587
+    wrist_top_marker_pose:
+      angle_rotation: 19.1107945067018
+      euclidean_error: -0.002559101015875309
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.580573117639077
+      euclidean_error: -0.008463725079020823
+    base_right_marker_pose:
+      angle_rotation: 5.633945924660013
+      euclidean_error: -0.006418723732253828
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.677246005075066
+      euclidean_error: -0.0007626730524019631
+    wrist_top_marker_pose:
+      angle_rotation: 16.589780777280858
+      euclidean_error: -0.004180802087813462
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5907787431597415
+      euclidean_error: -0.00853276899123423
+    base_right_marker_pose:
+      angle_rotation: 6.083929384357981
+      euclidean_error: -0.005915082885815881
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.788588420719552
+      euclidean_error: -0.0016366653257623431
+    wrist_top_marker_pose:
+      angle_rotation: 12.132525822977648
+      euclidean_error: -0.004038487293023252
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.897746745943362
+      euclidean_error: -0.008769910495120437
+    base_right_marker_pose:
+      angle_rotation: 6.036360904469146
+      euclidean_error: -0.006310826594946195
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.196826000813214
+      euclidean_error: -0.0015078978423679334
+    wrist_top_marker_pose:
+      angle_rotation: 20.404786762190717
+      euclidean_error: -0.003181183777901664
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4393679705875124
+      euclidean_error: -0.008732748072001528
+    base_right_marker_pose:
+      angle_rotation: 6.1035753165497555
+      euclidean_error: -0.006454588461735633
+    shoulder_marker_pose:
+      angle_rotation: 22.863163930952762
+      euclidean_error: -0.0013688688430627538
+    wrist_inside_marker_pose:
+      angle_rotation: 22.330614256340276
+      euclidean_error: -0.0011872000974738617
+    wrist_top_marker_pose:
+      angle_rotation: 23.049427293238782
+      euclidean_error: -0.004319249895741839
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6804372395969818
+      euclidean_error: -0.008866226107358655
+    base_right_marker_pose:
+      angle_rotation: 5.442690610033794
+      euclidean_error: -0.006254263523120862
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.884936722258296
+      euclidean_error: -0.001974860302237147
+    wrist_top_marker_pose:
+      angle_rotation: 11.71789912170605
+      euclidean_error: -0.005588939990855635
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.750290238523799
+      euclidean_error: -0.0085232554129695
+    base_right_marker_pose:
+      angle_rotation: 5.355281798337197
+      euclidean_error: -0.006412732009967725
+    shoulder_marker_pose:
+      angle_rotation: 28.114062887166998
+      euclidean_error: -0.0010502141817181343
+    wrist_inside_marker_pose:
+      angle_rotation: 20.225235377671844
+      euclidean_error: -0.0015433054537304924
+    wrist_top_marker_pose:
+      angle_rotation: 21.253325593532093
+      euclidean_error: -0.0023336137420665315
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.247888616351814
+      euclidean_error: -0.008471188035091837
+    base_right_marker_pose:
+      angle_rotation: 2.696503863540693
+      euclidean_error: -0.005609334534253829
+    shoulder_marker_pose:
+      angle_rotation: 17.177891961147854
+      euclidean_error: -0.0010328144823752439
+    wrist_inside_marker_pose:
+      angle_rotation: 18.09983874512326
+      euclidean_error: -0.0015955238037211883
+    wrist_top_marker_pose:
+      angle_rotation: 15.566568861433446
+      euclidean_error: -0.00351352838866692
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.060338061690266
+      euclidean_error: -0.008872671901715035
+    base_right_marker_pose:
+      angle_rotation: 6.8733871240012885
+      euclidean_error: -0.006144052810937328
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.752337138139882
+      euclidean_error: -0.002466736902920208
+    wrist_top_marker_pose:
+      angle_rotation: 16.335283498521424
+      euclidean_error: -0.004389848159157328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.07200873718839
+      euclidean_error: -0.00846723291588114
+    base_right_marker_pose:
+      angle_rotation: 4.315976281442164
+      euclidean_error: -0.00578428297686473
+    shoulder_marker_pose:
+      angle_rotation: 17.940855113703662
+      euclidean_error: -0.00027134322314159576
+    wrist_inside_marker_pose:
+      angle_rotation: 23.21294254170255
+      euclidean_error: -0.0009364899388638603
+    wrist_top_marker_pose:
+      angle_rotation: 14.869157837103106
+      euclidean_error: -0.0019036723158434299
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5356652136799753
+      euclidean_error: -0.008536607392137352
+    base_right_marker_pose:
+      angle_rotation: 5.550502839285137
+      euclidean_error: -0.006077210588227744
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.887274322458367
+      euclidean_error: -0.0021462825913447503
+    wrist_top_marker_pose:
+      angle_rotation: 19.214826844637315
+      euclidean_error: -0.004617990569038222
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6132710428750976
+      euclidean_error: -0.008976023286551338
+    base_right_marker_pose:
+      angle_rotation: 4.6494859673441535
+      euclidean_error: -0.005848396784682186
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.928840348134248
+      euclidean_error: -0.0012590900376956426
+    wrist_top_marker_pose:
+      angle_rotation: 20.007337871798477
+      euclidean_error: -0.0026329237985108778
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9272034334743036
+      euclidean_error: -0.008739035318166999
+    base_right_marker_pose:
+      angle_rotation: 3.9440767177149283
+      euclidean_error: -0.006536722228015046
+    shoulder_marker_pose:
+      angle_rotation: 22.53311240280814
+      euclidean_error: -0.0010250566930720684
+    wrist_inside_marker_pose:
+      angle_rotation: 19.356666837713586
+      euclidean_error: -0.0019071787684697972
+    wrist_top_marker_pose:
+      angle_rotation: 15.837978654636725
+      euclidean_error: -0.004760942570333548
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9950184695567619
+      euclidean_error: -0.008679411377668589
+    base_right_marker_pose:
+      angle_rotation: 5.6748515149174095
+      euclidean_error: -0.006046354376426311
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.89930912106538
+      euclidean_error: -0.001653617508848182
+    wrist_top_marker_pose:
+      angle_rotation: 20.621786978253716
+      euclidean_error: -0.003615785257678361
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.2377401474128644
+      euclidean_error: -0.008683527771316535
+    base_right_marker_pose:
+      angle_rotation: 5.047939776961796
+      euclidean_error: -0.006343248794944634
+    shoulder_marker_pose:
+      angle_rotation: 24.588553428295178
+      euclidean_error: -0.0012813989293765093
+    wrist_inside_marker_pose:
+      angle_rotation: 20.480847215364385
+      euclidean_error: -0.0019508223720178242
+    wrist_top_marker_pose:
+      angle_rotation: 18.853511126700393
+      euclidean_error: -0.0028443801288096093
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3148623639118173
+      euclidean_error: -0.008759956488081588
+    base_right_marker_pose:
+      angle_rotation: 5.373201735293711
+      euclidean_error: -0.006395068457295983
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.168130809088627
+      euclidean_error: -0.00150936282510572
+    wrist_top_marker_pose:
+      angle_rotation: 17.287707910241448
+      euclidean_error: -0.005152515147309855
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2339169594594566
+      euclidean_error: -0.008911341154911212
+    base_right_marker_pose:
+      angle_rotation: 5.350520883977486
+      euclidean_error: -0.006364340655436562
+    shoulder_marker_pose:
+      angle_rotation: 24.975811079388524
+      euclidean_error: 0.000706462523386131
+    wrist_inside_marker_pose:
+      angle_rotation: 20.809251248803452
+      euclidean_error: -0.0010746982626121948
+    wrist_top_marker_pose:
+      angle_rotation: 23.458437719342324
+      euclidean_error: -0.0036752266535223788
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8523104894892906
+      euclidean_error: -0.008302828073542656
+    base_right_marker_pose:
+      angle_rotation: 5.303315102628687
+      euclidean_error: -0.004902183665388193
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.11592782553827
+      euclidean_error: -0.0020753893928513456
+    wrist_top_marker_pose:
+      angle_rotation: 21.098187657479308
+      euclidean_error: -0.0034426414392881854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5901965236090834
+      euclidean_error: -0.008771803545188472
+    base_right_marker_pose:
+      angle_rotation: 5.78400862238261
+      euclidean_error: -0.00596543388618509
+    shoulder_marker_pose:
+      angle_rotation: 18.742255846154915
+      euclidean_error: 0.0004676907242520123
+    wrist_inside_marker_pose:
+      angle_rotation: 21.00811767911278
+      euclidean_error: -0.0020706918469164393
+    wrist_top_marker_pose:
+      angle_rotation: 14.761935189068371
+      euclidean_error: -0.00563931108927529
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5444269613988277
+      euclidean_error: -0.008695169437873851
+    base_right_marker_pose:
+      angle_rotation: 4.980052919583298
+      euclidean_error: -0.00624054903485316
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.99997335170872
+      euclidean_error: -0.002252694521275078
+    wrist_top_marker_pose:
+      angle_rotation: 10.188692158534614
+      euclidean_error: -0.00488160485661715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4715163313289046
+      euclidean_error: -0.00868573375910775
+    base_right_marker_pose:
+      angle_rotation: 7.034354100976763
+      euclidean_error: -0.006172500214973731
+    shoulder_marker_pose:
+      angle_rotation: 20.648532931277757
+      euclidean_error: -3.421584039753345e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 20.721467430585196
+      euclidean_error: -0.0014730307130547127
+    wrist_top_marker_pose:
+      angle_rotation: 13.849794389669272
+      euclidean_error: -0.004411354757082542
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8729350949546246
+      euclidean_error: -0.008684416232838
+    base_right_marker_pose:
+      angle_rotation: 6.510913787709942
+      euclidean_error: -0.006142527884782312
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.72370375480456
+      euclidean_error: -0.0010027313724806364
+    wrist_top_marker_pose:
+      angle_rotation: 19.49367190756611
+      euclidean_error: -0.003375291860708729
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7733397247368905
+      euclidean_error: -0.008951287046342404
+    base_right_marker_pose:
+      angle_rotation: 6.4688645095489985
+      euclidean_error: -0.0064764958941985196
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.569913366497996
+      euclidean_error: -0.002093767794914214
+    wrist_top_marker_pose:
+      angle_rotation: 21.644105756705994
+      euclidean_error: -0.0050384393155561424
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.170983301411838
+      euclidean_error: -0.008828933160651253
+    base_right_marker_pose:
+      angle_rotation: 4.540961337425123
+      euclidean_error: -0.006523658041984404
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.919605675912457
+      euclidean_error: -0.0013483168525803002
+    wrist_top_marker_pose:
+      angle_rotation: 18.07206216391505
+      euclidean_error: -0.004090586145859887
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008575358666108479
+    base_right_marker_pose:
+      angle_rotation: 6.559823159104999
+      euclidean_error: -0.005757958308459599
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.799595863349204
+      euclidean_error: -0.003568821965165281
+    wrist_top_marker_pose:
+      angle_rotation: 13.75180300541783
+      euclidean_error: -0.004616595291864978
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5522525137209646
+      euclidean_error: -0.008696317823152055
+    base_right_marker_pose:
+      angle_rotation: 6.2706022143409195
+      euclidean_error: -0.0068188709159231475
+    shoulder_marker_pose:
+      angle_rotation: 25.732632162138287
+      euclidean_error: -0.00033132312862771407
+    wrist_inside_marker_pose:
+      angle_rotation: 22.264428809693555
+      euclidean_error: -0.0022503672078961756
+    wrist_top_marker_pose:
+      angle_rotation: 24.700803216186955
+      euclidean_error: -0.0037354326539535965
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.736614313460472
+      euclidean_error: -0.008786747219730495
+    base_right_marker_pose:
+      angle_rotation: 5.610665574449228
+      euclidean_error: -0.006034542164113699
+    shoulder_marker_pose:
+      angle_rotation: 21.835915792090027
+      euclidean_error: -0.0011803513490614703
+    wrist_inside_marker_pose:
+      angle_rotation: 19.367098680560726
+      euclidean_error: -0.001622452225611748
+    wrist_top_marker_pose:
+      angle_rotation: 15.322247849837751
+      euclidean_error: -0.004491276508369335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5426735970272176
+      euclidean_error: -0.009064610763839465
+    base_right_marker_pose:
+      angle_rotation: 4.448850667816464
+      euclidean_error: -0.005914323570820668
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.950934220564434
+      euclidean_error: -0.002140736783748265
+    wrist_top_marker_pose:
+      angle_rotation: 20.013226859414985
+      euclidean_error: -0.0032578760848670507
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3028794022729255
+      euclidean_error: -0.008956123205898225
+    base_right_marker_pose:
+      angle_rotation: 5.5023723731372804
+      euclidean_error: -0.0064171708845731645
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.037511592778934
+      euclidean_error: -0.002988975986907616
+    wrist_top_marker_pose:
+      angle_rotation: 18.518468801355436
+      euclidean_error: -0.004485921413196592
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7355795573347503
+      euclidean_error: -0.008565450615766856
+    base_right_marker_pose:
+      angle_rotation: 6.425882098851028
+      euclidean_error: -0.006314123141744954
+    shoulder_marker_pose:
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+      euclidean_error: -0.0003563554153130921
+    wrist_inside_marker_pose:
+      angle_rotation: 19.99767900479622
+      euclidean_error: -0.001831070358329856
+    wrist_top_marker_pose:
+      angle_rotation: 18.874238348452497
+      euclidean_error: -0.004084093698946023
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0310453437328118
+      euclidean_error: -0.008919461594610545
+    base_right_marker_pose:
+      angle_rotation: 5.399771654747754
+      euclidean_error: -0.00498434063215214
+    shoulder_marker_pose:
+      angle_rotation: 20.263125318990266
+      euclidean_error: -0.00019361857934974136
+    wrist_inside_marker_pose:
+      angle_rotation: 21.91145783902374
+      euclidean_error: -0.0017259881050654124
+    wrist_top_marker_pose:
+      angle_rotation: 22.090755042205746
+      euclidean_error: -0.003538710667728595
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6587209148211115
+      euclidean_error: -0.008573411271208808
+    base_right_marker_pose:
+      angle_rotation: 5.628559475108149
+      euclidean_error: -0.005908690026154462
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.46814366715867
+      euclidean_error: -0.0006253347551631316
+    wrist_top_marker_pose:
+      angle_rotation: 17.205340830002072
+      euclidean_error: -0.0036166588732600147
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.24409019951867
+      euclidean_error: -0.008656893851367697
+    base_right_marker_pose:
+      angle_rotation: 4.680244372699803
+      euclidean_error: -0.005918585822764499
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.278321687000002
+      euclidean_error: -0.0019007642552012483
+    wrist_top_marker_pose:
+      angle_rotation: 20.806192416561576
+      euclidean_error: -0.00280526519261326
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9419363277282926
+      euclidean_error: -0.008524137156479927
+    base_right_marker_pose:
+      angle_rotation: 4.317218157549986
+      euclidean_error: -0.0060607118490405565
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.224458536833446
+      euclidean_error: -0.0021210624690145563
+    wrist_top_marker_pose:
+      angle_rotation: 6.854726497631349
+      euclidean_error: -0.0060283893590236115
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008998958571691529
+    base_right_marker_pose:
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+      euclidean_error: -0.006382048419870445
+    shoulder_marker_pose:
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+      euclidean_error: -0.0009558610354609698
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.001762033341766056
+    wrist_top_marker_pose:
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+      euclidean_error: -0.0033897704651353333
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008586523989890238
+    base_right_marker_pose:
+      angle_rotation: 5.769735486850284
+      euclidean_error: -0.005879772030282671
+    shoulder_marker_pose:
+      angle_rotation: 19.348103303227216
+      euclidean_error: -0.00043473207930244673
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0018710788136074852
+    wrist_top_marker_pose:
+      angle_rotation: 18.37476450708371
+      euclidean_error: -0.005029212091883339
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8492188421328555
+      euclidean_error: -0.008953636298636436
+    base_right_marker_pose:
+      angle_rotation: 6.582357053914375
+      euclidean_error: -0.005873563153984573
+    shoulder_marker_pose:
+      angle_rotation: 19.083159934498482
+      euclidean_error: -0.0003234506962679351
+    wrist_inside_marker_pose:
+      angle_rotation: 26.22867104440006
+      euclidean_error: -0.001713206558989877
+    wrist_top_marker_pose:
+      angle_rotation: 17.741169869600146
+      euclidean_error: -0.003557655639121582
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3022843690096164
+      euclidean_error: -0.008732963453649378
+    base_right_marker_pose:
+      angle_rotation: 5.322959649712071
+      euclidean_error: -0.006280009588440771
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.389449746809117
+      euclidean_error: -0.0023545941999592035
+    wrist_top_marker_pose:
+      angle_rotation: 17.160920727849522
+      euclidean_error: -0.004102743882238857
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008834472690337325
+    base_right_marker_pose:
+      angle_rotation: 5.446940197346985
+      euclidean_error: -0.005653353823800722
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.01770580366497
+      euclidean_error: -0.002790381809183895
+    wrist_top_marker_pose:
+      angle_rotation: 14.748293204239607
+      euclidean_error: -0.005425339065968315
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.302187886847722
+      euclidean_error: -0.008580998933348627
+    base_right_marker_pose:
+      angle_rotation: 5.562908654918598
+      euclidean_error: -0.0065086717925396664
+    shoulder_marker_pose:
+      angle_rotation: 20.177853573723713
+      euclidean_error: -0.00017863788639549405
+    wrist_inside_marker_pose:
+      angle_rotation: 23.940620454708878
+      euclidean_error: -0.0010336236157112433
+    wrist_top_marker_pose:
+      angle_rotation: 21.179555818666763
+      euclidean_error: -0.002971341206614797
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2113625905945704
+      euclidean_error: -0.00869566718138104
+    base_right_marker_pose:
+      angle_rotation: 4.500822706797191
+      euclidean_error: -0.006628950843945991
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.485869831665013
+      euclidean_error: -0.0005413846761515018
+    wrist_top_marker_pose:
+      angle_rotation: 17.59219794356898
+      euclidean_error: -0.00329676253098099
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.901191896625015
+      euclidean_error: -0.008517239515837272
+    base_right_marker_pose:
+      angle_rotation: 5.047867534223445
+      euclidean_error: -0.006729937943893982
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.081213290747602
+      euclidean_error: -0.002520068310669532
+    wrist_top_marker_pose:
+      angle_rotation: 18.392164854848392
+      euclidean_error: -0.005285715724036355
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.652646814223247
+      euclidean_error: -0.008212719598546525
+    base_right_marker_pose:
+      angle_rotation: 5.979414000002046
+      euclidean_error: -0.005232355221464369
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.82359322558753
+      euclidean_error: -0.0016035602392950876
+    wrist_top_marker_pose:
+      angle_rotation: 14.498986249017044
+      euclidean_error: -0.004244618182238646
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2489414912653576
+      euclidean_error: -0.008796851740261902
+    base_right_marker_pose:
+      angle_rotation: 6.798026997864304
+      euclidean_error: -0.006150417750548587
+    shoulder_marker_pose:
+      angle_rotation: 25.12470338862971
+      euclidean_error: -0.000707745996071818
+    wrist_inside_marker_pose:
+      angle_rotation: 22.36251009112488
+      euclidean_error: -0.0018104088828594378
+    wrist_top_marker_pose:
+      angle_rotation: 24.873227534542846
+      euclidean_error: -0.003883874852561142
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2269082072399127
+      euclidean_error: -0.00876653088421897
+    base_right_marker_pose:
+      angle_rotation: 6.941597667702571
+      euclidean_error: -0.005930676454270367
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.455510597979604
+      euclidean_error: -0.0023886915449441437
+    wrist_top_marker_pose:
+      angle_rotation: 17.230498200192766
+      euclidean_error: -0.004791669052427894
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5229725657747202
+      euclidean_error: -0.008781974752506971
+    base_right_marker_pose:
+      angle_rotation: 5.406098679613849
+      euclidean_error: -0.006596187301254219
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.822618585181424
+      euclidean_error: -0.0017879805968221696
+    wrist_top_marker_pose:
+      angle_rotation: 18.848467909363404
+      euclidean_error: -0.0038421043655685327
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.425242013494225
+      euclidean_error: -0.008607228465360661
+    base_right_marker_pose:
+      angle_rotation: 5.581318739736267
+      euclidean_error: -0.00665624884630589
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.529180518193915
+      euclidean_error: -0.0011180809091139166
+    wrist_top_marker_pose:
+      angle_rotation: 22.291053215180735
+      euclidean_error: -0.002589692675735056
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8303792707098119
+      euclidean_error: -0.008706683176367469
+    base_right_marker_pose:
+      angle_rotation: 5.499135045560987
+      euclidean_error: -0.006655464502858699
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.9244943115828
+      euclidean_error: -0.0029808777457454028
+    wrist_top_marker_pose:
+      angle_rotation: 21.570513027597073
+      euclidean_error: -0.004871739980434775
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6370779027791285
+      euclidean_error: -0.00867281064645875
+    base_right_marker_pose:
+      angle_rotation: 7.614642097906158
+      euclidean_error: -0.005929985958122885
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.196075188903603
+      euclidean_error: -0.0019827748962089053
+    wrist_top_marker_pose:
+      angle_rotation: 23.355773272462418
+      euclidean_error: -0.0032683062890649373
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3724611062434766
+      euclidean_error: -0.008657131612365143
+    base_right_marker_pose:
+      angle_rotation: 5.974436798293469
+      euclidean_error: -0.006580806171395448
+    shoulder_marker_pose:
+      angle_rotation: 20.295675698033932
+      euclidean_error: -0.00015952380526884635
+    wrist_inside_marker_pose:
+      angle_rotation: 24.47722798411146
+      euclidean_error: -0.0015723509800764646
+    wrist_top_marker_pose:
+      angle_rotation: 25.03042424509125
+      euclidean_error: -0.002822547196366987
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5308438715267068
+      euclidean_error: -0.008714198066788081
+    base_right_marker_pose:
+      angle_rotation: 6.964891751267424
+      euclidean_error: -0.005927137233431523
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.530028397104534
+      euclidean_error: -0.0016565634697790488
+    wrist_top_marker_pose:
+      angle_rotation: 12.977921867077546
+      euclidean_error: -0.0034298421091213394
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8781092082943593
+      euclidean_error: -0.008508654516767522
+    base_right_marker_pose:
+      angle_rotation: 4.91612033833529
+      euclidean_error: -0.005068993693450596
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.409044635095913
+      euclidean_error: -0.002152233164666506
+    wrist_top_marker_pose:
+      angle_rotation: 17.97369962417914
+      euclidean_error: -0.00435508505053972
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1635933225507262
+      euclidean_error: -0.008512365726005111
+    base_right_marker_pose:
+      angle_rotation: 5.394486318504046
+      euclidean_error: -0.006482758728643456
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.972365782280633
+      euclidean_error: -0.0019473413956009322
+    wrist_top_marker_pose:
+      angle_rotation: 19.003768851532815
+      euclidean_error: -0.0042035076622858325
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.825156760629935
+      euclidean_error: -0.008410004042989971
+    base_right_marker_pose:
+      angle_rotation: 5.018141521156441
+      euclidean_error: -0.005669706703580579
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.72253597639979
+      euclidean_error: -0.0016215153078917854
+    wrist_top_marker_pose:
+      angle_rotation: 16.946037853425096
+      euclidean_error: -0.004105844275193116
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6345393322977584
+      euclidean_error: -0.008690612609410286
+    base_right_marker_pose:
+      angle_rotation: 7.941486144751039
+      euclidean_error: -0.005747735070649185
+    shoulder_marker_pose:
+      angle_rotation: 17.538023628707037
+      euclidean_error: -5.982765054490802e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 22.919402472714847
+      euclidean_error: -0.002524725658591298
+    wrist_top_marker_pose:
+      angle_rotation: 20.582808650562896
+      euclidean_error: -0.005224954533949444
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.045347305704384
+      euclidean_error: -0.008836809514996324
+    base_right_marker_pose:
+      angle_rotation: 5.6994669549899415
+      euclidean_error: -0.006465542703690597
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.855105364210413
+      euclidean_error: -0.0014167980911671263
+    wrist_top_marker_pose:
+      angle_rotation: 20.51094396300619
+      euclidean_error: -0.0032448435035158374
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4534372660399284
+      euclidean_error: -0.008925352769585282
+    base_right_marker_pose:
+      angle_rotation: 5.546804972204895
+      euclidean_error: -0.006604444284896149
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.0959930851115
+      euclidean_error: -0.00302836467083456
+    wrist_top_marker_pose:
+      angle_rotation: 16.108054554553448
+      euclidean_error: -0.005600241962872343
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.798445386872886
+      euclidean_error: -0.0082109198925574
+    base_right_marker_pose:
+      angle_rotation: 5.992425917327574
+      euclidean_error: -0.005374240816982456
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.5930172299466
+      euclidean_error: -0.00146551130804784
+    wrist_top_marker_pose:
+      angle_rotation: 15.348950148615012
+      euclidean_error: -0.0045726276128016385
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.464369860552242
+      euclidean_error: -0.00853529217578397
+    base_right_marker_pose:
+      angle_rotation: 6.344392472999866
+      euclidean_error: -0.006791707581119355
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.216053126132486
+      euclidean_error: -0.002074655977165496
+    wrist_top_marker_pose:
+      angle_rotation: 16.854079301194425
+      euclidean_error: -0.003323633268749293
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008553080899434629
+    base_right_marker_pose:
+      angle_rotation: 6.970222035034609
+      euclidean_error: -0.005961084008134665
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.827489390938194
+      euclidean_error: -0.002111482489076999
+    wrist_top_marker_pose:
+      angle_rotation: 16.899671251843195
+      euclidean_error: -0.005948699186866135
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.00884964585812098
+    base_right_marker_pose:
+      angle_rotation: 4.933201619428269
+      euclidean_error: -0.00574756634753204
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.01113639975577
+      euclidean_error: -0.001649662931639151
+    wrist_top_marker_pose:
+      angle_rotation: 17.48443176237535
+      euclidean_error: -0.003906770088523026
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008868784018229992
+    base_right_marker_pose:
+      angle_rotation: 5.866536595248208
+      euclidean_error: -0.005702363238239139
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.4364709050659
+      euclidean_error: -0.0017083293089235063
+    wrist_top_marker_pose:
+      angle_rotation: 18.481025761762037
+      euclidean_error: -0.003042271249516393
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.05611910745209
+      euclidean_error: -0.008450100072878275
+    base_right_marker_pose:
+      angle_rotation: 6.721909860782203
+      euclidean_error: -0.005494446226813832
+    shoulder_marker_pose:
+      angle_rotation: 28.80127671768137
+      euclidean_error: -0.00026054692541466196
+    wrist_inside_marker_pose:
+      angle_rotation: 24.204169205912052
+      euclidean_error: -0.0019843797389268447
+    wrist_top_marker_pose:
+      angle_rotation: 20.014869920767698
+      euclidean_error: -0.0048770617960424145
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7657751945322477
+      euclidean_error: -0.008800521905812597
+    base_right_marker_pose:
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+      euclidean_error: -0.005874066766532238
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.031807492299844
+      euclidean_error: -0.0018091320626004714
+    wrist_top_marker_pose:
+      angle_rotation: 22.919943669007427
+      euclidean_error: -0.0032235254191669283
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.983563188913285
+      euclidean_error: -0.008634477003862329
+    base_right_marker_pose:
+      angle_rotation: 4.041510050804057
+      euclidean_error: -0.005967445970489815
+    shoulder_marker_pose:
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+      euclidean_error: -0.0008702101430959619
+    wrist_inside_marker_pose:
+      angle_rotation: 24.028643139861572
+      euclidean_error: -0.0015406712050144433
+    wrist_top_marker_pose:
+      angle_rotation: 18.833797349823676
+      euclidean_error: -0.0035816455516362034
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008668333981349363
+    base_right_marker_pose:
+      angle_rotation: 4.5204691580664695
+      euclidean_error: -0.005903217078631395
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.808450204712074
+      euclidean_error: -0.002964106230341601
+    wrist_top_marker_pose:
+      angle_rotation: 20.092418493768953
+      euclidean_error: -0.004428689820079934
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4625887232874346
+      euclidean_error: -0.008788576606362675
+    base_right_marker_pose:
+      angle_rotation: 3.994909863561939
+      euclidean_error: -0.006745052142985486
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.182599325759732
+      euclidean_error: -0.0020595684322233243
+    wrist_top_marker_pose:
+      angle_rotation: 18.14697394704732
+      euclidean_error: -0.003666311120742116
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9450608482741008
+      euclidean_error: -0.00848484405924721
+    base_right_marker_pose:
+      angle_rotation: 6.1598317687853585
+      euclidean_error: -0.005929018281860765
+    shoulder_marker_pose:
+      angle_rotation: 19.839571238954605
+      euclidean_error: -0.0007023838408943828
+    wrist_inside_marker_pose:
+      angle_rotation: 17.252596840190304
+      euclidean_error: -0.0016855881350791302
+    wrist_top_marker_pose:
+      angle_rotation: 19.360465049894742
+      euclidean_error: -0.004125145499276672
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9828815010156853
+      euclidean_error: -0.008657597544225792
+    base_right_marker_pose:
+      angle_rotation: 5.1419608793254925
+      euclidean_error: -0.005590172784883274
+    shoulder_marker_pose:
+      angle_rotation: 21.484712372454215
+      euclidean_error: -0.0010472874009721522
+    wrist_inside_marker_pose:
+      angle_rotation: 17.041058191751812
+      euclidean_error: -0.00239174753974547
+    wrist_top_marker_pose:
+      angle_rotation: 20.54001262660257
+      euclidean_error: -0.004733188585141046
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008599646418444573
+    base_right_marker_pose:
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+      euclidean_error: -0.005968580072827967
+    shoulder_marker_pose:
+      angle_rotation: 27.478456198510912
+      euclidean_error: -0.00011343078728653921
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0031026033456480473
+    wrist_top_marker_pose:
+      angle_rotation: 13.353093902929693
+      euclidean_error: -0.004892973814971335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.177093503019722
+      euclidean_error: -0.008635180057508962
+    base_right_marker_pose:
+      angle_rotation: 6.329159806873128
+      euclidean_error: -0.005745840578275319
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.186956091650885
+      euclidean_error: -0.0016051950775201052
+    wrist_top_marker_pose:
+      angle_rotation: 19.518076998062458
+      euclidean_error: -0.004126819357191502
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7451447967382006
+      euclidean_error: -0.008280364632690773
+    base_right_marker_pose:
+      angle_rotation: 4.125792650406801
+      euclidean_error: -0.0065268507821254484
+    shoulder_marker_pose:
+      angle_rotation: 18.26519933516668
+      euclidean_error: 4.299262987217389e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 19.009016613160462
+      euclidean_error: -0.0015340342999221601
+    wrist_top_marker_pose:
+      angle_rotation: 14.34546232945328
+      euclidean_error: -0.004034304363808361
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8435354211517123
+      euclidean_error: -0.008422809110612883
+    base_right_marker_pose:
+      angle_rotation: 6.817127485041892
+      euclidean_error: -0.005980239651234176
+    shoulder_marker_pose:
+      angle_rotation: 19.39572127826868
+      euclidean_error: -0.0010979149555976342
+    wrist_inside_marker_pose:
+      angle_rotation: 17.818224370323268
+      euclidean_error: -0.001330419250690662
+    wrist_top_marker_pose:
+      angle_rotation: 15.81212736089527
+      euclidean_error: -0.004091917720690952
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.53624346462929
+      euclidean_error: -0.008495608283290657
+    base_right_marker_pose:
+      angle_rotation: 5.963482317107437
+      euclidean_error: -0.005819729762774228
+    shoulder_marker_pose:
+      angle_rotation: 18.028534215081493
+      euclidean_error: -0.0004468984848625679
+    wrist_inside_marker_pose:
+      angle_rotation: 22.988474379951917
+      euclidean_error: -0.0018337621877081434
+    wrist_top_marker_pose:
+      angle_rotation: 16.210533180197455
+      euclidean_error: -0.003765653210157316
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9350224299807914
+      euclidean_error: -0.008395072711659513
+    base_right_marker_pose:
+      angle_rotation: 4.016051561691202
+      euclidean_error: -0.005551794476412297
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.73868856594664
+      euclidean_error: -0.0017189441661180638
+    wrist_top_marker_pose:
+      angle_rotation: 15.597040752398447
+      euclidean_error: -0.004357200436666542
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.516521021250826
+      euclidean_error: -0.008577887239774151
+    base_right_marker_pose:
+      angle_rotation: 5.886172115769694
+      euclidean_error: -0.006812925014527571
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.045521674438223
+      euclidean_error: -0.00224281541267235
+    wrist_top_marker_pose:
+      angle_rotation: 19.83543640213523
+      euclidean_error: -0.002969765643698885
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.864815452325622
+      euclidean_error: -0.008800210412781229
+    base_right_marker_pose:
+      angle_rotation: 4.537212990442905
+      euclidean_error: -0.005391430740637526
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.901921836519605
+      euclidean_error: -0.0007096514834752377
+    wrist_top_marker_pose:
+      angle_rotation: 13.143345450774095
+      euclidean_error: -0.0036022362805453456
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.363719666266787
+      euclidean_error: -0.008647581297682394
+    base_right_marker_pose:
+      angle_rotation: 4.63387264241288
+      euclidean_error: -0.005428840965668313
+    shoulder_marker_pose:
+      angle_rotation: 18.72362282787131
+      euclidean_error: -0.0008182525955484632
+    wrist_inside_marker_pose:
+      angle_rotation: 20.71300100459881
+      euclidean_error: -0.00057137365904536
+    wrist_top_marker_pose:
+      angle_rotation: 19.5763094471962
+      euclidean_error: -0.002928154282222706
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.455683333282694
+      euclidean_error: -0.009084655965816535
+    base_right_marker_pose:
+      angle_rotation: 5.983294108720239
+      euclidean_error: -0.006848336488258444
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.383752728772723
+      euclidean_error: -0.0012498856031628591
+    wrist_top_marker_pose:
+      angle_rotation: 20.486984678465316
+      euclidean_error: -0.003871338292014248
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8853493478781678
+      euclidean_error: -0.008619395683594377
+    base_right_marker_pose:
+      angle_rotation: 4.343085589072895
+      euclidean_error: -0.005136217874123439
+    shoulder_marker_pose:
+      angle_rotation: 25.699047253535444
+      euclidean_error: -0.0005530326363539784
+    wrist_inside_marker_pose:
+      angle_rotation: 20.249335454011558
+      euclidean_error: -0.003716912765513114
+    wrist_top_marker_pose:
+      angle_rotation: 14.579078391955424
+      euclidean_error: -0.003920416203206378
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4568433067234112
+      euclidean_error: -0.008635406090748532
+    base_right_marker_pose:
+      angle_rotation: 4.299614009962832
+      euclidean_error: -0.005366387040888432
+    shoulder_marker_pose:
+      angle_rotation: 23.462638550345467
+      euclidean_error: -0.00035908351613533895
+    wrist_inside_marker_pose:
+      angle_rotation: 22.64925391692576
+      euclidean_error: -0.002265690156717959
+    wrist_top_marker_pose:
+      angle_rotation: 19.251860055555845
+      euclidean_error: -0.004173846190247077
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.442012150815418
+      euclidean_error: -0.008167556263430242
+    base_right_marker_pose:
+      angle_rotation: 3.8982354753147623
+      euclidean_error: -0.00558528453826479
+    shoulder_marker_pose:
+      angle_rotation: 23.84734454676019
+      euclidean_error: 7.477711226111516e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 23.990769062460394
+      euclidean_error: -0.0018868537050737988
+    wrist_top_marker_pose:
+      angle_rotation: 19.73441672932228
+      euclidean_error: -0.004477423579639317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9194792427684595
+      euclidean_error: -0.008774479167529381
+    base_right_marker_pose:
+      angle_rotation: 4.854578727874747
+      euclidean_error: -0.005516717684202144
+    shoulder_marker_pose:
+      angle_rotation: 20.06128040568134
+      euclidean_error: -0.00051473151095216
+    wrist_inside_marker_pose:
+      angle_rotation: 20.303202270739394
+      euclidean_error: -0.00097869218153257
+    wrist_top_marker_pose:
+      angle_rotation: 14.685730532812412
+      euclidean_error: -0.003662821204629796
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2789717314891105
+      euclidean_error: -0.008962595442162491
+    base_right_marker_pose:
+      angle_rotation: 6.528399456513226
+      euclidean_error: -0.005457395216651562
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.10866899905323
+      euclidean_error: -0.0014952497788437435
+    wrist_top_marker_pose:
+      angle_rotation: 22.295117627295934
+      euclidean_error: -0.0041879934419745135
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6487042486663896
+      euclidean_error: -0.008090970682917309
+    base_right_marker_pose:
+      angle_rotation: 7.141077942180668
+      euclidean_error: -0.005741482388809338
+    shoulder_marker_pose:
+      angle_rotation: 18.694910716254277
+      euclidean_error: 0.00026544907049275146
+    wrist_inside_marker_pose:
+      angle_rotation: 20.61760659263574
+      euclidean_error: -0.0020840029007552774
+    wrist_top_marker_pose:
+      angle_rotation: 18.359172620554915
+      euclidean_error: -0.0042544797668288
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.0066254897064675
+      euclidean_error: -0.008950851680648242
+    base_right_marker_pose:
+      angle_rotation: 5.7096409437114675
+      euclidean_error: -0.006780662701018292
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.20055479629909
+      euclidean_error: -0.0023252522123157204
+    wrist_top_marker_pose:
+      angle_rotation: 19.81195853434039
+      euclidean_error: -0.0033441048902328463
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.958085819499471
+      euclidean_error: -0.008458133106509558
+    base_right_marker_pose:
+      angle_rotation: 6.1338672901623434
+      euclidean_error: -0.004865003993393624
+    shoulder_marker_pose:
+      angle_rotation: 21.763575229784962
+      euclidean_error: 0.0006662229128815422
+    wrist_inside_marker_pose:
+      angle_rotation: 21.161131487230577
+      euclidean_error: -0.0022584651172267156
+    wrist_top_marker_pose:
+      angle_rotation: 17.37939594571445
+      euclidean_error: -0.0024112065704345875
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.3355298669577678
+      euclidean_error: -0.008864000131756145
+    base_right_marker_pose:
+      angle_rotation: 5.369396240370482
+      euclidean_error: -0.006804558727616095
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.889307035972895
+      euclidean_error: -0.0014267223890492842
+    wrist_top_marker_pose:
+      angle_rotation: 25.006085574531966
+      euclidean_error: -0.0032388274012883356
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6538608030874404
+      euclidean_error: -0.00865637668004049
+    base_right_marker_pose:
+      angle_rotation: 4.350950456070554
+      euclidean_error: -0.00588671326882495
+    shoulder_marker_pose:
+      angle_rotation: 22.295460007685005
+      euclidean_error: -0.0007074940386740947
+    wrist_inside_marker_pose:
+      angle_rotation: 25.18749504987652
+      euclidean_error: -0.0013189256876865452
+    wrist_top_marker_pose:
+      angle_rotation: 18.765378037439927
+      euclidean_error: -0.0036624763478436684
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.049013233074572
+      euclidean_error: -0.008583713937767579
+    base_right_marker_pose:
+      angle_rotation: 4.317429826045434
+      euclidean_error: -0.005694839890208581
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.722001610851116
+      euclidean_error: -0.001271209259249395
+    wrist_top_marker_pose:
+      angle_rotation: 14.281416688376549
+      euclidean_error: -0.0049885179227515675
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.701016110139424
+      euclidean_error: -0.0087354679586783
+    base_right_marker_pose:
+      angle_rotation: 6.022753750069938
+      euclidean_error: -0.006379647559666579
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.23002485273203
+      euclidean_error: -0.0015684370936985825
+    wrist_top_marker_pose:
+      angle_rotation: 21.580181011349712
+      euclidean_error: -0.003049475948701752
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.0266525150345025
+      euclidean_error: -0.008238242208538749
+    base_right_marker_pose:
+      angle_rotation: 5.163988371902282
+      euclidean_error: -0.0060331027080376964
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.587119056705898
+      euclidean_error: -0.0016015860745938193
+    wrist_top_marker_pose:
+      angle_rotation: 18.35657823705843
+      euclidean_error: -0.004153988004204412
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.72252386673465
+      euclidean_error: -0.008588823561217152
+    base_right_marker_pose:
+      angle_rotation: 6.475768846377309
+      euclidean_error: -0.00645575786568342
+    shoulder_marker_pose:
+      angle_rotation: 16.26558528232058
+      euclidean_error: -0.0012790411528595946
+    wrist_inside_marker_pose:
+      angle_rotation: 16.05232429160081
+      euclidean_error: -0.00225445043688699
+    wrist_top_marker_pose:
+      angle_rotation: 14.097717850083335
+      euclidean_error: -0.0047936928338422335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8653701061484
+      euclidean_error: -0.00874511375873932
+    base_right_marker_pose:
+      angle_rotation: 3.715482361150319
+      euclidean_error: -0.005620140529509099
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.125884634433756
+      euclidean_error: -0.0008120407436144061
+    wrist_top_marker_pose:
+      angle_rotation: 18.623272269555873
+      euclidean_error: -0.002636067462163161
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.033778456025164
+      euclidean_error: -0.008415209288765602
+    base_right_marker_pose:
+      angle_rotation: 5.072614269552573
+      euclidean_error: -0.006268566376434248
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.39995268172905
+      euclidean_error: -0.0004411384432603249
+    wrist_top_marker_pose:
+      angle_rotation: 19.964878531356348
+      euclidean_error: -0.0027181082900646913
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.146232606030878
+      euclidean_error: -0.00872708879531403
+    base_right_marker_pose:
+      angle_rotation: 5.57478387057532
+      euclidean_error: -0.006054320671938118
+    shoulder_marker_pose:
+      angle_rotation: 20.202686626028115
+      euclidean_error: -0.0006897421020488625
+    wrist_inside_marker_pose:
+      angle_rotation: 21.820928696770775
+      euclidean_error: -0.0020707838019721203
+    wrist_top_marker_pose:
+      angle_rotation: 15.844101739551988
+      euclidean_error: -0.003783867806091634
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3230222619473873
+      euclidean_error: -0.008739246776686582
+    base_right_marker_pose:
+      angle_rotation: 7.296954884835215
+      euclidean_error: -0.005661646739273496
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.538138368314552
+      euclidean_error: -0.0022024629403391005
+    wrist_top_marker_pose:
+      angle_rotation: 23.35522959678764
+      euclidean_error: -0.0030219866006112595
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008725552767599343
+    base_right_marker_pose:
+      angle_rotation: 7.0584896851227565
+      euclidean_error: -0.006099150305199363
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.0918787162312
+      euclidean_error: -0.0023464616095922874
+    wrist_top_marker_pose:
+      angle_rotation: 16.871224529926295
+      euclidean_error: -0.00314248977294751
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008520731102081736
+    base_right_marker_pose:
+      angle_rotation: 5.816138194310738
+      euclidean_error: -0.005176129221768355
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.513514145456877
+      euclidean_error: -0.0017082396622077889
+    wrist_top_marker_pose:
+      angle_rotation: 21.34349364405656
+      euclidean_error: -0.004667215818734305
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.06781838501972
+      euclidean_error: -0.008481243821097384
+    base_right_marker_pose:
+      angle_rotation: 7.390965040122367
+      euclidean_error: -0.006364363662999084
+    shoulder_marker_pose:
+      angle_rotation: 26.544727324450964
+      euclidean_error: -0.0005645718850361137
+    wrist_inside_marker_pose:
+      angle_rotation: 24.12981438453233
+      euclidean_error: -0.0010029945125822337
+    wrist_top_marker_pose:
+      angle_rotation: 18.647592252838802
+      euclidean_error: -0.0032895408640615242
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.805633967984827
+      euclidean_error: -0.008534593274041158
+    base_right_marker_pose:
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+      euclidean_error: -0.005586299963893815
+    shoulder_marker_pose:
+      angle_rotation: 19.827232340327647
+      euclidean_error: -0.001035687402994978
+    wrist_inside_marker_pose:
+      angle_rotation: 19.644290529665426
+      euclidean_error: -0.001477941071063249
+    wrist_top_marker_pose:
+      angle_rotation: 17.277881154046277
+      euclidean_error: -0.002853375419897608
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0800310652338645
+      euclidean_error: -0.008507720042129407
+    base_right_marker_pose:
+      angle_rotation: 4.791682716755157
+      euclidean_error: -0.0061528448779019085
+    shoulder_marker_pose:
+      angle_rotation: 19.153846195569297
+      euclidean_error: -0.0006886052840878731
+    wrist_inside_marker_pose:
+      angle_rotation: 18.47874481116349
+      euclidean_error: -0.002543641788195883
+    wrist_top_marker_pose:
+      angle_rotation: 22.88445484359116
+      euclidean_error: -0.0029464902826303874
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.454526552801423
+      euclidean_error: -0.008286699871073333
+    base_right_marker_pose:
+      angle_rotation: 6.804140556762741
+      euclidean_error: -0.00634457218594997
+    shoulder_marker_pose:
+      angle_rotation: 27.183676159671347
+      euclidean_error: -0.0002626637443502444
+    wrist_inside_marker_pose:
+      angle_rotation: 21.54547581337547
+      euclidean_error: -0.001503170622730421
+    wrist_top_marker_pose:
+      angle_rotation: 20.65528841629955
+      euclidean_error: -0.0037865938370063024
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.850561382400935
+      euclidean_error: -0.008378037398508842
+    base_right_marker_pose:
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+      euclidean_error: -0.006304015379231642
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.74288918630765
+      euclidean_error: -0.0013718905184884056
+    wrist_top_marker_pose:
+      angle_rotation: 17.585273632874973
+      euclidean_error: -0.002938388233788447
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.070006982335663
+      euclidean_error: -0.008203373242328338
+    base_right_marker_pose:
+      angle_rotation: 7.264063202706759
+      euclidean_error: -0.005669298050416827
+    shoulder_marker_pose:
+      angle_rotation: 18.653676067014263
+      euclidean_error: -0.0002156255860500389
+    wrist_inside_marker_pose:
+      angle_rotation: 21.686690616663906
+      euclidean_error: -0.0018500064486955958
+    wrist_top_marker_pose:
+      angle_rotation: 19.525029424956674
+      euclidean_error: -0.00342366310799902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.22199404996573
+      euclidean_error: -0.00875068515410804
+    base_right_marker_pose:
+      angle_rotation: 5.224691067470569
+      euclidean_error: -0.006076203888472187
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.775637865954753
+      euclidean_error: -0.0011898355562727225
+    wrist_top_marker_pose:
+      angle_rotation: 20.878845810799177
+      euclidean_error: -0.0037508777170693897
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5897351310427894
+      euclidean_error: -0.00874452466226594
+    base_right_marker_pose:
+      angle_rotation: 4.458840820331496
+      euclidean_error: -0.0062211426310930795
+    shoulder_marker_pose:
+      angle_rotation: 22.134612365960635
+      euclidean_error: -0.0016110266518513106
+    wrist_inside_marker_pose:
+      angle_rotation: 19.09091535963122
+      euclidean_error: -0.002462565398191452
+    wrist_top_marker_pose:
+      angle_rotation: 19.66036027096317
+      euclidean_error: -0.0049629387615126586
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7914551112279897
+      euclidean_error: -0.008652602069071036
+    base_right_marker_pose:
+      angle_rotation: 5.1327734270178755
+      euclidean_error: -0.005993661391260008
+    shoulder_marker_pose:
+      angle_rotation: 21.816803870591787
+      euclidean_error: 0.0007739421974475302
+    wrist_inside_marker_pose:
+      angle_rotation: 24.969136632964315
+      euclidean_error: -0.0005277031870104532
+    wrist_top_marker_pose:
+      angle_rotation: 24.228760413983686
+      euclidean_error: -0.0027729181126251445
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.810533281004504
+      euclidean_error: -0.008544105756496556
+    base_right_marker_pose:
+      angle_rotation: 5.547019107247775
+      euclidean_error: -0.0064671475407364065
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.91097116692797
+      euclidean_error: -0.002109911240877005
+    wrist_top_marker_pose:
+      angle_rotation: 17.62131738452687
+      euclidean_error: -0.003958342371950585
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4350629502355097
+      euclidean_error: -0.00878025210551403
+    base_right_marker_pose:
+      angle_rotation: 4.145114115882289
+      euclidean_error: -0.005886366778512064
+    shoulder_marker_pose:
+      angle_rotation: 19.37998914937218
+      euclidean_error: 0.0002165892775223277
+    wrist_inside_marker_pose:
+      angle_rotation: 23.643415922664552
+      euclidean_error: -0.002579512486240998
+    wrist_top_marker_pose:
+      angle_rotation: 14.570745858007566
+      euclidean_error: -0.0050068146261885715
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3982433277684363
+      euclidean_error: -0.008630679793148355
+    base_right_marker_pose:
+      angle_rotation: 3.5345677248417364
+      euclidean_error: -0.006426189195055887
+    shoulder_marker_pose:
+      angle_rotation: 21.35013790281192
+      euclidean_error: 0.00037438331420569515
+    wrist_inside_marker_pose:
+      angle_rotation: 23.505825265709934
+      euclidean_error: -0.002066922314742703
+    wrist_top_marker_pose:
+      angle_rotation: 16.17525060631917
+      euclidean_error: -0.004893818136054273
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.201777416134845
+      euclidean_error: -0.008718242060393622
+    base_right_marker_pose:
+      angle_rotation: 4.84340479752284
+      euclidean_error: -0.005862984547230554
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.874095265246268
+      euclidean_error: -0.002790857570226901
+    wrist_top_marker_pose:
+      angle_rotation: 17.27809960900383
+      euclidean_error: -0.004892550658106121
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2211657728089365
+      euclidean_error: -0.008730187288856439
+    base_right_marker_pose:
+      angle_rotation: 5.697982269785798
+      euclidean_error: -0.005822660358540843
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.376945976280265
+      euclidean_error: -0.001118738595479618
+    wrist_top_marker_pose:
+      angle_rotation: 22.660403323346525
+      euclidean_error: -0.0037024937306725514
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5166800638422278
+      euclidean_error: -0.008688627474753297
+    base_right_marker_pose:
+      angle_rotation: 5.702507579311007
+      euclidean_error: -0.006033760394265841
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.11949010585255
+      euclidean_error: -0.0027183424407747347
+    wrist_top_marker_pose:
+      angle_rotation: 22.378095096241832
+      euclidean_error: -0.005807810292806859
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.221984422891359
+      euclidean_error: -0.008144718131078088
+    base_right_marker_pose:
+      angle_rotation: 4.692683118373437
+      euclidean_error: -0.0056164488260882495
+    shoulder_marker_pose:
+      angle_rotation: 20.808703959937482
+      euclidean_error: -0.0007458076815834991
+    wrist_inside_marker_pose:
+      angle_rotation: 20.60381537771764
+      euclidean_error: -0.0005701800456564543
+    wrist_top_marker_pose:
+      angle_rotation: 20.439635906484686
+      euclidean_error: -0.0022298015198920496
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.998262412599204
+      euclidean_error: -0.008631975493410216
+    base_right_marker_pose:
+      angle_rotation: 5.286352437887885
+      euclidean_error: -0.0060296327869767685
+    shoulder_marker_pose:
+      angle_rotation: 19.16316598814697
+      euclidean_error: -0.0011756447503646905
+    wrist_inside_marker_pose:
+      angle_rotation: 26.62668920538618
+      euclidean_error: -0.001510001151919682
+    wrist_top_marker_pose:
+      angle_rotation: 20.3644237532772
+      euclidean_error: -0.0022605612894555094
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.937951444425932
+      euclidean_error: -0.009010904385001073
+    base_right_marker_pose:
+      angle_rotation: 6.140948826728662
+      euclidean_error: -0.006460294595706184
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.06841329230133
+      euclidean_error: -0.002040966118631582
+    wrist_top_marker_pose:
+      angle_rotation: 17.23786445524473
+      euclidean_error: -0.004080119146839478
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.680760572440405
+      euclidean_error: -0.008299687562530966
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 21.983470221810677
+      euclidean_error: -0.000544133456977125
+    wrist_inside_marker_pose:
+      angle_rotation: 18.715334447761037
+      euclidean_error: -0.0015500483309005553
+    wrist_top_marker_pose:
+      angle_rotation: 13.185438237508555
+      euclidean_error: -0.003546688546387622
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.761286454066322
+      euclidean_error: -0.008348637487994304
+    base_right_marker_pose:
+      angle_rotation: 4.200475751351608
+      euclidean_error: -0.005640751071800731
+    shoulder_marker_pose:
+      angle_rotation: 22.999808699238155
+      euclidean_error: -4.79774701273028e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 24.618168787824125
+      euclidean_error: -0.00029578271762242814
+    wrist_top_marker_pose:
+      angle_rotation: 20.99703685499366
+      euclidean_error: -0.0030567320175085566
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.944405529573217
+      euclidean_error: -0.008582088511389085
+    base_right_marker_pose:
+      angle_rotation: 6.37602381652095
+      euclidean_error: -0.005827803008541466
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.177625498401657
+      euclidean_error: -0.0029575238138395132
+    wrist_top_marker_pose:
+      angle_rotation: 18.77399221914488
+      euclidean_error: -0.005160377744841793
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.63909534621136
+      euclidean_error: -0.008191252349842526
+    base_right_marker_pose:
+      angle_rotation: 5.602805947297396
+      euclidean_error: -0.005450160582499697
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.278085983819743
+      euclidean_error: -0.002887906099164672
+    wrist_top_marker_pose:
+      angle_rotation: 14.93083119086979
+      euclidean_error: -0.004905972971037786
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7174889152466135
+      euclidean_error: -0.008544877789446237
+    base_right_marker_pose:
+      angle_rotation: 6.632003772068406
+      euclidean_error: -0.006520622535009957
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.69173377647236
+      euclidean_error: -0.0017581811584086449
+    wrist_top_marker_pose:
+      angle_rotation: 23.884588734227925
+      euclidean_error: -0.003488691196897098
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.548219939392049
+      euclidean_error: -0.008348236209673954
+    base_right_marker_pose:
+      angle_rotation: 6.300132052417617
+      euclidean_error: -0.005989793191644721
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.753421005417508
+      euclidean_error: -0.0014778060306522844
+    wrist_top_marker_pose:
+      angle_rotation: 22.841990647769546
+      euclidean_error: -0.002732888788208765
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.367623085035905
+      euclidean_error: -0.008191183220046305
+    base_right_marker_pose:
+      angle_rotation: 5.378485332693887
+      euclidean_error: -0.005969450115734354
+    shoulder_marker_pose:
+      angle_rotation: 20.48772360641665
+      euclidean_error: -0.0002781346058526868
+    wrist_inside_marker_pose:
+      angle_rotation: 20.54977608922866
+      euclidean_error: -0.0014898852780701466
+    wrist_top_marker_pose:
+      angle_rotation: 18.972752558778723
+      euclidean_error: -0.002596799362863611
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.08404677295707
+      euclidean_error: -0.0082906057809492
+    base_right_marker_pose:
+      angle_rotation: 2.7676331382706296
+      euclidean_error: -0.005193325435881024
+    shoulder_marker_pose:
+      angle_rotation: 20.999587908107916
+      euclidean_error: 0.00045238720052143133
+    wrist_inside_marker_pose:
+      angle_rotation: 21.940532329341345
+      euclidean_error: -0.0009167332247396187
+    wrist_top_marker_pose:
+      angle_rotation: 18.28165867236099
+      euclidean_error: -0.002286753819492282
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.064309647945882
+      euclidean_error: -0.008622586669687626
+    base_right_marker_pose:
+      angle_rotation: 7.145639239016286
+      euclidean_error: -0.0061088605550631
+    shoulder_marker_pose:
+      angle_rotation: 18.409556351412817
+      euclidean_error: -0.0005784303807941926
+    wrist_inside_marker_pose:
+      angle_rotation: 21.317810426070217
+      euclidean_error: -0.002486249314737843
+    wrist_top_marker_pose:
+      angle_rotation: 18.585188742512397
+      euclidean_error: -0.006051104401627039
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.06820784135915
+      euclidean_error: -0.00866671683089204
+    base_right_marker_pose:
+      angle_rotation: 6.774824265791384
+      euclidean_error: -0.00531810604043248
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.315654690127907
+      euclidean_error: -0.0021352712280015007
+    wrist_top_marker_pose:
+      angle_rotation: 20.30046815639424
+      euclidean_error: -0.005050539255852748
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.3859599149449355
+      euclidean_error: -0.00859222897998091
+    base_right_marker_pose:
+      angle_rotation: 5.387700273932969
+      euclidean_error: -0.004954474198977654
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.11193616528644
+      euclidean_error: -0.0004175911635913021
+    wrist_top_marker_pose:
+      angle_rotation: 18.62657596553469
+      euclidean_error: -0.004084214724286883
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.526561086504193
+      euclidean_error: -0.008584447279004759
+    base_right_marker_pose:
+      angle_rotation: 5.4576699375548525
+      euclidean_error: -0.005350765790081202
+    shoulder_marker_pose:
+      angle_rotation: 22.15063885030518
+      euclidean_error: -0.000667911485225603
+    wrist_inside_marker_pose:
+      angle_rotation: 21.02672311702281
+      euclidean_error: -0.0017772033455234482
+    wrist_top_marker_pose:
+      angle_rotation: 22.785960835283333
+      euclidean_error: -0.0036690140660745607
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.032293180364388
+      euclidean_error: -0.008414397115004801
+    base_right_marker_pose:
+      angle_rotation: 6.8494948199134456
+      euclidean_error: -0.006141010226206944
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.273409819922733
+      euclidean_error: -0.000740749399043783
+    wrist_top_marker_pose:
+      angle_rotation: 18.2201674597521
+      euclidean_error: -0.00385106949878955
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9329239836665906
+      euclidean_error: -0.008602981594960313
+    base_right_marker_pose:
+      angle_rotation: 5.913530653354189
+      euclidean_error: -0.00675500249411265
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.667151728704184
+      euclidean_error: -0.0023904401054637425
+    wrist_top_marker_pose:
+      angle_rotation: 16.544344435660513
+      euclidean_error: -0.003130198510395088
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008727167580439676
+    base_right_marker_pose:
+      angle_rotation: 7.242925853792527
+      euclidean_error: -0.006231061574580865
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.028716621545072
+      euclidean_error: -0.0018636254987646206
+    wrist_top_marker_pose:
+      angle_rotation: 17.472128435515913
+      euclidean_error: -0.0029808597298257578
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4843232504927872
+      euclidean_error: -0.008752243025424433
+    base_right_marker_pose:
+      angle_rotation: 6.349672729689096
+      euclidean_error: -0.005633882699069059
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 15.312149906070296
+      euclidean_error: -0.0022744499511283545
+    wrist_top_marker_pose:
+      angle_rotation: 13.108290161637749
+      euclidean_error: -0.004410474325129865
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.652649257150487
+      euclidean_error: -0.008263204566346327
+    base_right_marker_pose:
+      angle_rotation: 3.9801050225254793
+      euclidean_error: -0.004591647645937114
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.084204337203317
+      euclidean_error: -0.0009686360151428541
+    wrist_top_marker_pose:
+      angle_rotation: 13.63153503245483
+      euclidean_error: -0.0030444331535797176
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008652231294456136
+    base_right_marker_pose:
+      angle_rotation: 4.502300457003746
+      euclidean_error: -0.005402009729593815
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.87713398949318
+      euclidean_error: -0.001842433446959002
+    wrist_top_marker_pose:
+      angle_rotation: 20.16896658710598
+      euclidean_error: -0.003149989218219851
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.631914737716396
+      euclidean_error: -0.008788396862099868
+    base_right_marker_pose:
+      angle_rotation: 5.7057531225189395
+      euclidean_error: -0.006601785002581906
+    shoulder_marker_pose:
+      angle_rotation: 20.983516484235746
+      euclidean_error: -0.0001977635605880934
+    wrist_inside_marker_pose:
+      angle_rotation: 21.77973268597176
+      euclidean_error: -0.001683125539222452
+    wrist_top_marker_pose:
+      angle_rotation: 16.39297378060076
+      euclidean_error: -0.00482459262221957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3126734952504155
+      euclidean_error: -0.008779325430504414
+    base_right_marker_pose:
+      angle_rotation: 5.118177831952245
+      euclidean_error: -0.006703963395147339
+    shoulder_marker_pose:
+      angle_rotation: 23.722411275226328
+      euclidean_error: 0.0001593772436163654
+    wrist_inside_marker_pose:
+      angle_rotation: 23.03415640122298
+      euclidean_error: -0.002026908295538532
+    wrist_top_marker_pose:
+      angle_rotation: 23.16799129061186
+      euclidean_error: -0.0027886888141558375
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.848437117758329
+      euclidean_error: -0.008614116888190027
+    base_right_marker_pose:
+      angle_rotation: 6.869652145406234
+      euclidean_error: -0.006323138972928022
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0018340980616101676
+    wrist_top_marker_pose:
+      angle_rotation: 22.971604655355478
+      euclidean_error: -0.0042204007155289824
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.874693958198123
+      euclidean_error: -0.008284439446268
+    base_right_marker_pose:
+      angle_rotation: 5.440342056816495
+      euclidean_error: -0.005011812054834697
+    shoulder_marker_pose:
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+      euclidean_error: -0.000583446811552979
+    wrist_inside_marker_pose:
+      angle_rotation: 20.885120866800413
+      euclidean_error: -0.0011895563244951335
+    wrist_top_marker_pose:
+      angle_rotation: 17.686631968493096
+      euclidean_error: -0.004568640151567438
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.711939165763165
+      euclidean_error: -0.007965405618400756
+    base_right_marker_pose:
+      angle_rotation: 4.970168333058573
+      euclidean_error: -0.0050199000863608845
+    shoulder_marker_pose:
+      angle_rotation: 16.056996314501195
+      euclidean_error: -0.0006516730958001649
+    wrist_inside_marker_pose:
+      angle_rotation: 24.197312045601205
+      euclidean_error: -0.0011635857911824754
+    wrist_top_marker_pose:
+      angle_rotation: 21.118332025716917
+      euclidean_error: -0.001938262373502364
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9384186743153646
+      euclidean_error: -0.008669498908294715
+    base_right_marker_pose:
+      angle_rotation: 3.828018566932947
+      euclidean_error: -0.0055942441076800575
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.221245788015977
+      euclidean_error: -0.0019439414874040661
+    wrist_top_marker_pose:
+      angle_rotation: 14.134206209066877
+      euclidean_error: -0.004020337270736807
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.123320454317884
+      euclidean_error: -0.008243888105802122
+    base_right_marker_pose:
+      angle_rotation: 5.3231374444118575
+      euclidean_error: -0.00590265755204078
+    shoulder_marker_pose:
+      angle_rotation: 24.100920290846563
+      euclidean_error: 0.0005150029351227436
+    wrist_inside_marker_pose:
+      angle_rotation: 22.617712868554882
+      euclidean_error: -0.002807620088077667
+    wrist_top_marker_pose:
+      angle_rotation: 17.185646476882265
+      euclidean_error: -0.0034556104551174416
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.231239827463468
+      euclidean_error: -0.008456989193023623
+    base_right_marker_pose:
+      angle_rotation: 4.065748580630942
+      euclidean_error: -0.005365954324157207
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 15.124399305393412
+      euclidean_error: -0.001441304936722676
+    wrist_top_marker_pose:
+      angle_rotation: 18.71769364221073
+      euclidean_error: -0.005520629283813139
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1331470735401172
+      euclidean_error: -0.008553501783786
+    base_right_marker_pose:
+      angle_rotation: 5.744993747871139
+      euclidean_error: -0.005784673495465187
+    shoulder_marker_pose:
+      angle_rotation: 17.499404734215254
+      euclidean_error: -0.0015867157331435067
+    wrist_inside_marker_pose:
+      angle_rotation: 17.885996594838083
+      euclidean_error: -0.0016567278482197967
+    wrist_top_marker_pose:
+      angle_rotation: 17.32646794892388
+      euclidean_error: -0.002786305473092998
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.446935849525815
+      euclidean_error: -0.008325277435572764
+    base_right_marker_pose:
+      angle_rotation: 5.283239119510065
+      euclidean_error: -0.004709645906020854
+    shoulder_marker_pose:
+      angle_rotation: 19.51686167462319
+      euclidean_error: -0.00032453592920578256
+    wrist_inside_marker_pose:
+      angle_rotation: 24.65579166875517
+      euclidean_error: -0.002249826308059255
+    wrist_top_marker_pose:
+      angle_rotation: 14.098660333930159
+      euclidean_error: -0.004676124697412853
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5833129379294895
+      euclidean_error: -0.008793491625286087
+    base_right_marker_pose:
+      angle_rotation: 6.220600431796055
+      euclidean_error: -0.006104186679049883
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.95542801025701
+      euclidean_error: -0.002162845202353658
+    wrist_top_marker_pose:
+      angle_rotation: 16.82741396415446
+      euclidean_error: -0.004167805411640524
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.448105352017089
+      euclidean_error: -0.008671054412748402
+    base_right_marker_pose:
+      angle_rotation: 6.852399302812479
+      euclidean_error: -0.0060272133088459245
+    shoulder_marker_pose:
+      angle_rotation: 16.777761198198846
+      euclidean_error: -0.001116647484595168
+    wrist_inside_marker_pose:
+      angle_rotation: 20.494935851796
+      euclidean_error: -0.0031775539656931917
+    wrist_top_marker_pose:
+      angle_rotation: 14.705477892124964
+      euclidean_error: -0.004958273224729859
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1571334357795693
+      euclidean_error: -0.008545889098450665
+    base_right_marker_pose:
+      angle_rotation: 7.224848456628652
+      euclidean_error: -0.005997226209055628
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.503538602846966
+      euclidean_error: -0.0019128050383182549
+    wrist_top_marker_pose:
+      angle_rotation: 19.843382430652213
+      euclidean_error: -0.0039468162653135686
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.251261578519483
+      euclidean_error: -0.008564006110157285
+    base_right_marker_pose:
+      angle_rotation: 7.142243048571244
+      euclidean_error: -0.005466552077653786
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.086291031569424
+      euclidean_error: -0.0022735072891429953
+    wrist_top_marker_pose:
+      angle_rotation: 17.45318988602088
+      euclidean_error: -0.0035675968473912745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.155014293714385
+      euclidean_error: -0.008541175904883458
+    base_right_marker_pose:
+      angle_rotation: 2.972996055617302
+      euclidean_error: -0.004787391784537909
+    shoulder_marker_pose:
+      angle_rotation: 23.37237510840174
+      euclidean_error: -0.0005101037616769277
+    wrist_inside_marker_pose:
+      angle_rotation: 25.140788098639383
+      euclidean_error: -0.0015858613362912388
+    wrist_top_marker_pose:
+      angle_rotation: 20.22314038295989
+      euclidean_error: -0.0034642775968269923
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9016378504645934
+      euclidean_error: -0.008448607657997154
+    base_right_marker_pose:
+      angle_rotation: 3.802160686983199
+      euclidean_error: -0.006085029056304259
+    shoulder_marker_pose:
+      angle_rotation: 22.156702794674516
+      euclidean_error: -0.00019071445547969024
+    wrist_inside_marker_pose:
+      angle_rotation: 25.62105759995112
+      euclidean_error: -0.0009290195192142026
+    wrist_top_marker_pose:
+      angle_rotation: 14.264809858185458
+      euclidean_error: -0.0033200421812770164
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.027341607541979
+      euclidean_error: -0.008337881755626997
+    base_right_marker_pose:
+      angle_rotation: 5.413976662939334
+      euclidean_error: -0.005253409453447988
+    shoulder_marker_pose:
+      angle_rotation: 20.545841872235982
+      euclidean_error: -0.00018032903032139114
+    wrist_inside_marker_pose:
+      angle_rotation: 21.630910437293053
+      euclidean_error: -0.0009887469122970005
+    wrist_top_marker_pose:
+      angle_rotation: 13.99293659775661
+      euclidean_error: -0.00429410603687419
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.80629391640361
+      euclidean_error: -0.00848443550462652
+    base_right_marker_pose:
+      angle_rotation: 6.220683202297306
+      euclidean_error: -0.005867887401272642
+    shoulder_marker_pose:
+      angle_rotation: 22.565024698265656
+      euclidean_error: -0.0007239082891850046
+    wrist_inside_marker_pose:
+      angle_rotation: 19.986649728519062
+      euclidean_error: -0.002169924502795406
+    wrist_top_marker_pose:
+      angle_rotation: 20.18654002886034
+      euclidean_error: -0.004392265858884192
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.676150504169952
+      euclidean_error: -0.008544785477724526
+    base_right_marker_pose:
+      angle_rotation: 5.402857514898764
+      euclidean_error: -0.005803592750642572
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.279363923097684
+      euclidean_error: -0.0010480933734744458
+    wrist_top_marker_pose:
+      angle_rotation: 20.735931304401518
+      euclidean_error: -0.0022745808919996113
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.0874552731553133
+      euclidean_error: -0.008648896462595923
+    base_right_marker_pose:
+      angle_rotation: 4.3664191587537315
+      euclidean_error: -0.005364478910663273
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.955707625809993
+      euclidean_error: -0.0006685601899666382
+    wrist_top_marker_pose:
+      angle_rotation: 14.189820170508893
+      euclidean_error: -0.004221735717672481
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.636776154382426
+      euclidean_error: -0.008555913517536928
+    base_right_marker_pose:
+      angle_rotation: 3.367468935076118
+      euclidean_error: -0.00509891006642571
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.760221692506644
+      euclidean_error: -0.0006103904951139105
+    wrist_top_marker_pose:
+      angle_rotation: 19.696062532591377
+      euclidean_error: -0.0031543144611249074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.762597376236287
+      euclidean_error: -0.008008244049957258
+    base_right_marker_pose:
+      angle_rotation: 5.815620715722729
+      euclidean_error: -0.005197528053018652
+    shoulder_marker_pose:
+      angle_rotation: 24.26663781836354
+      euclidean_error: -0.0005691740428810377
+    wrist_inside_marker_pose:
+      angle_rotation: 20.366122542587778
+      euclidean_error: -0.0010092909610418532
+    wrist_top_marker_pose:
+      angle_rotation: 23.490016404673387
+      euclidean_error: -0.0029714977270955956
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7292104401503923
+      euclidean_error: -0.008580023416894123
+    base_right_marker_pose:
+      angle_rotation: 5.362503060700694
+      euclidean_error: -0.006037510771676469
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.109059627998043
+      euclidean_error: -0.0014965482954453213
+    wrist_top_marker_pose:
+      angle_rotation: 22.47693364904446
+      euclidean_error: -0.004420757677732423
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2887554846340254
+      euclidean_error: -0.008330670525721229
+    base_right_marker_pose:
+      angle_rotation: 3.9438836655358966
+      euclidean_error: -0.00574227215095191
+    shoulder_marker_pose:
+      angle_rotation: 19.53675946983759
+      euclidean_error: -0.0008730803915555363
+    wrist_inside_marker_pose:
+      angle_rotation: 27.903968413412738
+      euclidean_error: -0.0013998229497155235
+    wrist_top_marker_pose:
+      angle_rotation: 23.129157445052794
+      euclidean_error: -0.002831923912120393
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.744828813992413
+      euclidean_error: -0.008632913385690166
+    base_right_marker_pose:
+      angle_rotation: 5.148381379075492
+      euclidean_error: -0.006287862417007184
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.720037633072312
+      euclidean_error: -0.0016428011372184859
+    wrist_top_marker_pose:
+      angle_rotation: 20.734252500108468
+      euclidean_error: -0.0024892397025386703
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7203747374921872
+      euclidean_error: -0.008508837038105455
+    base_right_marker_pose:
+      angle_rotation: 8.011879421157698
+      euclidean_error: -0.005700615461789571
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.765075368173097
+      euclidean_error: -0.0015290672049277365
+    wrist_top_marker_pose:
+      angle_rotation: 24.578227397463785
+      euclidean_error: -0.0023371982461158902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1712013524293896
+      euclidean_error: -0.008530228373711757
+    base_right_marker_pose:
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+      euclidean_error: -0.005701326143029872
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.105746243493492
+      euclidean_error: -0.0015738560987226258
+    wrist_top_marker_pose:
+      angle_rotation: 17.472762735195438
+      euclidean_error: -0.0037987096711749047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.373740217410915
+      euclidean_error: -0.008120351714419938
+    base_right_marker_pose:
+      angle_rotation: 6.430544940458534
+      euclidean_error: -0.006024594784856174
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.943168502164735
+      euclidean_error: -0.0027235448493208025
+    wrist_top_marker_pose:
+      angle_rotation: 18.83926123419013
+      euclidean_error: -0.00470148209258503
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008315280276596115
+    base_right_marker_pose:
+      angle_rotation: 3.859786773200925
+      euclidean_error: -0.0056431597647235154
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.879150088076543
+      euclidean_error: -0.0011029099004831178
+    wrist_top_marker_pose:
+      angle_rotation: 19.570451178830634
+      euclidean_error: -0.0020420965991181372
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.00832641073131779
+    base_right_marker_pose:
+      angle_rotation: 7.3593946878269945
+      euclidean_error: -0.005658493889829308
+    shoulder_marker_pose:
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+      euclidean_error: -0.0009489936702236079
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0024448107612239367
+    wrist_top_marker_pose:
+      angle_rotation: 22.81389405571092
+      euclidean_error: -0.0028248806324379094
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.265341263318307
+      euclidean_error: -0.008369079035353444
+    base_right_marker_pose:
+      angle_rotation: 4.1041455879335205
+      euclidean_error: -0.005760134847668019
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.25727096067168
+      euclidean_error: -0.0005841660114748182
+    wrist_top_marker_pose:
+      angle_rotation: 23.093881686579515
+      euclidean_error: -0.003344162305974119
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.294747375854693
+      euclidean_error: -0.008755897866045359
+    base_right_marker_pose:
+      angle_rotation: 5.156193191180312
+      euclidean_error: -0.0059634581563347
+    shoulder_marker_pose:
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+      euclidean_error: -0.001170353766148713
+    wrist_inside_marker_pose:
+      angle_rotation: 21.04926040503265
+      euclidean_error: -0.000721294328881017
+    wrist_top_marker_pose:
+      angle_rotation: 20.009093565629893
+      euclidean_error: -0.0027883679901511416
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2387291271471494
+      euclidean_error: -0.008281508593337872
+    base_right_marker_pose:
+      angle_rotation: 5.943442499994242
+      euclidean_error: -0.006039297748308803
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.519033798511014
+      euclidean_error: -0.0018208974320407245
+    wrist_top_marker_pose:
+      angle_rotation: 14.843130724233255
+      euclidean_error: -0.0037508593641861765
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3072781868650827
+      euclidean_error: -0.008741148473196847
+    base_right_marker_pose:
+      angle_rotation: 5.056389016633813
+      euclidean_error: -0.005133903867303058
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.192143826773858
+      euclidean_error: -0.001956182368168302
+    wrist_top_marker_pose:
+      angle_rotation: 17.644428169387755
+      euclidean_error: -0.00373479578023328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9756459241332855
+      euclidean_error: -0.008302938336483323
+    base_right_marker_pose:
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+      euclidean_error: -0.00527338179093495
+    shoulder_marker_pose:
+      angle_rotation: 17.585080831545927
+      euclidean_error: -0.0005106368722950227
+    wrist_inside_marker_pose:
+      angle_rotation: 19.444698223765556
+      euclidean_error: -0.002021246248495423
+    wrist_top_marker_pose:
+      angle_rotation: 14.659167755257268
+      euclidean_error: -0.0031355814892767286
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6771333562573356
+      euclidean_error: -0.008660328432397835
+    base_right_marker_pose:
+      angle_rotation: 8.021952148109376
+      euclidean_error: -0.005207628867596514
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.017070825403962
+      euclidean_error: -0.001588666719564924
+    wrist_top_marker_pose:
+      angle_rotation: 18.749330940303444
+      euclidean_error: -0.003793129814342322
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4476416378665506
+      euclidean_error: -0.008657140695252474
+    base_right_marker_pose:
+      angle_rotation: 3.0818977925843787
+      euclidean_error: -0.005176108748996433
+    shoulder_marker_pose:
+      angle_rotation: 20.454906606168585
+      euclidean_error: -7.452105264416087e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 14.952338121978515
+      euclidean_error: -0.002554324586309442
+    wrist_top_marker_pose:
+      angle_rotation: 17.85604100436658
+      euclidean_error: -0.004588805148369124
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008607874361950985
+    base_right_marker_pose:
+      angle_rotation: 7.233808362136551
+      euclidean_error: -0.005068329330310872
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.833072049309276
+      euclidean_error: -0.0022895166472123307
+    wrist_top_marker_pose:
+      angle_rotation: 22.774909578854977
+      euclidean_error: -0.004448012828916936
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.448282842667296
+      euclidean_error: -0.008585880890502051
+    base_right_marker_pose:
+      angle_rotation: 3.569072469370639
+      euclidean_error: -0.004412006418989867
+    shoulder_marker_pose:
+      angle_rotation: 19.838354314089973
+      euclidean_error: -0.0009264971229773211
+    wrist_inside_marker_pose:
+      angle_rotation: 22.81104586950179
+      euclidean_error: -0.002255106619064584
+    wrist_top_marker_pose:
+      angle_rotation: 13.286009909753554
+      euclidean_error: -0.0036756508015376443
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.363158810849216
+      euclidean_error: -0.008617378786951346
+    base_right_marker_pose:
+      angle_rotation: 6.174989357260389
+      euclidean_error: -0.00691842168744905
+    shoulder_marker_pose:
+      angle_rotation: 18.638903943864804
+      euclidean_error: -0.0005598507195512248
+    wrist_inside_marker_pose:
+      angle_rotation: 22.745471452051866
+      euclidean_error: -0.0011942241098188422
+    wrist_top_marker_pose:
+      angle_rotation: 21.667223292949004
+      euclidean_error: -0.0041609514721193674
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.284216057081932
+      euclidean_error: -0.00820485943485072
+    base_right_marker_pose:
+      angle_rotation: 4.6946891026962705
+      euclidean_error: -0.005054433295097582
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.68133546793439
+      euclidean_error: -0.0025425910153591413
+    wrist_top_marker_pose:
+      angle_rotation: 17.896238634816896
+      euclidean_error: -0.004908483075516279
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.463539982860652
+      euclidean_error: -0.008176120879174409
+    base_right_marker_pose:
+      angle_rotation: 3.7263883755070677
+      euclidean_error: -0.0053440411568745905
+    shoulder_marker_pose:
+      angle_rotation: 20.58773124339943
+      euclidean_error: 0.00010274701216850257
+    wrist_inside_marker_pose:
+      angle_rotation: 23.92482635506365
+      euclidean_error: -0.0032069816184515654
+    wrist_top_marker_pose:
+      angle_rotation: 20.75558954060611
+      euclidean_error: -0.003880682470128183
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.493555449202068
+      euclidean_error: -0.008459966388063789
+    base_right_marker_pose:
+      angle_rotation: 4.509254445534392
+      euclidean_error: -0.0054588243499469336
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.584468127436605
+      euclidean_error: -0.002541965113275868
+    wrist_top_marker_pose:
+      angle_rotation: 15.874091151449564
+      euclidean_error: -0.004792400909461425
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.69572632470589
+      euclidean_error: -0.00843639918429595
+    base_right_marker_pose:
+      angle_rotation: 2.1834948359975654
+      euclidean_error: -0.0050124611667548
+    shoulder_marker_pose:
+      angle_rotation: 19.88637805740541
+      euclidean_error: 0.00017956022934251248
+    wrist_inside_marker_pose:
+      angle_rotation: 18.485932759699015
+      euclidean_error: -0.0018836967495596824
+    wrist_top_marker_pose:
+      angle_rotation: 15.739983486120698
+      euclidean_error: -0.0033706925519658704
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.672157412087506
+      euclidean_error: -0.00830075512206252
+    base_right_marker_pose:
+      angle_rotation: 5.565944505086949
+      euclidean_error: -0.005939603073938371
+    shoulder_marker_pose:
+      angle_rotation: 24.232805711146987
+      euclidean_error: 0.00035770383412325746
+    wrist_inside_marker_pose:
+      angle_rotation: 22.257290993866235
+      euclidean_error: -0.000693671428706355
+    wrist_top_marker_pose:
+      angle_rotation: 22.12589992658827
+      euclidean_error: -0.0013734917491508014
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6840772535305017
+      euclidean_error: -0.008506793942618551
+    base_right_marker_pose:
+      angle_rotation: 6.080535074475535
+      euclidean_error: -0.00622947580627542
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 11.515517495920951
+      euclidean_error: -0.00193928825462919
+    wrist_top_marker_pose:
+      angle_rotation: 13.798890659214821
+      euclidean_error: -0.004494982543451376
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.539785190653286
+      euclidean_error: -0.008598975977029188
+    base_right_marker_pose:
+      angle_rotation: 5.877328263234407
+      euclidean_error: -0.006117051873887225
+    shoulder_marker_pose:
+      angle_rotation: 16.03621633987248
+      euclidean_error: -0.0002749230533365399
+    wrist_inside_marker_pose:
+      angle_rotation: 22.471834716591808
+      euclidean_error: -0.0029612475797688997
+    wrist_top_marker_pose:
+      angle_rotation: 18.437766802380967
+      euclidean_error: -0.004115089499938884
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7016172375052263
+      euclidean_error: -0.008621411882292263
+    base_right_marker_pose:
+      angle_rotation: 5.090128597069658
+      euclidean_error: -0.006061376181726641
+    shoulder_marker_pose:
+      angle_rotation: 18.411317258434668
+      euclidean_error: -0.002244700822606527
+    wrist_inside_marker_pose:
+      angle_rotation: 22.28970169540861
+      euclidean_error: -0.0016902251566707216
+    wrist_top_marker_pose:
+      angle_rotation: 20.17009180670578
+      euclidean_error: -0.0041526578815404
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.005658744423223
+      euclidean_error: -0.00844187550335651
+    base_right_marker_pose:
+      angle_rotation: 6.677212631158959
+      euclidean_error: -0.006731293760942281
+    shoulder_marker_pose:
+      angle_rotation: 17.95377323849598
+      euclidean_error: 3.3293840584480705e-06
+    wrist_inside_marker_pose:
+      angle_rotation: 18.814608654280406
+      euclidean_error: -0.0011786030613489817
+    wrist_top_marker_pose:
+      angle_rotation: 19.82736874085343
+      euclidean_error: -0.0028538671139594074
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7310918549441916
+      euclidean_error: -0.008158596640212346
+    base_right_marker_pose:
+      angle_rotation: 8.255294324879072
+      euclidean_error: -0.0049627925769452075
+    shoulder_marker_pose:
+      angle_rotation: 15.517111137189028
+      euclidean_error: 0.0005993384348701447
+    wrist_inside_marker_pose:
+      angle_rotation: 20.751572085902943
+      euclidean_error: -0.0018967805617323696
+    wrist_top_marker_pose:
+      angle_rotation: 19.898187397316082
+      euclidean_error: -0.00264789884082417
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2550647542600406
+      euclidean_error: -0.008590466060216628
+    base_right_marker_pose:
+      angle_rotation: 5.741407506521358
+      euclidean_error: -0.005946236874319166
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.35304749783358
+      euclidean_error: -0.0018316856943296767
+    wrist_top_marker_pose:
+      angle_rotation: 21.334474851760977
+      euclidean_error: -0.003501136548894279
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.025224030472711
+      euclidean_error: -0.008450256504691445
+    base_right_marker_pose:
+      angle_rotation: 4.354418341253396
+      euclidean_error: -0.006555714575658511
+    shoulder_marker_pose:
+      angle_rotation: 17.166023436446384
+      euclidean_error: -0.0008500239485117467
+    wrist_inside_marker_pose:
+      angle_rotation: 20.675607721834698
+      euclidean_error: -0.003011787744485739
+    wrist_top_marker_pose:
+      angle_rotation: 12.39727633915335
+      euclidean_error: -0.005219416103967034
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.81674095249927
+      euclidean_error: -0.008392148793113119
+    base_right_marker_pose:
+      angle_rotation: 4.459042518984506
+      euclidean_error: -0.005445070449492273
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.033107128471823
+      euclidean_error: -0.0009902296603062632
+    wrist_top_marker_pose:
+      angle_rotation: 19.42692763845514
+      euclidean_error: -0.003674135197040296
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.589164533146682
+      euclidean_error: -0.008406150657814804
+    base_right_marker_pose:
+      angle_rotation: 7.313247442073661
+      euclidean_error: -0.005424915055501356
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.54019571697623
+      euclidean_error: -0.0012835225514881143
+    wrist_top_marker_pose:
+      angle_rotation: 22.481452716045794
+      euclidean_error: -0.0025755361005741495
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4826039756580025
+      euclidean_error: -0.0087486822558005
+    base_right_marker_pose:
+      angle_rotation: 3.24667371167635
+      euclidean_error: -0.00616694060029499
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.83501939351029
+      euclidean_error: -0.0013176738302210778
+    wrist_top_marker_pose:
+      angle_rotation: 19.415030116461136
+      euclidean_error: -0.00264354320625948
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2686965336646727
+      euclidean_error: -0.008310355165218497
+    base_right_marker_pose:
+      angle_rotation: 4.819074421451111
+      euclidean_error: -0.006031084007859122
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.585006947803876
+      euclidean_error: -0.0024928698092375745
+    wrist_top_marker_pose:
+      angle_rotation: 15.006059617768694
+      euclidean_error: -0.005065943421742047
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3917058622054754
+      euclidean_error: -0.008755713833617174
+    base_right_marker_pose:
+      angle_rotation: 4.976375739780721
+      euclidean_error: -0.005572583554854904
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.941118205426605
+      euclidean_error: -0.0019066397615663533
+    wrist_top_marker_pose:
+      angle_rotation: 16.594233009401112
+      euclidean_error: -0.0030042342507594633
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.257219111509321
+      euclidean_error: -0.008570484323494276
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 24.32552546707657
+      euclidean_error: 0.00063696663578372
+    wrist_inside_marker_pose:
+      angle_rotation: 19.501317671739873
+      euclidean_error: -0.0017335270018494775
+    wrist_top_marker_pose:
+      angle_rotation: 19.60158814702581
+      euclidean_error: -0.0035238613118268036
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7506483802472057
+      euclidean_error: -0.008515566943542607
+    base_right_marker_pose:
+      angle_rotation: 6.82180512720407
+      euclidean_error: -0.005369432455745948
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.43359677281094
+      euclidean_error: -0.0016539998395822542
+    wrist_top_marker_pose:
+      angle_rotation: 21.057296509047195
+      euclidean_error: -0.00396238769266033
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008765270771804667
+    base_right_marker_pose:
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+      euclidean_error: -0.005799394583143047
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.34847964380645
+      euclidean_error: -0.0021925296940666916
+    wrist_top_marker_pose:
+      angle_rotation: 22.727163251864987
+      euclidean_error: -0.0033052449701411746
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.617359467072068
+      euclidean_error: -0.008235145333648886
+    base_right_marker_pose:
+      angle_rotation: 5.5413127486472
+      euclidean_error: -0.005792413924730178
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.95266447718772
+      euclidean_error: -0.0020838380430848735
+    wrist_top_marker_pose:
+      angle_rotation: 22.83110184161441
+      euclidean_error: -0.0021476926699919296
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008432489117928155
+    base_right_marker_pose:
+      angle_rotation: 5.0288884489940395
+      euclidean_error: -0.00491706636775624
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.163905903309363
+      euclidean_error: -0.0013646402061980867
+    wrist_top_marker_pose:
+      angle_rotation: 9.395464508916485
+      euclidean_error: -0.0033619782448309765
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.007983035036512764
+    base_right_marker_pose:
+      angle_rotation: 2.690765816227474
+      euclidean_error: -0.0051021530818378125
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.821052505300855
+      euclidean_error: -0.0015513036492655896
+    wrist_top_marker_pose:
+      angle_rotation: 20.564438321274036
+      euclidean_error: -0.0033530055891660693
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008374703905937086
+    base_right_marker_pose:
+      angle_rotation: 6.400542788693187
+      euclidean_error: -0.004486095195512685
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0014271496179339982
+    wrist_top_marker_pose:
+      angle_rotation: 17.398688622326638
+      euclidean_error: -0.0037403782433090838
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.279245129100081
+      euclidean_error: -0.008228920611630053
+    base_right_marker_pose:
+      angle_rotation: 4.954577576145122
+      euclidean_error: -0.006698867221121341
+    shoulder_marker_pose:
+      angle_rotation: 17.841968597169664
+      euclidean_error: -1.7850561980670143e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 24.23803440025764
+      euclidean_error: -0.0013509300701119997
+    wrist_top_marker_pose:
+      angle_rotation: 23.204545775131248
+      euclidean_error: -0.0030781509584126843
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008321513424201288
+    base_right_marker_pose:
+      angle_rotation: 8.033676470622694
+      euclidean_error: -0.004655457024304477
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.648420865805846
+      euclidean_error: -0.0018460119584673418
+    wrist_top_marker_pose:
+      angle_rotation: 17.751531335840923
+      euclidean_error: -0.004693905060903059
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008626470631678873
+    base_right_marker_pose:
+      angle_rotation: 7.364737231803245
+      euclidean_error: -0.004985950911770898
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.623336363071303
+      euclidean_error: -0.001572981095538717
+    wrist_top_marker_pose:
+      angle_rotation: 21.02984681455788
+      euclidean_error: -0.002885173915839312
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3917924609759855
+      euclidean_error: -0.008434182412048852
+    base_right_marker_pose:
+      angle_rotation: 3.4971067810004963
+      euclidean_error: -0.006006682671047869
+    shoulder_marker_pose:
+      angle_rotation: 22.606420531898234
+      euclidean_error: -0.001892330394003383
+    wrist_inside_marker_pose:
+      angle_rotation: 25.085317502509906
+      euclidean_error: -0.0016698137483192044
+    wrist_top_marker_pose:
+      angle_rotation: 23.587514751617555
+      euclidean_error: -0.003093646814365858
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008704026981460333
+    base_right_marker_pose:
+      angle_rotation: 5.379324381679883
+      euclidean_error: -0.006559359429745948
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.71273316298479
+      euclidean_error: -0.0026177853268313234
+    wrist_top_marker_pose:
+      angle_rotation: 19.97852786781364
+      euclidean_error: -0.0033735678338174813
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008508381897101902
+    base_right_marker_pose:
+      angle_rotation: 6.008372139442671
+      euclidean_error: -0.006155423984387731
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.87779843466662
+      euclidean_error: -0.0013134587066694348
+    wrist_top_marker_pose:
+      angle_rotation: 18.788380519622077
+      euclidean_error: -0.003301169057627673
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.839010852941663
+      euclidean_error: -0.008207333834693409
+    base_right_marker_pose:
+      angle_rotation: 5.4950441171423465
+      euclidean_error: -0.005752598111504081
+    shoulder_marker_pose:
+      angle_rotation: 18.79502290104079
+      euclidean_error: -6.42057434971921e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 20.465145782929227
+      euclidean_error: -0.00281027168198833
+    wrist_top_marker_pose:
+      angle_rotation: 19.73900032804743
+      euclidean_error: -0.004542625782901877
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008539078992717108
+    base_right_marker_pose:
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+      euclidean_error: -0.005738590014890743
+    shoulder_marker_pose:
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+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.003922651191747
+      euclidean_error: -0.0019456654809707485
+    wrist_top_marker_pose:
+      angle_rotation: 24.223156216682337
+      euclidean_error: -0.003708690568083095
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.010298437115919
+      euclidean_error: -0.008121406532249797
+    base_right_marker_pose:
+      angle_rotation: 6.102315862191
+      euclidean_error: -0.0054041464177641
+    shoulder_marker_pose:
+      angle_rotation: 20.036020520202438
+      euclidean_error: -0.0014233368861519269
+    wrist_inside_marker_pose:
+      angle_rotation: 23.472640715573593
+      euclidean_error: -0.001663434106588313
+    wrist_top_marker_pose:
+      angle_rotation: 22.272434789031895
+      euclidean_error: -0.0025820947531266514
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.688709271991709
+      euclidean_error: -0.00798124051227378
+    base_right_marker_pose:
+      angle_rotation: 4.434608275836412
+      euclidean_error: -0.004457698796709542
+    shoulder_marker_pose:
+      angle_rotation: 22.301953797078664
+      euclidean_error: -0.000142304419839423
+    wrist_inside_marker_pose:
+      angle_rotation: 22.0513759662605
+      euclidean_error: -0.0004445999865427819
+    wrist_top_marker_pose:
+      angle_rotation: 19.361945738854217
+      euclidean_error: -0.0036659358379239615
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.004693887917009
+      euclidean_error: -0.00873318079804053
+    base_right_marker_pose:
+      angle_rotation: 2.5769284088260482
+      euclidean_error: -0.005306309830785061
+    shoulder_marker_pose:
+      angle_rotation: 22.941909578966655
+      euclidean_error: 0.0010070811370582744
+    wrist_inside_marker_pose:
+      angle_rotation: 14.93745540834744
+      euclidean_error: -0.0014808957294093483
+    wrist_top_marker_pose:
+      angle_rotation: 14.879668465535289
+      euclidean_error: -0.004250501554642905
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.768288394606494
+      euclidean_error: -0.008397726109814596
+    base_right_marker_pose:
+      angle_rotation: 6.247921260021413
+      euclidean_error: -0.004721259614549056
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.825728460023
+      euclidean_error: -0.0004843238667538996
+    wrist_top_marker_pose:
+      angle_rotation: 19.387327982438403
+      euclidean_error: -0.003872750888212151
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008300105417558545
+    base_right_marker_pose:
+      angle_rotation: 8.285459719035865
+      euclidean_error: -0.005580188802527863
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.569223413669555
+      euclidean_error: -0.002395456054509526
+    wrist_top_marker_pose:
+      angle_rotation: 17.857443779453043
+      euclidean_error: -0.00227927522236937
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.0354372850433418
+      euclidean_error: -0.008950633060216262
+    base_right_marker_pose:
+      angle_rotation: 6.0072727060643825
+      euclidean_error: -0.005905379332175498
+    shoulder_marker_pose:
+      angle_rotation: 23.018030991558803
+      euclidean_error: 0.0006982463952969198
+    wrist_inside_marker_pose:
+      angle_rotation: 18.84041107610661
+      euclidean_error: -0.0018573205897575162
+    wrist_top_marker_pose:
+      angle_rotation: 12.93573051904022
+      euclidean_error: -0.005030296151138147
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7302679418282354
+      euclidean_error: -0.008589238635773655
+    base_right_marker_pose:
+      angle_rotation: 4.480516867846858
+      euclidean_error: -0.005967128577117342
+    shoulder_marker_pose:
+      angle_rotation: 21.326931778814632
+      euclidean_error: -0.0009926811585804218
+    wrist_inside_marker_pose:
+      angle_rotation: 17.268733123794956
+      euclidean_error: -0.0022726412537206198
+    wrist_top_marker_pose:
+      angle_rotation: 13.017975132506477
+      euclidean_error: -0.004533679951986058
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.062401172788538
+      euclidean_error: -0.008716917284803172
+    base_right_marker_pose:
+      angle_rotation: 6.606454229089599
+      euclidean_error: -0.005869155991391817
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 27.653606905065374
+      euclidean_error: -0.002433599454144675
+    wrist_top_marker_pose:
+      angle_rotation: 22.694072229656076
+      euclidean_error: -0.0031478681765535477
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6588686358716704
+      euclidean_error: -0.008539688012269231
+    base_right_marker_pose:
+      angle_rotation: 4.004771610879255
+      euclidean_error: -0.0052270088105828005
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.216655520085446
+      euclidean_error: -0.0014300906221956788
+    wrist_top_marker_pose:
+      angle_rotation: 16.64506786916704
+      euclidean_error: -0.004749336950344962
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5381866090097773
+      euclidean_error: -0.008294688429794861
+    base_right_marker_pose:
+      angle_rotation: 6.319841178736368
+      euclidean_error: -0.005883235676113152
+    shoulder_marker_pose:
+      angle_rotation: 20.034897285379188
+      euclidean_error: -0.001110782137885069
+    wrist_inside_marker_pose:
+      angle_rotation: 27.70572559120086
+      euclidean_error: -0.0019237479182623307
+    wrist_top_marker_pose:
+      angle_rotation: 22.571391198088886
+      euclidean_error: -0.002892028265961355
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.353697529896638
+      euclidean_error: -0.008533148487909537
+    base_right_marker_pose:
+      angle_rotation: 5.655228225244209
+      euclidean_error: -0.005867162108492474
+    shoulder_marker_pose:
+      angle_rotation: 23.63318608508993
+      euclidean_error: 0.0003972598654374826
+    wrist_inside_marker_pose:
+      angle_rotation: 23.8617436463337
+      euclidean_error: -0.0011272079453951145
+    wrist_top_marker_pose:
+      angle_rotation: 19.727930508489965
+      euclidean_error: -0.0041804357480438314
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8429873763981977
+      euclidean_error: -0.008528723168803487
+    base_right_marker_pose:
+      angle_rotation: 7.987894676373403
+      euclidean_error: -0.004966074626746142
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.075773311689566
+      euclidean_error: -0.0028074142404038716
+    wrist_top_marker_pose:
+      angle_rotation: 18.037345673478093
+      euclidean_error: -0.004905358444979635
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.416644213573231
+      euclidean_error: -0.008590227564198694
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.452501688360545
+      euclidean_error: -0.0008415781674504519
+    wrist_top_marker_pose:
+      angle_rotation: 21.068835246185117
+      euclidean_error: -0.003278851194853827
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0946094794843804
+      euclidean_error: -0.00841501814700174
+    base_right_marker_pose:
+      angle_rotation: 4.133083979001357
+      euclidean_error: -0.0059164158200045724
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.802027515576963
+      euclidean_error: -0.0015493655621242608
+    wrist_top_marker_pose:
+      angle_rotation: 19.950180683126963
+      euclidean_error: -0.004582757799727721
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9659998895733266
+      euclidean_error: -0.008344323035981316
+    base_right_marker_pose:
+      angle_rotation: 5.154609257555916
+      euclidean_error: -0.005346940196876981
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.045086560465943
+      euclidean_error: -0.002354419304324562
+    wrist_top_marker_pose:
+      angle_rotation: 21.06101588885015
+      euclidean_error: -0.0038971092620062597
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.2278944848903268
+      euclidean_error: -0.00869923936422079
+    base_right_marker_pose:
+      angle_rotation: 6.049786689033985
+      euclidean_error: -0.005818728392586681
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.47987838411884
+      euclidean_error: -0.0016485180854851622
+    wrist_top_marker_pose:
+      angle_rotation: 15.712862091323492
+      euclidean_error: -0.0035782207686099188
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.773648856439454
+      euclidean_error: -0.008671218757000276
+    base_right_marker_pose:
+      angle_rotation: 5.0930941305443325
+      euclidean_error: -0.00541550885326092
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.137619415761105
+      euclidean_error: -0.00221959815358308
+    wrist_top_marker_pose:
+      angle_rotation: 20.67073839593314
+      euclidean_error: -0.004779683274407809
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6945070876672275
+      euclidean_error: -0.008506202992408451
+    base_right_marker_pose:
+      angle_rotation: 6.554449341469872
+      euclidean_error: -0.0050168535276544635
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.913015224603832
+      euclidean_error: -0.0019132748556172086
+    wrist_top_marker_pose:
+      angle_rotation: 19.306000293354664
+      euclidean_error: -0.002830321512066525
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.651340138688685
+      euclidean_error: -0.008168366948202332
+    base_right_marker_pose:
+      angle_rotation: 5.943248937476418
+      euclidean_error: -0.005535136176500366
+    shoulder_marker_pose:
+      angle_rotation: 22.582918890483356
+      euclidean_error: -0.0001232395564385591
+    wrist_inside_marker_pose:
+      angle_rotation: 18.548586531394694
+      euclidean_error: -0.0012192241959083638
+    wrist_top_marker_pose:
+      angle_rotation: 20.364807832968946
+      euclidean_error: -0.003480857391458869
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.2751652010204237
+      euclidean_error: -0.008663038903566456
+    base_right_marker_pose:
+      angle_rotation: 5.619832882592729
+      euclidean_error: -0.005591169312874844
+    shoulder_marker_pose:
+      angle_rotation: 16.37090381473222
+      euclidean_error: -0.00012114619548175831
+    wrist_inside_marker_pose:
+      angle_rotation: 20.184131393689704
+      euclidean_error: -0.0028835525512609372
+    wrist_top_marker_pose:
+      angle_rotation: 17.212740592577678
+      euclidean_error: -0.0034322796100678676
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2413617627621223
+      euclidean_error: -0.008284374362714786
+    base_right_marker_pose:
+      angle_rotation: 5.489068020164993
+      euclidean_error: -0.005360705851885861
+    shoulder_marker_pose:
+      angle_rotation: 20.151293421865972
+      euclidean_error: -0.00028499890921596105
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0026937071273558377
+    wrist_top_marker_pose:
+      angle_rotation: 22.05556228299132
+      euclidean_error: -0.003593770337222413
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.569017318115245
+      euclidean_error: -0.008143733824801713
+    base_right_marker_pose:
+      angle_rotation: 5.807807646344331
+      euclidean_error: -0.006091334598705145
+    shoulder_marker_pose:
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+      euclidean_error: -0.0001929887174149103
+    wrist_inside_marker_pose:
+      angle_rotation: 20.654915040027205
+      euclidean_error: -0.0017978402651405156
+    wrist_top_marker_pose:
+      angle_rotation: 21.799686366025227
+      euclidean_error: -0.0014274788777289826
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008401235038288046
+    base_right_marker_pose:
+      angle_rotation: 6.6738092760755325
+      euclidean_error: -0.006224514047986518
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.07058458448496
+      euclidean_error: -0.0014890588013417583
+    wrist_top_marker_pose:
+      angle_rotation: 19.437581754253202
+      euclidean_error: -0.004182671097544
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8758757012336655
+      euclidean_error: -0.00888632724292493
+    base_right_marker_pose:
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+      euclidean_error: -0.005590311351589161
+    shoulder_marker_pose:
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+      euclidean_error: 0.0004429332003212938
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0017038784274719943
+    wrist_top_marker_pose:
+      angle_rotation: 18.08201013703242
+      euclidean_error: -0.0038815850584017486
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008644057893196111
+    base_right_marker_pose:
+      angle_rotation: 4.7523084791528545
+      euclidean_error: -0.005614198036353879
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.63664240456567
+      euclidean_error: -0.0025210931006105497
+    wrist_top_marker_pose:
+      angle_rotation: 23.816114001251183
+      euclidean_error: -0.0029418484260176347
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9716754386570803
+      euclidean_error: -0.00873472099637318
+    base_right_marker_pose:
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+      euclidean_error: -0.005513085956470709
+    shoulder_marker_pose:
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+      euclidean_error: -0.0004266491045920029
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0017449504271569438
+    wrist_top_marker_pose:
+      angle_rotation: 17.34158754197174
+      euclidean_error: -0.0039407991820249455
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.126789189146834
+      euclidean_error: -0.008439399806248193
+    base_right_marker_pose:
+      angle_rotation: 5.345211870905488
+      euclidean_error: -0.005037474851036339
+    shoulder_marker_pose:
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+      euclidean_error: -2.765401719218019e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 24.027086508506745
+      euclidean_error: -0.0010368358196450878
+    wrist_top_marker_pose:
+      angle_rotation: 26.000735889661595
+      euclidean_error: -0.0030099107694598892
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008323548618054843
+    base_right_marker_pose:
+      angle_rotation: 5.25634755366796
+      euclidean_error: -0.00544735750590053
+    shoulder_marker_pose:
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+      euclidean_error: -0.00011359198230631584
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.00180059411014033
+    wrist_top_marker_pose:
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+      euclidean_error: -0.003340848065851554
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.5514443672030436
+      euclidean_error: -0.008728313547174293
+    base_right_marker_pose:
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+      euclidean_error: -0.005475787130975074
+    shoulder_marker_pose:
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+      euclidean_error: -0.0010450692505782344
+    wrist_inside_marker_pose:
+      angle_rotation: 25.22211770471856
+      euclidean_error: -0.0016343418809073862
+    wrist_top_marker_pose:
+      angle_rotation: 21.50213875930636
+      euclidean_error: -0.0027413658374031424
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008322330993251414
+    base_right_marker_pose:
+      angle_rotation: 5.6413648007973745
+      euclidean_error: -0.006373070924967306
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.761923415712225
+      euclidean_error: -0.0014369748094371637
+    wrist_top_marker_pose:
+      angle_rotation: 15.137529985094318
+      euclidean_error: -0.0047362786807694235
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008490169994559316
+    base_right_marker_pose:
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+      euclidean_error: -0.005706392597818244
+    shoulder_marker_pose:
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+      euclidean_error: -0.0009364154167257333
+    wrist_inside_marker_pose:
+      angle_rotation: 21.661967224346004
+      euclidean_error: -0.0010480422696791392
+    wrist_top_marker_pose:
+      angle_rotation: 17.509200268881937
+      euclidean_error: -0.0027954806030332513
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008177560641421278
+    base_right_marker_pose:
+      angle_rotation: 3.747420243723368
+      euclidean_error: -0.005526664654746716
+    shoulder_marker_pose:
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+      euclidean_error: -0.00012142624130562218
+    wrist_inside_marker_pose:
+      angle_rotation: 21.523440415342904
+      euclidean_error: -0.0030357176758555315
+    wrist_top_marker_pose:
+      angle_rotation: 18.522359834124682
+      euclidean_error: -0.003482840283408062
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.0082116799465205
+    base_right_marker_pose:
+      angle_rotation: 5.2330581449869005
+      euclidean_error: -0.0052596146352831274
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.858376766254825
+      euclidean_error: -0.002165400828179509
+    wrist_top_marker_pose:
+      angle_rotation: 19.914954495893106
+      euclidean_error: -0.0034476513750759663
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008542033112261538
+    base_right_marker_pose:
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+      euclidean_error: -0.006211420800487311
+    shoulder_marker_pose:
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+      euclidean_error: -0.00023589787587174893
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0011848259676732198
+    wrist_top_marker_pose:
+      angle_rotation: 22.328751950463364
+      euclidean_error: -0.0021075983123372
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7828964734141066
+      euclidean_error: -0.00851154172759383
+    base_right_marker_pose:
+      angle_rotation: 5.574091074610411
+      euclidean_error: -0.0052491068882128955
+    shoulder_marker_pose:
+      angle_rotation: 20.615960364406387
+      euclidean_error: -0.000571845624042
+    wrist_inside_marker_pose:
+      angle_rotation: 25.176816655103348
+      euclidean_error: -0.0018576426605653173
+    wrist_top_marker_pose:
+      angle_rotation: 18.326904427684294
+      euclidean_error: -0.004067134548476514
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.240410242962037
+      euclidean_error: -0.008536734862653383
+    base_right_marker_pose:
+      angle_rotation: 7.106933152730353
+      euclidean_error: -0.0061361846184854185
+    shoulder_marker_pose:
+      angle_rotation: 17.379519357780463
+      euclidean_error: -0.0013073753931106546
+    wrist_inside_marker_pose:
+      angle_rotation: 19.660081290755432
+      euclidean_error: -0.002535841879410028
+    wrist_top_marker_pose:
+      angle_rotation: 17.892364225330503
+      euclidean_error: -0.0032228352632530655
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.286618325454955
+      euclidean_error: -0.008605427479620564
+    base_right_marker_pose:
+      angle_rotation: 4.533094881500572
+      euclidean_error: -0.005531886119280571
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.022932985772186
+      euclidean_error: -0.0019518816432345654
+    wrist_top_marker_pose:
+      angle_rotation: 19.10620846615867
+      euclidean_error: -0.003206164181543847
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7636403933182945
+      euclidean_error: -0.008495881909313052
+    base_right_marker_pose:
+      angle_rotation: 4.366696801721493
+      euclidean_error: -0.0063300476302528
+    shoulder_marker_pose:
+      angle_rotation: 22.10075566712311
+      euclidean_error: 2.7673476873602e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 19.598244521766272
+      euclidean_error: -0.0013965660078408826
+    wrist_top_marker_pose:
+      angle_rotation: 19.82252279144436
+      euclidean_error: -0.003062144569320302
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.946205659274538
+      euclidean_error: -0.008514271716222321
+    base_right_marker_pose:
+      angle_rotation: 4.720088079593531
+      euclidean_error: -0.006429502226549144
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.103216571341203
+      euclidean_error: -0.0024714338746760767
+    wrist_top_marker_pose:
+      angle_rotation: 17.26682768825449
+      euclidean_error: -0.0040909404455593545
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.745811554145197
+      euclidean_error: -0.00851886802919255
+    base_right_marker_pose:
+      angle_rotation: 4.269932707582309
+      euclidean_error: -0.00476619848429527
+    shoulder_marker_pose:
+      angle_rotation: 22.869270008685554
+      euclidean_error: 8.491631375806552e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 20.67184930630424
+      euclidean_error: -0.0008395149244464495
+    wrist_top_marker_pose:
+      angle_rotation: 16.19319183371503
+      euclidean_error: -0.002885420122441973
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3037023029580435
+      euclidean_error: -0.008380313812971996
+    base_right_marker_pose:
+      angle_rotation: 4.562565713460092
+      euclidean_error: -0.005792042607315695
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.340110559575006
+      euclidean_error: -0.0007295114653509405
+    wrist_top_marker_pose:
+      angle_rotation: 17.363920066351024
+      euclidean_error: -0.0015556512865155803
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.963629602898912
+      euclidean_error: -0.00831177314037701
+    base_right_marker_pose:
+      angle_rotation: 6.09931879977115
+      euclidean_error: -0.00542898343313114
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.982258829076187
+      euclidean_error: -0.0011679975429368383
+    wrist_top_marker_pose:
+      angle_rotation: 17.881208188009555
+      euclidean_error: -0.003633563798003614
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.475078015932096
+      euclidean_error: -0.008559654991967314
+    base_right_marker_pose:
+      angle_rotation: 5.598868030469981
+      euclidean_error: -0.006230981148449555
+    shoulder_marker_pose:
+      angle_rotation: 20.573683099799965
+      euclidean_error: -0.000642347012188571
+    wrist_inside_marker_pose:
+      angle_rotation: 17.032982005362875
+      euclidean_error: -0.00022003016295701894
+    wrist_top_marker_pose:
+      angle_rotation: 15.379526737794427
+      euclidean_error: -0.004058651240278488
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.1795518599175585
+      euclidean_error: -0.008735099028050364
+    base_right_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    shoulder_marker_pose:
+      angle_rotation: 16.30855614711293
+      euclidean_error: -0.00025720765615200314
+    wrist_inside_marker_pose:
+      angle_rotation: 22.557022169553584
+      euclidean_error: -0.0021734918300104766
+    wrist_top_marker_pose:
+      angle_rotation: 11.903986937173407
+      euclidean_error: -0.0047999116945171005
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.747720879269612
+      euclidean_error: -0.008386669899128618
+    base_right_marker_pose:
+      angle_rotation: 3.2650558362717423
+      euclidean_error: -0.005491705812688541
+    shoulder_marker_pose:
+      angle_rotation: 21.753066174348703
+      euclidean_error: -0.0007234388713310835
+    wrist_inside_marker_pose:
+      angle_rotation: 21.95673051613292
+      euclidean_error: -0.0018985413899778036
+    wrist_top_marker_pose:
+      angle_rotation: 16.827079175927473
+      euclidean_error: -0.004092858170401059
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.997949744600788
+      euclidean_error: -0.008117654439258604
+    base_right_marker_pose:
+      angle_rotation: 3.6930366367025873
+      euclidean_error: -0.004629415346815935
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.582103459626822
+      euclidean_error: -0.0012502159650288336
+    wrist_top_marker_pose:
+      angle_rotation: 18.371381980499145
+      euclidean_error: -0.003988411937740466
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.308931965085725
+      euclidean_error: -0.008560331773400098
+    base_right_marker_pose:
+      angle_rotation: 6.104668841058476
+      euclidean_error: -0.006086020515933321
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.61295743486669
+      euclidean_error: -0.0025968864950687287
+    wrist_top_marker_pose:
+      angle_rotation: 13.623836781912894
+      euclidean_error: -0.005175261009942589
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.263279359453506
+      euclidean_error: -0.008441889879740483
+    base_right_marker_pose:
+      angle_rotation: 5.162121146370822
+      euclidean_error: -0.005794086974783341
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.076723761199162
+      euclidean_error: -0.0008200331238258363
+    wrist_top_marker_pose:
+      angle_rotation: 20.990928495247786
+      euclidean_error: -0.0035379623761057077
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.623663554759088
+      euclidean_error: -0.00824541666373968
+    base_right_marker_pose:
+      angle_rotation: 6.402976926446193
+      euclidean_error: -0.005761493917848526
+    shoulder_marker_pose:
+      angle_rotation: 17.12750876362938
+      euclidean_error: -0.0011464196847010832
+    wrist_inside_marker_pose:
+      angle_rotation: 20.054426189187858
+      euclidean_error: -0.0009539847133138712
+    wrist_top_marker_pose:
+      angle_rotation: 15.374956987486273
+      euclidean_error: -0.003611665193688607
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5121530226951534
+      euclidean_error: -0.008429614566662247
+    base_right_marker_pose:
+      angle_rotation: 5.780682904661029
+      euclidean_error: -0.0058389129161890985
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.78551084439276
+      euclidean_error: -0.0018290418890478666
+    wrist_top_marker_pose:
+      angle_rotation: 16.50203344721192
+      euclidean_error: -0.004028279421858794
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.40424339547437
+      euclidean_error: -0.00843530964765471
+    base_right_marker_pose:
+      angle_rotation: 7.37625200129243
+      euclidean_error: -0.0048666641033238145
+    shoulder_marker_pose:
+      angle_rotation: 15.781908896342529
+      euclidean_error: -0.0010674251312698946
+    wrist_inside_marker_pose:
+      angle_rotation: 19.047802417787523
+      euclidean_error: -0.0027001221047340263
+    wrist_top_marker_pose:
+      angle_rotation: 18.849805065565846
+      euclidean_error: -0.004408907343413149
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.961741253302715
+      euclidean_error: -0.007831796775164768
+    base_right_marker_pose:
+      angle_rotation: 6.48493325348035
+      euclidean_error: -0.005280441936742375
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.814065345986695
+      euclidean_error: -0.0019040452839740318
+    wrist_top_marker_pose:
+      angle_rotation: 21.382856376266247
+      euclidean_error: -0.002540502767446662
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.07764590030389
+      euclidean_error: -0.008489814003607599
+    base_right_marker_pose:
+      angle_rotation: 5.840973263020651
+      euclidean_error: -0.0053978324518768606
+    shoulder_marker_pose:
+      angle_rotation: 20.433471213657022
+      euclidean_error: -0.00041251555369214987
+    wrist_inside_marker_pose:
+      angle_rotation: 21.038093612889984
+      euclidean_error: -0.0006713834081694126
+    wrist_top_marker_pose:
+      angle_rotation: 20.943857992136838
+      euclidean_error: -0.003950296602962089
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.4030217708722326
+      euclidean_error: -0.008289378949094095
+    base_right_marker_pose:
+      angle_rotation: 5.210744044692146
+      euclidean_error: -0.005872256927386799
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.297981150811935
+      euclidean_error: -0.0019869251774194963
+    wrist_top_marker_pose:
+      angle_rotation: 16.97534212934237
+      euclidean_error: -0.0029624986350815785
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.770352466192589
+      euclidean_error: -0.008352879203086583
+    base_right_marker_pose:
+      angle_rotation: 3.595027190517727
+      euclidean_error: -0.00482433981129482
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.68042712312377
+      euclidean_error: -0.0029882787175156134
+    wrist_top_marker_pose:
+      angle_rotation: 19.629881086807504
+      euclidean_error: -0.003015925799409569
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008529944250260435
+    base_right_marker_pose:
+      angle_rotation: 4.163116749951219
+      euclidean_error: -0.005393463771937723
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.261042302285848
+      euclidean_error: -0.0025537249918089477
+    wrist_top_marker_pose:
+      angle_rotation: 15.929812775027012
+      euclidean_error: -0.0034988399452635655
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008492850829558196
+    base_right_marker_pose:
+      angle_rotation: 5.446550397701862
+      euclidean_error: -0.006189022666953314
+    shoulder_marker_pose:
+      angle_rotation: 21.187050555701504
+      euclidean_error: -8.57581807709451e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 24.188986763288298
+      euclidean_error: -0.0026565810607092066
+    wrist_top_marker_pose:
+      angle_rotation: 21.182513034766895
+      euclidean_error: -0.00263653777767503
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.782210374587276
+      euclidean_error: -0.0078087283368857285
+    base_right_marker_pose:
+      angle_rotation: 5.148078764445373
+      euclidean_error: -0.005702893168230472
+    shoulder_marker_pose:
+      angle_rotation: 22.961038693785365
+      euclidean_error: 0.00014799835203216372
+    wrist_inside_marker_pose:
+      angle_rotation: 18.6819596732103
+      euclidean_error: -0.0010862170053669296
+    wrist_top_marker_pose:
+      angle_rotation: 20.59823613005077
+      euclidean_error: -0.0017926416549647328
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.890629665599591
+      euclidean_error: -0.007838142729673314
+    base_right_marker_pose:
+      angle_rotation: 3.7200468504427353
+      euclidean_error: -0.0059037937357374615
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.525394103167503
+      euclidean_error: -0.003099475349161551
+    wrist_top_marker_pose:
+      angle_rotation: 19.88854817055441
+      euclidean_error: -0.0044988141578897745
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008565224439730512
+    base_right_marker_pose:
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+      euclidean_error: -0.005943181169867251
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.975872408669762
+      euclidean_error: -0.0020450222010780505
+    wrist_top_marker_pose:
+      angle_rotation: 18.777541086297536
+      euclidean_error: -0.004105916330235382
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008528821431250666
+    base_right_marker_pose:
+      angle_rotation: 6.502882619656637
+      euclidean_error: -0.005837133136907036
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.28652201432916
+      euclidean_error: -0.0013488553770796274
+    wrist_top_marker_pose:
+      angle_rotation: 20.683663782642196
+      euclidean_error: -0.0037097472995604175
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.007922734232332695
+    base_right_marker_pose:
+      angle_rotation: 5.543811049568319
+      euclidean_error: -0.0056822074344363704
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.772386645004577
+      euclidean_error: -0.002097191577194013
+    wrist_top_marker_pose:
+      angle_rotation: 19.658674477171633
+      euclidean_error: -0.004566987821321367
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008304574007283572
+    base_right_marker_pose:
+      angle_rotation: 4.549224277647441
+      euclidean_error: -0.0062103980424456084
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.0012427936507999338
+    wrist_top_marker_pose:
+      angle_rotation: 19.117378951080877
+      euclidean_error: -0.004546988615438674
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5884489082013165
+      euclidean_error: -0.00865044641777557
+    base_right_marker_pose:
+      angle_rotation: 4.3184470219693125
+      euclidean_error: -0.005475141711507203
+    shoulder_marker_pose:
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+      euclidean_error: -0.00036242219051396685
+    wrist_inside_marker_pose:
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+      euclidean_error: -0.002026155296398602
+    wrist_top_marker_pose:
+      angle_rotation: 18.884777261315598
+      euclidean_error: -0.0026884806169488185
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.008565856950839557
+    base_right_marker_pose:
+      angle_rotation: 4.713266883079744
+      euclidean_error: -0.006118626547170769
+    shoulder_marker_pose:
+      angle_rotation: 18.65586038058434
+      euclidean_error: -0.0010030127251942078
+    wrist_inside_marker_pose:
+      angle_rotation: 18.325267576319263
+      euclidean_error: -0.003285774225546212
+    wrist_top_marker_pose:
+      angle_rotation: 18.068732425162455
+      euclidean_error: -0.004466600241119334
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6903114796393703
+      euclidean_error: -0.008598585384959834
+    base_right_marker_pose:
+      angle_rotation: 5.655260142620655
+      euclidean_error: -0.005798650998570798
+    shoulder_marker_pose:
+      angle_rotation: 20.856041702690263
+      euclidean_error: -0.00015621597906101403
+    wrist_inside_marker_pose:
+      angle_rotation: 23.553284263429383
+      euclidean_error: -0.0013036982642197215
+    wrist_top_marker_pose:
+      angle_rotation: 17.73135044269199
+      euclidean_error: -0.0028140160603061792
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.3773429001007305
+      euclidean_error: -0.008401151776565752
+    base_right_marker_pose:
+      angle_rotation: 4.808158251639066
+      euclidean_error: -0.005131058518800025
+    shoulder_marker_pose:
+      angle_rotation: 21.019212377835554
+      euclidean_error: -0.00017535056793327453
+    wrist_inside_marker_pose:
+      angle_rotation: 27.027174813696465
+      euclidean_error: -0.001923701894111285
+    wrist_top_marker_pose:
+      angle_rotation: 23.16909085820652
+      euclidean_error: -0.002147270124284284
+- error_data:
+    base_left_marker_pose:
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+      euclidean_error: -0.00831396730819356
+    base_right_marker_pose:
+      angle_rotation: 6.181572077919648
+      euclidean_error: -0.005655504048147519
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.5898611911749
+      euclidean_error: -0.002963046474225517
+    wrist_top_marker_pose:
+      angle_rotation: 16.342498461777907
+      euclidean_error: -0.004055059209273737
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7334269365120267
+      euclidean_error: -0.008566038943366383
+    base_right_marker_pose:
+      angle_rotation: 6.289632793032225
+      euclidean_error: -0.005974516583883482
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.77760348707692
+      euclidean_error: -0.0009472900526581451
+    wrist_top_marker_pose:
+      angle_rotation: 22.412049630322414
+      euclidean_error: -0.003323829517456578
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.805251604461283
+      euclidean_error: -0.007943457270244925
+    base_right_marker_pose:
+      angle_rotation: 5.333591083677289
+      euclidean_error: -0.006272581345247774
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.58517972388707
+      euclidean_error: -0.0015794154335502242
+    wrist_top_marker_pose:
+      angle_rotation: 20.475193584381937
+      euclidean_error: -0.002416219747478854
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1717316951513737
+      euclidean_error: -0.008513495963081597
+    base_right_marker_pose:
+      angle_rotation: 5.1910851942530325
+      euclidean_error: -0.00511070065322039
+    shoulder_marker_pose:
+      angle_rotation: 22.352668736960556
+      euclidean_error: 9.227377682308191e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 20.404565984068324
+      euclidean_error: -0.0019042355713362324
+    wrist_top_marker_pose:
+      angle_rotation: 21.636955180324513
+      euclidean_error: -0.0028563673540645818
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.691654148504221
+      euclidean_error: -0.008281171541375754
+    base_right_marker_pose:
+      angle_rotation: 4.137013889402004
+      euclidean_error: -0.004978530279892257
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.351336249301948
+      euclidean_error: -0.00039709623998751553
+    wrist_top_marker_pose:
+      angle_rotation: 22.511311001203637
+      euclidean_error: -0.0020746579039444546
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.096375579151894
+      euclidean_error: -0.007864146914264847
+    base_right_marker_pose:
+      angle_rotation: 5.041444115677066
+      euclidean_error: -0.0049409918168491496
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.64355440916555
+      euclidean_error: -0.0012994436042205182
+    wrist_top_marker_pose:
+      angle_rotation: 18.84584854428586
+      euclidean_error: -0.0030075699884759555
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.104070270595966
+      euclidean_error: -0.008334003571143889
+    base_right_marker_pose:
+      angle_rotation: 4.168204559529144
+      euclidean_error: -0.0061946195658811876
+    shoulder_marker_pose:
+      angle_rotation: 21.20525623287407
+      euclidean_error: -3.586465117777493e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 24.410035812728374
+      euclidean_error: -0.0015029046269737778
+    wrist_top_marker_pose:
+      angle_rotation: 18.758203730806034
+      euclidean_error: -0.0028775855837728237
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.323578672812754
+      euclidean_error: -0.008263605841138277
+    base_right_marker_pose:
+      angle_rotation: 4.980508271067451
+      euclidean_error: -0.006172639098614319
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.998099037976683
+      euclidean_error: -0.0007843220550676211
+    wrist_top_marker_pose:
+      angle_rotation: 25.080706213859806
+      euclidean_error: -0.002893393816770895
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.434808900045625
+      euclidean_error: -0.008624848811572994
+    base_right_marker_pose:
+      angle_rotation: 4.241224032215693
+      euclidean_error: -0.005251369331979006
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.765349622404
+      euclidean_error: -0.0017190671084219566
+    wrist_top_marker_pose:
+      angle_rotation: 22.654225652057814
+      euclidean_error: -0.0018434118995752646
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8444851262212945
+      euclidean_error: -0.008763665553470301
+    base_right_marker_pose:
+      angle_rotation: 2.0610209595486735
+      euclidean_error: -0.005503465712140554
+    shoulder_marker_pose:
+      angle_rotation: 20.020762127917404
+      euclidean_error: 2.966831863704389e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 18.35396595253745
+      euclidean_error: -0.0021987976444930446
+    wrist_top_marker_pose:
+      angle_rotation: 22.756075633221123
+      euclidean_error: -0.0037827917143908873
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7200634569090485
+      euclidean_error: -0.008464424573813467
+    base_right_marker_pose:
+      angle_rotation: 4.551789255350412
+      euclidean_error: -0.0057609877253673725
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.816743815723463
+      euclidean_error: -0.0017113899372367403
+    wrist_top_marker_pose:
+      angle_rotation: 21.313234759701615
+      euclidean_error: -0.00270652595798071
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6260763778918843
+      euclidean_error: -0.008229603871123037
+    base_right_marker_pose:
+      angle_rotation: 6.177781004934685
+      euclidean_error: -0.005675048883429068
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.144525892473414
+      euclidean_error: -0.0017518255620810885
+    wrist_top_marker_pose:
+      angle_rotation: 22.295835655404318
+      euclidean_error: -0.0027882848685282235
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4982030394617545
+      euclidean_error: -0.008658135640005282
+    base_right_marker_pose:
+      angle_rotation: 5.861212193725591
+      euclidean_error: -0.005865279938123358
+    shoulder_marker_pose:
+      angle_rotation: 15.432223809275014
+      euclidean_error: 7.567308106803949e-07
+    wrist_inside_marker_pose:
+      angle_rotation: 17.512436640018166
+      euclidean_error: -0.003039615441754129
+    wrist_top_marker_pose:
+      angle_rotation: 18.210989219170358
+      euclidean_error: -0.004403989718083534
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.610049844307221
+      euclidean_error: -0.008225288865056246
+    base_right_marker_pose:
+      angle_rotation: 4.767000797525716
+      euclidean_error: -0.004571214192295336
+    shoulder_marker_pose:
+      angle_rotation: 19.58253528980243
+      euclidean_error: -0.00019785980832254246
+    wrist_inside_marker_pose:
+      angle_rotation: 25.772902897933115
+      euclidean_error: -0.0006664395364969211
+    wrist_top_marker_pose:
+      angle_rotation: 19.351404219920575
+      euclidean_error: -0.0016301209918297976
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.3637073396953165
+      euclidean_error: -0.008696330703457211
+    base_right_marker_pose:
+      angle_rotation: 7.359405276285495
+      euclidean_error: -0.005226506391841967
+    shoulder_marker_pose:
+      angle_rotation: 21.124664095933532
+      euclidean_error: -0.00012986574917139837
+    wrist_inside_marker_pose:
+      angle_rotation: 22.887521925395
+      euclidean_error: -0.0010333193599164625
+    wrist_top_marker_pose:
+      angle_rotation: 15.739905379365634
+      euclidean_error: -0.003467856622322296
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.106579176007309
+      euclidean_error: -0.00797518355262783
+    base_right_marker_pose:
+      angle_rotation: 6.113894033119301
+      euclidean_error: -0.005585777525659585
+    shoulder_marker_pose:
+      angle_rotation: 18.77350230038606
+      euclidean_error: -0.00044896279130024475
+    wrist_inside_marker_pose:
+      angle_rotation: 25.002188414257816
+      euclidean_error: -0.0015591013865354775
+    wrist_top_marker_pose:
+      angle_rotation: 24.672345352036576
+      euclidean_error: -0.0020112382625510072
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5284613198797574
+      euclidean_error: -0.008414419941479179
+    base_right_marker_pose:
+      angle_rotation: 4.480670263495575
+      euclidean_error: -0.005963289287356677
+    shoulder_marker_pose:
+      angle_rotation: 22.611787916065733
+      euclidean_error: -0.0002169771795580422
+    wrist_inside_marker_pose:
+      angle_rotation: 20.32775225143285
+      euclidean_error: -0.001400211166178611
+    wrist_top_marker_pose:
+      angle_rotation: 22.93979448139698
+      euclidean_error: -0.0035191568458294853
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8571557594339705
+      euclidean_error: -0.00821739728167925
+    base_right_marker_pose:
+      angle_rotation: 5.940913288865199
+      euclidean_error: -0.005131267849875387
+    shoulder_marker_pose:
+      angle_rotation: 22.457877731256087
+      euclidean_error: 0.0002309322200995112
+    wrist_inside_marker_pose:
+      angle_rotation: 25.290261268934298
+      euclidean_error: -0.0018790978732835528
+    wrist_top_marker_pose:
+      angle_rotation: 26.232564121266705
+      euclidean_error: -0.0025937150856407687
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.6682040023884026
+      euclidean_error: -0.008467757237307416
+    base_right_marker_pose:
+      angle_rotation: 4.807551645729425
+      euclidean_error: -0.0066623272009185275
+    shoulder_marker_pose:
+      angle_rotation: 18.705804976673942
+      euclidean_error: -0.00012800748040797671
+    wrist_inside_marker_pose:
+      angle_rotation: 21.12218395106621
+      euclidean_error: -0.002568189557382694
+    wrist_top_marker_pose:
+      angle_rotation: 16.225717293757004
+      euclidean_error: -0.005555708082844668
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8607351898337368
+      euclidean_error: -0.00806040466704927
+    base_right_marker_pose:
+      angle_rotation: 5.374265497975613
+      euclidean_error: -0.00638037241474132
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.979643501092994
+      euclidean_error: -0.0024698004724196254
+    wrist_top_marker_pose:
+      angle_rotation: 20.534953255538564
+      euclidean_error: -0.0028873912681138814
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.3881250187351335
+      euclidean_error: -0.008585619009525702
+    base_right_marker_pose:
+      angle_rotation: 6.390929192745333
+      euclidean_error: -0.005908374895154167
+    shoulder_marker_pose:
+      angle_rotation: 19.27805626193822
+      euclidean_error: -0.0013407409256219749
+    wrist_inside_marker_pose:
+      angle_rotation: 21.558643810509984
+      euclidean_error: -0.002434090511820086
+    wrist_top_marker_pose:
+      angle_rotation: 15.469182559069266
+      euclidean_error: -0.004546163751043775
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.8162233158375747
+      euclidean_error: -0.008283356391694308
+    base_right_marker_pose:
+      angle_rotation: 3.1989793834425773
+      euclidean_error: -0.0055073231632498665
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.667799021278316
+      euclidean_error: -0.0010046076359937484
+    wrist_top_marker_pose:
+      angle_rotation: 20.35082343207836
+      euclidean_error: -0.0043129983881003975
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.730245101740275
+      euclidean_error: -0.00812579175206607
+    base_right_marker_pose:
+      angle_rotation: 4.313689670895489
+      euclidean_error: -0.004804251612358201
+    shoulder_marker_pose:
+      angle_rotation: 24.003184387290425
+      euclidean_error: 0.00023054893349805372
+    wrist_inside_marker_pose:
+      angle_rotation: 21.823758444733777
+      euclidean_error: -0.0017192059684761896
+    wrist_top_marker_pose:
+      angle_rotation: 15.399285837619857
+      euclidean_error: -0.00324083124383312
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.016936982508982
+      euclidean_error: -0.008511010923973772
+    base_right_marker_pose:
+      angle_rotation: 6.512732219225205
+      euclidean_error: -0.005056726825068636
+    shoulder_marker_pose:
+      angle_rotation: 21.853870864373764
+      euclidean_error: -0.000296216999133736
+    wrist_inside_marker_pose:
+      angle_rotation: 23.414347824921652
+      euclidean_error: -0.001963966385413296
+    wrist_top_marker_pose:
+      angle_rotation: 22.062390366407573
+      euclidean_error: -0.00222598491291226
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2861779091150036
+      euclidean_error: -0.008277423193501887
+    base_right_marker_pose:
+      angle_rotation: 6.026510272700509
+      euclidean_error: -0.005879247013760525
+    shoulder_marker_pose:
+      angle_rotation: 21.668776765896396
+      euclidean_error: -0.0008321043017061047
+    wrist_inside_marker_pose:
+      angle_rotation: 17.53587793468044
+      euclidean_error: -0.003538162447194626
+    wrist_top_marker_pose:
+      angle_rotation: 18.697005134225503
+      euclidean_error: -0.004583704617044493
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.718298579824593
+      euclidean_error: -0.008246999584369585
+    base_right_marker_pose:
+      angle_rotation: 2.7329182528034015
+      euclidean_error: -0.0056662204460680154
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.201295360609983
+      euclidean_error: -0.0012580091095142354
+    wrist_top_marker_pose:
+      angle_rotation: 22.423134995492802
+      euclidean_error: -0.0020629170975225986
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5072704176164167
+      euclidean_error: -0.008382401017553609
+    base_right_marker_pose:
+      angle_rotation: 4.802020470587908
+      euclidean_error: -0.00588891472823061
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.61535016599639
+      euclidean_error: -0.0024192588746324573
+    wrist_top_marker_pose:
+      angle_rotation: 18.644850811680637
+      euclidean_error: -0.003928996829606901
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6462460029814627
+      euclidean_error: -0.008663854184862041
+    base_right_marker_pose:
+      angle_rotation: 7.6268148462510235
+      euclidean_error: -0.00576829292801484
+    shoulder_marker_pose:
+      angle_rotation: 17.008212640565553
+      euclidean_error: 0.0006412631669069357
+    wrist_inside_marker_pose:
+      angle_rotation: 25.42536885488322
+      euclidean_error: -0.001875148450909081
+    wrist_top_marker_pose:
+      angle_rotation: 16.334873835447414
+      euclidean_error: -0.0037048976182701976
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.096525660706392
+      euclidean_error: -0.008287128697326729
+    base_right_marker_pose:
+      angle_rotation: 5.504774144919471
+      euclidean_error: -0.005295703099273075
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.11739023227986
+      euclidean_error: -0.0015652823358734969
+    wrist_top_marker_pose:
+      angle_rotation: 14.183229924002463
+      euclidean_error: -0.00396401004910607
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7467298654557168
+      euclidean_error: -0.008583687334235424
+    base_right_marker_pose:
+      angle_rotation: 5.8274402973440065
+      euclidean_error: -0.006145225225523521
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.544219950703063
+      euclidean_error: -0.0011177073785987313
+    wrist_top_marker_pose:
+      angle_rotation: 20.688673869486916
+      euclidean_error: -0.002323071484918171
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.382717623357398
+      euclidean_error: -0.008359427433869748
+    base_right_marker_pose:
+      angle_rotation: 6.225895188133824
+      euclidean_error: -0.006083503447476657
+    shoulder_marker_pose:
+      angle_rotation: 24.45486705732287
+      euclidean_error: -0.0009413370983195612
+    wrist_inside_marker_pose:
+      angle_rotation: 18.864539053875312
+      euclidean_error: -0.0016041937735622458
+    wrist_top_marker_pose:
+      angle_rotation: 19.283934086347674
+      euclidean_error: -0.004416571961806892
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.454954977371789
+      euclidean_error: -0.008279945420932022
+    base_right_marker_pose:
+      angle_rotation: 4.833899421205074
+      euclidean_error: -0.005598432545307119
+    shoulder_marker_pose:
+      angle_rotation: 22.789100523099073
+      euclidean_error: -0.00043894393069687787
+    wrist_inside_marker_pose:
+      angle_rotation: 19.29601334467543
+      euclidean_error: -0.00237183322686485
+    wrist_top_marker_pose:
+      angle_rotation: 21.345367647056435
+      euclidean_error: -0.004344970053386077
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4790952983472097
+      euclidean_error: -0.008377890130756738
+    base_right_marker_pose:
+      angle_rotation: 6.065379445464294
+      euclidean_error: -0.0055466953627318905
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.80957693830122
+      euclidean_error: -0.0010101880903622407
+    wrist_top_marker_pose:
+      angle_rotation: 23.389513982080064
+      euclidean_error: -0.003135395496125737
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7603299274260265
+      euclidean_error: -0.008311936910789575
+    base_right_marker_pose:
+      angle_rotation: 5.401063425712914
+      euclidean_error: -0.005580344428550821
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.844690142156498
+      euclidean_error: -0.0017735572847076275
+    wrist_top_marker_pose:
+      angle_rotation: 23.226151931896187
+      euclidean_error: -0.0014500163154562706
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.895308640285465
+      euclidean_error: -0.008177020178804617
+    base_right_marker_pose:
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+      euclidean_error: -0.0052598572675574
+    shoulder_marker_pose:
+      angle_rotation: 21.318069242040533
+      euclidean_error: -0.00031236136300538675
+    wrist_inside_marker_pose:
+      angle_rotation: 25.145987077780518
+      euclidean_error: -0.0013484463340253106
+    wrist_top_marker_pose:
+      angle_rotation: 16.665104218163254
+      euclidean_error: -0.0035192434383195526
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.528855075557737
+      euclidean_error: -0.008163218195287314
+    base_right_marker_pose:
+      angle_rotation: 5.244751122407667
+      euclidean_error: -0.005726716511786356
+    shoulder_marker_pose:
+      angle_rotation: 23.505602751152587
+      euclidean_error: 0.00040604930320053967
+    wrist_inside_marker_pose:
+      angle_rotation: 26.180918986653584
+      euclidean_error: -0.0024880878050704824
+    wrist_top_marker_pose:
+      angle_rotation: 20.659289440164837
+      euclidean_error: -0.003667967658558924
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.490415198767007
+      euclidean_error: -0.008437011740056954
+    base_right_marker_pose:
+      angle_rotation: 5.5151698029019895
+      euclidean_error: -0.00596093669944886
+    shoulder_marker_pose:
+      angle_rotation: 21.107955148035636
+      euclidean_error: -0.0004907765497322858
+    wrist_inside_marker_pose:
+      angle_rotation: 17.06010391111741
+      euclidean_error: -0.0012730039021354722
+    wrist_top_marker_pose:
+      angle_rotation: 24.642355967744518
+      euclidean_error: -0.0024031489068652157
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8280163684220625
+      euclidean_error: -0.008440641532218573
+    base_right_marker_pose:
+      angle_rotation: 5.19218767435521
+      euclidean_error: -0.005744350568865131
+    shoulder_marker_pose:
+      angle_rotation: 19.695705170899032
+      euclidean_error: 0.0002870732487706418
+    wrist_inside_marker_pose:
+      angle_rotation: 22.911825683077858
+      euclidean_error: -0.00229740690596425
+    wrist_top_marker_pose:
+      angle_rotation: 23.507743019858452
+      euclidean_error: -0.0028463243108182157
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.098635249619286
+      euclidean_error: -0.008600761425583525
+    base_right_marker_pose:
+      angle_rotation: 4.938181071475652
+      euclidean_error: -0.0042636534495765765
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.319515186669292
+      euclidean_error: -0.0023266692580422577
+    wrist_top_marker_pose:
+      angle_rotation: 15.949908024313135
+      euclidean_error: -0.00417782265010902
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.607793089212842
+      euclidean_error: -0.008400555262807474
+    base_right_marker_pose:
+      angle_rotation: 3.289763865399071
+      euclidean_error: -0.005815577003367545
+    shoulder_marker_pose:
+      angle_rotation: 20.011219702027702
+      euclidean_error: 0.0003074354143578484
+    wrist_inside_marker_pose:
+      angle_rotation: 14.672884919930134
+      euclidean_error: -0.0015120808844171219
+    wrist_top_marker_pose:
+      angle_rotation: 12.828928927070194
+      euclidean_error: -0.0037229013156035995
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8460077155846712
+      euclidean_error: -0.008531924249528422
+    base_right_marker_pose:
+      angle_rotation: 5.628844803751275
+      euclidean_error: -0.006050275029220398
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.18168326534674
+      euclidean_error: -0.0019591058188943578
+    wrist_top_marker_pose:
+      angle_rotation: 25.822109230848206
+      euclidean_error: -0.0031178477760314127
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.847953544591315
+      euclidean_error: -0.008132004945399007
+    base_right_marker_pose:
+      angle_rotation: 3.263222175800642
+      euclidean_error: -0.0053622456043442845
+    shoulder_marker_pose:
+      angle_rotation: 22.457775944474783
+      euclidean_error: -0.00033845824326428353
+    wrist_inside_marker_pose:
+      angle_rotation: 23.25792263650671
+      euclidean_error: -0.0015265462195214186
+    wrist_top_marker_pose:
+      angle_rotation: 14.361647349132097
+      euclidean_error: -0.004867016357645637
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5779985910302754
+      euclidean_error: -0.008733053121332435
+    base_right_marker_pose:
+      angle_rotation: 4.416153442330343
+      euclidean_error: -0.0056799615463454245
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.4227136091198
+      euclidean_error: -0.002336462489568092
+    wrist_top_marker_pose:
+      angle_rotation: 17.596131007355638
+      euclidean_error: -0.002772641436052492
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2833866108770713
+      euclidean_error: -0.008430271530817546
+    base_right_marker_pose:
+      angle_rotation: 7.6098681335008695
+      euclidean_error: -0.004762753255497021
+    shoulder_marker_pose:
+      angle_rotation: 20.138194975811636
+      euclidean_error: 0.0003539043753753024
+    wrist_inside_marker_pose:
+      angle_rotation: 20.904756580742994
+      euclidean_error: -0.001329506707906547
+    wrist_top_marker_pose:
+      angle_rotation: 18.0012691824743
+      euclidean_error: -0.0022533664086409333
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1553530703159094
+      euclidean_error: -0.008273544154456691
+    base_right_marker_pose:
+      angle_rotation: 2.341993869136814
+      euclidean_error: -0.005609040532911558
+    shoulder_marker_pose:
+      angle_rotation: 17.308869223721196
+      euclidean_error: -0.0009977449109118686
+    wrist_inside_marker_pose:
+      angle_rotation: 18.96114578057996
+      euclidean_error: -0.002497209485408103
+    wrist_top_marker_pose:
+      angle_rotation: 17.67881617437487
+      euclidean_error: -0.004043412944601643
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.80172064954709
+      euclidean_error: -0.008479630712250663
+    base_right_marker_pose:
+      angle_rotation: 3.5426342016538572
+      euclidean_error: -0.004402069836028533
+    shoulder_marker_pose:
+      angle_rotation: 21.71726290661607
+      euclidean_error: 0.000391261165250012
+    wrist_inside_marker_pose:
+      angle_rotation: 19.92178297886809
+      euclidean_error: -0.0017397660988646146
+    wrist_top_marker_pose:
+      angle_rotation: 17.56016620250815
+      euclidean_error: -0.005187402008626774
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8934155029003255
+      euclidean_error: -0.00882481800128676
+    base_right_marker_pose:
+      angle_rotation: 6.002176247106178
+      euclidean_error: -0.005884197753205145
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.654098589737615
+      euclidean_error: -0.0017609413896764181
+    wrist_top_marker_pose:
+      angle_rotation: 20.21286625396578
+      euclidean_error: -0.003144560569963706
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.065277166793351
+      euclidean_error: -0.007926074903630953
+    base_right_marker_pose:
+      angle_rotation: 4.758941983862855
+      euclidean_error: -0.004754795763646236
+    shoulder_marker_pose:
+      angle_rotation: 17.352178275208498
+      euclidean_error: -0.0004374843256561567
+    wrist_inside_marker_pose:
+      angle_rotation: 23.853622589434032
+      euclidean_error: -0.0013155331886366417
+    wrist_top_marker_pose:
+      angle_rotation: 16.111180979501476
+      euclidean_error: -0.0036882508430795546
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.161233128890603
+      euclidean_error: -0.008617433982236355
+    base_right_marker_pose:
+      angle_rotation: 9.09563824850721
+      euclidean_error: -0.005222221577391495
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.819542697560685
+      euclidean_error: -0.0010738181977549832
+    wrist_top_marker_pose:
+      angle_rotation: 18.843769210363572
+      euclidean_error: -0.0018586991135163267
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9152416803829344
+      euclidean_error: -0.007849282781626665
+    base_right_marker_pose:
+      angle_rotation: 5.381140786115754
+      euclidean_error: -0.0047824051467689754
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.55049499322922
+      euclidean_error: -0.0017785765129787467
+    wrist_top_marker_pose:
+      angle_rotation: 17.137862248723064
+      euclidean_error: -0.004584295365380964
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3566320633844886
+      euclidean_error: -0.00845008076274123
+    base_right_marker_pose:
+      angle_rotation: 6.5994079278266575
+      euclidean_error: -0.004806139996777481
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.378346578657673
+      euclidean_error: -0.0025432706692161133
+    wrist_top_marker_pose:
+      angle_rotation: 15.553801103778026
+      euclidean_error: -0.003999045913559374
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.256197629160058
+      euclidean_error: -0.008174728749349325
+    base_right_marker_pose:
+      angle_rotation: 5.90981415625951
+      euclidean_error: -0.005431798435943547
+    shoulder_marker_pose:
+      angle_rotation: 19.00455989240218
+      euclidean_error: -0.00036867623531755545
+    wrist_inside_marker_pose:
+      angle_rotation: 16.051310218898813
+      euclidean_error: -0.0021379147786307895
+    wrist_top_marker_pose:
+      angle_rotation: 13.762493679899285
+      euclidean_error: -0.004145065884595844
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.296871674947001
+      euclidean_error: -0.008491402885019594
+    base_right_marker_pose:
+      angle_rotation: 4.8280467681982335
+      euclidean_error: -0.004833137429811396
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.928880280759007
+      euclidean_error: -0.001992502062777679
+    wrist_top_marker_pose:
+      angle_rotation: 20.709476561915036
+      euclidean_error: -0.0036962009830209253
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5182808670097683
+      euclidean_error: -0.008401043163530852
+    base_right_marker_pose:
+      angle_rotation: 4.72055347373885
+      euclidean_error: -0.006122086949897909
+    shoulder_marker_pose:
+      angle_rotation: 21.683562107856773
+      euclidean_error: -0.0005955760091064244
+    wrist_inside_marker_pose:
+      angle_rotation: 25.195083759079008
+      euclidean_error: -0.001463591895458971
+    wrist_top_marker_pose:
+      angle_rotation: 25.01883740252191
+      euclidean_error: -0.002957776820776692
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2477439658687057
+      euclidean_error: -0.008171264328634575
+    base_right_marker_pose:
+      angle_rotation: 4.381633704433444
+      euclidean_error: -0.0064127094785289
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.65095560618825
+      euclidean_error: -0.0009394494564088918
+    wrist_top_marker_pose:
+      angle_rotation: 19.818678213117654
+      euclidean_error: -0.003512440864474442
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.834886091440963
+      euclidean_error: -0.008178859018547424
+    base_right_marker_pose:
+      angle_rotation: 7.699407451426702
+      euclidean_error: -0.00551915330942887
+    shoulder_marker_pose:
+      angle_rotation: 17.71814114643505
+      euclidean_error: 0.0008041806789660377
+    wrist_inside_marker_pose:
+      angle_rotation: 18.179274460591564
+      euclidean_error: -0.002438527078779451
+    wrist_top_marker_pose:
+      angle_rotation: 21.502368073832194
+      euclidean_error: -0.0037951353925380626
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.6381502207911245
+      euclidean_error: -0.007796766249317133
+    base_right_marker_pose:
+      angle_rotation: 3.990766238318136
+      euclidean_error: -0.0040035336708685865
+    shoulder_marker_pose:
+      angle_rotation: 20.97866494824879
+      euclidean_error: -2.0410583479346656e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 23.505323780873816
+      euclidean_error: -0.0013530088030312415
+    wrist_top_marker_pose:
+      angle_rotation: 22.401117236856976
+      euclidean_error: -0.001849062813014224
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.386697778853927
+      euclidean_error: -0.008339475473679858
+    base_right_marker_pose:
+      angle_rotation: 4.5413441292448935
+      euclidean_error: -0.004929266195745519
+    shoulder_marker_pose:
+      angle_rotation: 24.339283929818045
+      euclidean_error: -0.0005777243576046143
+    wrist_inside_marker_pose:
+      angle_rotation: 19.473533457522045
+      euclidean_error: -0.0005489260835001009
+    wrist_top_marker_pose:
+      angle_rotation: 26.217279120903275
+      euclidean_error: -0.0026126845594149906
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.452922955733322
+      euclidean_error: -0.008151939109903195
+    base_right_marker_pose:
+      angle_rotation: 0.5271783799000852
+      euclidean_error: -0.0049120890607798895
+    shoulder_marker_pose:
+      angle_rotation: 22.494120788711605
+      euclidean_error: -0.0002635690648500333
+    wrist_inside_marker_pose:
+      angle_rotation: 23.612041910763867
+      euclidean_error: -0.0016519353934234537
+    wrist_top_marker_pose:
+      angle_rotation: 17.492795769502816
+      euclidean_error: -0.0030934156467790075
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.822296533769915
+      euclidean_error: -0.00807463451442092
+    base_right_marker_pose:
+      angle_rotation: 7.1131528193636955
+      euclidean_error: -0.005185221775679483
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.33609072715912
+      euclidean_error: -0.0024128639080319703
+    wrist_top_marker_pose:
+      angle_rotation: 17.196863794785642
+      euclidean_error: -0.004394245905237293
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0923845382282265
+      euclidean_error: -0.008176801234562436
+    base_right_marker_pose:
+      angle_rotation: 5.638296071394634
+      euclidean_error: -0.006387470867676992
+    shoulder_marker_pose:
+      angle_rotation: 21.984506389784542
+      euclidean_error: -0.0007018834069267843
+    wrist_inside_marker_pose:
+      angle_rotation: 21.441652945376273
+      euclidean_error: -0.0015131076429238943
+    wrist_top_marker_pose:
+      angle_rotation: 22.246889432018683
+      euclidean_error: -0.003098632676193702
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.722825402938222
+      euclidean_error: -0.008267293580704549
+    base_right_marker_pose:
+      angle_rotation: 5.022163858948442
+      euclidean_error: -0.005439846406392723
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.088113355911226
+      euclidean_error: -0.0013786802935631393
+    wrist_top_marker_pose:
+      angle_rotation: 17.87273456332497
+      euclidean_error: -0.003666434383995276
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.78185682794064
+      euclidean_error: -0.008044477573973974
+    base_right_marker_pose:
+      angle_rotation: 1.9009033538024154
+      euclidean_error: -0.005817635410941491
+    shoulder_marker_pose:
+      angle_rotation: 24.287308647234852
+      euclidean_error: 0.00035700097378532636
+    wrist_inside_marker_pose:
+      angle_rotation: 23.383397740824325
+      euclidean_error: -0.000999226818493959
+    wrist_top_marker_pose:
+      angle_rotation: 22.203436849403246
+      euclidean_error: -0.0034897410597465317
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.718119019090766
+      euclidean_error: -0.008356405457453975
+    base_right_marker_pose:
+      angle_rotation: 1.9567930442714794
+      euclidean_error: -0.006099940991329378
+    shoulder_marker_pose:
+      angle_rotation: 24.240428285829278
+      euclidean_error: -8.863726704610997e-06
+    wrist_inside_marker_pose:
+      angle_rotation: 24.43826613630081
+      euclidean_error: -0.0021447542748129766
+    wrist_top_marker_pose:
+      angle_rotation: 16.653153382172285
+      euclidean_error: -0.0031238213558703043
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.828886531207872
+      euclidean_error: -0.007992426737189806
+    base_right_marker_pose:
+      angle_rotation: 6.19799836185441
+      euclidean_error: -0.005770983111625494
+    shoulder_marker_pose:
+      angle_rotation: 23.585491244440888
+      euclidean_error: -0.00015204600791385303
+    wrist_inside_marker_pose:
+      angle_rotation: 22.100372771943746
+      euclidean_error: -0.0014300812737397806
+    wrist_top_marker_pose:
+      angle_rotation: 19.292483773438324
+      euclidean_error: -0.0026189447189777226
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5391234395916507
+      euclidean_error: -0.008356309419609187
+    base_right_marker_pose:
+      angle_rotation: 4.011896078631627
+      euclidean_error: -0.0056181831560574436
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.144624042170737
+      euclidean_error: -0.003026631812041436
+    wrist_top_marker_pose:
+      angle_rotation: 18.458002641123926
+      euclidean_error: -0.004064319074858269
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.751995321310964
+      euclidean_error: -0.008360948706070181
+    base_right_marker_pose:
+      angle_rotation: 6.218828694526995
+      euclidean_error: -0.004343089335328565
+    shoulder_marker_pose:
+      angle_rotation: 17.256027973859155
+      euclidean_error: 1.600373179055925e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 26.837991708119013
+      euclidean_error: -0.0014744871668551651
+    wrist_top_marker_pose:
+      angle_rotation: 22.656625099650373
+      euclidean_error: -0.0021315697273426304
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.892569272506863
+      euclidean_error: -0.008375410041925546
+    base_right_marker_pose:
+      angle_rotation: 8.037845478493946
+      euclidean_error: -0.00541603647154465
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.445931435234158
+      euclidean_error: -0.002527088324020599
+    wrist_top_marker_pose:
+      angle_rotation: 20.10671387139565
+      euclidean_error: -0.0035035159911401825
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7955880173484877
+      euclidean_error: -0.008416835831180913
+    base_right_marker_pose:
+      angle_rotation: 3.9352908919054874
+      euclidean_error: -0.006253138609400466
+    shoulder_marker_pose:
+      angle_rotation: 21.655583391076465
+      euclidean_error: -0.00012672806847502383
+    wrist_inside_marker_pose:
+      angle_rotation: 21.28792450308078
+      euclidean_error: -0.0020673879222976588
+    wrist_top_marker_pose:
+      angle_rotation: 15.735128600040929
+      euclidean_error: -0.004178539864624908
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.461452357842139
+      euclidean_error: -0.00851804296136438
+    base_right_marker_pose:
+      angle_rotation: 3.440771824775908
+      euclidean_error: -0.00535632947045761
+    shoulder_marker_pose:
+      angle_rotation: 22.6759896242829
+      euclidean_error: -0.00026436243139738025
+    wrist_inside_marker_pose:
+      angle_rotation: 22.97592898818631
+      euclidean_error: -0.002297946843565546
+    wrist_top_marker_pose:
+      angle_rotation: 17.822471993766793
+      euclidean_error: -0.004625756306894213
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1635313413626833
+      euclidean_error: -0.008469629769036313
+    base_right_marker_pose:
+      angle_rotation: 3.5900770841818264
+      euclidean_error: -0.005645044248232423
+    shoulder_marker_pose:
+      angle_rotation: 23.518472244854827
+      euclidean_error: 0.0005275499755901247
+    wrist_inside_marker_pose:
+      angle_rotation: 16.12005670329204
+      euclidean_error: -0.0014514908782358171
+    wrist_top_marker_pose:
+      angle_rotation: 18.146562462313913
+      euclidean_error: -0.004260902527479238
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.8797817373434234
+      euclidean_error: -0.008597739932121318
+    base_right_marker_pose:
+      angle_rotation: 3.960229555852459
+      euclidean_error: -0.0047778486009901755
+    shoulder_marker_pose:
+      angle_rotation: 18.233298408804743
+      euclidean_error: -0.0005771000774261736
+    wrist_inside_marker_pose:
+      angle_rotation: 21.553194886592276
+      euclidean_error: -0.0030977539980565627
+    wrist_top_marker_pose:
+      angle_rotation: 14.582554117961054
+      euclidean_error: -0.005608452246496198
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.64074176611247
+      euclidean_error: -0.007813171769965321
+    base_right_marker_pose:
+      angle_rotation: 6.762890684956956
+      euclidean_error: -0.005354374277148577
+    shoulder_marker_pose:
+      angle_rotation: 17.743924180984646
+      euclidean_error: -0.0012592386923639953
+    wrist_inside_marker_pose:
+      angle_rotation: 23.098731629115502
+      euclidean_error: -0.001249977738979613
+    wrist_top_marker_pose:
+      angle_rotation: 21.559283257586834
+      euclidean_error: -0.0028972701175886684
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.049554600276246
+      euclidean_error: -0.008471940069276984
+    base_right_marker_pose:
+      angle_rotation: 6.337117231023187
+      euclidean_error: -0.006067861188187362
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.3855658190896
+      euclidean_error: -0.0017611379270741079
+    wrist_top_marker_pose:
+      angle_rotation: 16.700673628810904
+      euclidean_error: -0.0030879481007829446
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.294227804729764
+      euclidean_error: -0.00792773208836084
+    base_right_marker_pose:
+      angle_rotation: 2.7939427180723837
+      euclidean_error: -0.005429720366429858
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.134883617824848
+      euclidean_error: -0.0012555780263701077
+    wrist_top_marker_pose:
+      angle_rotation: 24.338600038682138
+      euclidean_error: -0.0035388951943710056
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1504753368387615
+      euclidean_error: -0.008178064691434228
+    base_right_marker_pose:
+      angle_rotation: 3.209140667671962
+      euclidean_error: -0.005121641136622279
+    shoulder_marker_pose:
+      angle_rotation: 20.162531569437757
+      euclidean_error: -0.00010522324202022482
+    wrist_inside_marker_pose:
+      angle_rotation: 19.859414367622062
+      euclidean_error: -0.0017780035974188646
+    wrist_top_marker_pose:
+      angle_rotation: 20.22172099796918
+      euclidean_error: -0.004864551065498435
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.73497948002591
+      euclidean_error: -0.008380751774484385
+    base_right_marker_pose:
+      angle_rotation: 8.544308916905582
+      euclidean_error: -0.005371813498330047
+    shoulder_marker_pose:
+      angle_rotation: 24.51823191874275
+      euclidean_error: 0.0006065326689839168
+    wrist_inside_marker_pose:
+      angle_rotation: 24.172422575203964
+      euclidean_error: -0.002621646336718131
+    wrist_top_marker_pose:
+      angle_rotation: 18.283526859761214
+      euclidean_error: -0.002589373676562645
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.170714418444201
+      euclidean_error: -0.008293832411222724
+    base_right_marker_pose:
+      angle_rotation: 2.554272449222662
+      euclidean_error: -0.006354407511780402
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.633689565594203
+      euclidean_error: -0.0016538191637738286
+    wrist_top_marker_pose:
+      angle_rotation: 26.194986303535305
+      euclidean_error: -0.002389797371105562
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2077846440882474
+      euclidean_error: -0.008569179990205678
+    base_right_marker_pose:
+      angle_rotation: 6.323093327810847
+      euclidean_error: -0.005510075018303362
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 15.8528480222064
+      euclidean_error: -0.003090172301820293
+    wrist_top_marker_pose:
+      angle_rotation: 18.63876978001892
+      euclidean_error: -0.004117742732351659
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.5955310990488836
+      euclidean_error: -0.008202048986709065
+    base_right_marker_pose:
+      angle_rotation: 4.955749646253389
+      euclidean_error: -0.0056284987188510716
+    shoulder_marker_pose:
+      angle_rotation: 21.080362099931257
+      euclidean_error: -0.00028679814513665747
+    wrist_inside_marker_pose:
+      angle_rotation: 19.550190086689806
+      euclidean_error: -0.0018533598708855292
+    wrist_top_marker_pose:
+      angle_rotation: 16.60990021582426
+      euclidean_error: -0.0027488733545895094
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.210891128286949
+      euclidean_error: -0.00832778355681596
+    base_right_marker_pose:
+      angle_rotation: 3.840795701150331
+      euclidean_error: -0.0053352513290985115
+    shoulder_marker_pose:
+      angle_rotation: 21.798442455843126
+      euclidean_error: -0.0007634704068251175
+    wrist_inside_marker_pose:
+      angle_rotation: 16.962366488815373
+      euclidean_error: -0.0011806734324883994
+    wrist_top_marker_pose:
+      angle_rotation: 22.100629393312275
+      euclidean_error: -0.003373712339417745
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.463707145478537
+      euclidean_error: -0.008250935213071076
+    base_right_marker_pose:
+      angle_rotation: 4.352382616373516
+      euclidean_error: -0.004535990405495682
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.669303444778652
+      euclidean_error: -0.0009702848136355913
+    wrist_top_marker_pose:
+      angle_rotation: 16.384392737767364
+      euclidean_error: -0.0038410330847116203
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.479676899266878
+      euclidean_error: -0.00834835014064772
+    base_right_marker_pose:
+      angle_rotation: 1.9762345398196492
+      euclidean_error: -0.0053115035987463255
+    shoulder_marker_pose:
+      angle_rotation: 17.529421793408837
+      euclidean_error: -4.4644888353428946e-05
+    wrist_inside_marker_pose:
+      angle_rotation: 18.441132977827216
+      euclidean_error: -0.0010047336558018927
+    wrist_top_marker_pose:
+      angle_rotation: 11.790100445557183
+      euclidean_error: -0.004004474568477967
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.7283223922522417
+      euclidean_error: -0.008481981266123761
+    base_right_marker_pose:
+      angle_rotation: 6.926085772886304
+      euclidean_error: -0.005826497798944841
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.5208619284456
+      euclidean_error: -0.0015282399726654905
+    wrist_top_marker_pose:
+      angle_rotation: 23.800322789330803
+      euclidean_error: -0.0021622326481610665
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.166348533387383
+      euclidean_error: -0.00855506345125634
+    base_right_marker_pose:
+      angle_rotation: 4.5859802699608565
+      euclidean_error: -0.006237273515027564
+    shoulder_marker_pose:
+      angle_rotation: 17.850990924989876
+      euclidean_error: -0.0010996595840356838
+    wrist_inside_marker_pose:
+      angle_rotation: 18.842376758869467
+      euclidean_error: -0.00241601672620384
+    wrist_top_marker_pose:
+      angle_rotation: 14.835286716038327
+      euclidean_error: -0.005220437056798755
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.530314369303423
+      euclidean_error: -0.00844501584568691
+    base_right_marker_pose:
+      angle_rotation: 4.4456197400118915
+      euclidean_error: -0.005144569881063932
+    shoulder_marker_pose:
+      angle_rotation: 17.51443141699345
+      euclidean_error: -0.0005787748420340577
+    wrist_inside_marker_pose:
+      angle_rotation: 20.05074617741151
+      euclidean_error: -0.0022919728618122637
+    wrist_top_marker_pose:
+      angle_rotation: 19.188021584141396
+      euclidean_error: -0.0037693706762229606
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.549675699382381
+      euclidean_error: -0.008248855682115086
+    base_right_marker_pose:
+      angle_rotation: 3.9882672435377176
+      euclidean_error: -0.006126509372733402
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.05870125486021
+      euclidean_error: -0.0017639297406152332
+    wrist_top_marker_pose:
+      angle_rotation: 22.701207821760413
+      euclidean_error: -0.0021368828150738484
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.340119993936863
+      euclidean_error: -0.008179828149253443
+    base_right_marker_pose:
+      angle_rotation: 6.915514178684536
+      euclidean_error: -0.004850103622072943
+    shoulder_marker_pose:
+      angle_rotation: 19.196289545637534
+      euclidean_error: 0.0007284285354599573
+    wrist_inside_marker_pose:
+      angle_rotation: 21.07326025420662
+      euclidean_error: -0.0013299988085084813
+    wrist_top_marker_pose:
+      angle_rotation: 15.86934203590613
+      euclidean_error: -0.0037965678528328883
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.112014287107864
+      euclidean_error: -0.008417697039940664
+    base_right_marker_pose:
+      angle_rotation: 5.503517269028307
+      euclidean_error: -0.005962729815138901
+    shoulder_marker_pose:
+      angle_rotation: 21.831651094393536
+      euclidean_error: -0.00016169080743011488
+    wrist_inside_marker_pose:
+      angle_rotation: 24.504581517873092
+      euclidean_error: -0.0014377016346325266
+    wrist_top_marker_pose:
+      angle_rotation: 17.285706321931425
+      euclidean_error: -0.0037346316294100124
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7005672432012964
+      euclidean_error: -0.008689417060619875
+    base_right_marker_pose:
+      angle_rotation: 4.727447448307983
+      euclidean_error: -0.005488539185442676
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.046845873405246
+      euclidean_error: -0.0009914607321507285
+    wrist_top_marker_pose:
+      angle_rotation: 22.846252900917666
+      euclidean_error: -0.0023976430943720706
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.542166901926441
+      euclidean_error: -0.00837199994333937
+    base_right_marker_pose:
+      angle_rotation: 4.777575891404774
+      euclidean_error: -0.005803168489536326
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.651935746943593
+      euclidean_error: -0.0021628882623891954
+    wrist_top_marker_pose:
+      angle_rotation: 21.904258859909945
+      euclidean_error: -0.005496540328029265
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.908032746178598
+      euclidean_error: -0.0082027617982251
+    base_right_marker_pose:
+      angle_rotation: 4.753698136780201
+      euclidean_error: -0.004695887624634909
+    shoulder_marker_pose:
+      angle_rotation: 17.770629800504487
+      euclidean_error: 0.0001826168270849804
+    wrist_inside_marker_pose:
+      angle_rotation: 25.685669627543017
+      euclidean_error: -0.002321944814765109
+    wrist_top_marker_pose:
+      angle_rotation: 23.453782901302255
+      euclidean_error: -0.003449102124619685
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.904879739112462
+      euclidean_error: -0.008547238359408627
+    base_right_marker_pose:
+      angle_rotation: 4.256074262479323
+      euclidean_error: -0.004393078697363384
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.978409765678773
+      euclidean_error: -0.0030002871852188306
+    wrist_top_marker_pose:
+      angle_rotation: 14.46502250505873
+      euclidean_error: -0.004228556144026063
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9026968058615545
+      euclidean_error: -0.008213404379184275
+    base_right_marker_pose:
+      angle_rotation: 2.8991277946113083
+      euclidean_error: -0.005821925284711926
+    shoulder_marker_pose:
+      angle_rotation: 18.880729003200788
+      euclidean_error: 0.00010382148406506975
+    wrist_inside_marker_pose:
+      angle_rotation: 22.85997641878045
+      euclidean_error: -0.002856456344570435
+    wrist_top_marker_pose:
+      angle_rotation: 19.788257703424687
+      euclidean_error: -0.002804557978064781
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.949237053095326
+      euclidean_error: -0.008288634789770377
+    base_right_marker_pose:
+      angle_rotation: 5.278139676775572
+      euclidean_error: -0.00486939493020333
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.081750248357867
+      euclidean_error: -0.0019090045894141205
+    wrist_top_marker_pose:
+      angle_rotation: 20.444788517969634
+      euclidean_error: -0.002368467464262891
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.525357246899518
+      euclidean_error: -0.00801281401818632
+    base_right_marker_pose:
+      angle_rotation: 4.826691376541695
+      euclidean_error: -0.006106938552168373
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.748291611310844
+      euclidean_error: -0.0020327327846303422
+    wrist_top_marker_pose:
+      angle_rotation: 20.738202431052997
+      euclidean_error: -0.004305531860554379
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.1369675826308896
+      euclidean_error: -0.008211592237531318
+    base_right_marker_pose:
+      angle_rotation: 4.459973655858674
+      euclidean_error: -0.005472961659161224
+    shoulder_marker_pose:
+      angle_rotation: 22.49054461964959
+      euclidean_error: -0.0002690688349914483
+    wrist_inside_marker_pose:
+      angle_rotation: 18.870515157673868
+      euclidean_error: -0.0018904159881736327
+    wrist_top_marker_pose:
+      angle_rotation: 17.24816157598708
+      euclidean_error: -0.0038491116667274117
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.2803544161299736
+      euclidean_error: -0.008593835814094009
+    base_right_marker_pose:
+      angle_rotation: 4.036327343423577
+      euclidean_error: -0.00566448028064237
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.665871509998468
+      euclidean_error: -0.002933509465387618
+    wrist_top_marker_pose:
+      angle_rotation: 24.38799810865357
+      euclidean_error: -0.00302101264030874
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.078861819624993
+      euclidean_error: -0.008400178919574341
+    base_right_marker_pose:
+      angle_rotation: 6.628194911843429
+      euclidean_error: -0.005684802207466366
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.836858234810872
+      euclidean_error: -0.002874593652123947
+    wrist_top_marker_pose:
+      angle_rotation: 13.79130902095643
+      euclidean_error: -0.005043842114121677
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.058634150866777
+      euclidean_error: -0.00825114572061858
+    base_right_marker_pose:
+      angle_rotation: 2.1767748216460947
+      euclidean_error: -0.005100025939247743
+    shoulder_marker_pose:
+      angle_rotation: 14.783813726205155
+      euclidean_error: 0.00037275146443005447
+    wrist_inside_marker_pose:
+      angle_rotation: 21.675502189073736
+      euclidean_error: -0.0011279537656576633
+    wrist_top_marker_pose:
+      angle_rotation: 22.216479806920695
+      euclidean_error: -0.00188394713240847
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.758952098223615
+      euclidean_error: -0.008353173934434244
+    base_right_marker_pose:
+      angle_rotation: 4.744773091391785
+      euclidean_error: -0.005591429648098445
+    shoulder_marker_pose:
+      angle_rotation: 16.498752046885432
+      euclidean_error: -0.0006141662556407024
+    wrist_inside_marker_pose:
+      angle_rotation: 17.226160436446627
+      euclidean_error: -0.0010667825013717103
+    wrist_top_marker_pose:
+      angle_rotation: 15.235280113186011
+      euclidean_error: -0.004142116981601052
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.461678400507027
+      euclidean_error: -0.008533334748570764
+    base_right_marker_pose:
+      angle_rotation: 3.5384055690808407
+      euclidean_error: -0.005134402933583471
+    shoulder_marker_pose:
+      angle_rotation: 17.523946314721123
+      euclidean_error: -0.0011429848998988357
+    wrist_inside_marker_pose:
+      angle_rotation: 20.56063170006113
+      euclidean_error: -0.002881372748986699
+    wrist_top_marker_pose:
+      angle_rotation: 19.72104497885569
+      euclidean_error: -0.0047434560620303046
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.884917052016612
+      euclidean_error: -0.008451402127046093
+    base_right_marker_pose:
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+      euclidean_error: -0.005218913364144595
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.616191786575403
+      euclidean_error: -0.0011876712258162003
+    wrist_top_marker_pose:
+      angle_rotation: 23.046474528018607
+      euclidean_error: -0.0027757618959004526
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6294059065979
+      euclidean_error: -0.008573926545858646
+    base_right_marker_pose:
+      angle_rotation: 6.7247560559799
+      euclidean_error: -0.005897909103845689
+    shoulder_marker_pose:
+      angle_rotation: 26.058826939750297
+      euclidean_error: -0.0009549194498017499
+    wrist_inside_marker_pose:
+      angle_rotation: 24.249041858760737
+      euclidean_error: -0.0023974130611310596
+    wrist_top_marker_pose:
+      angle_rotation: 17.48871018771312
+      euclidean_error: -0.003695989649470488
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.3666922056585555
+      euclidean_error: -0.008496040378317193
+    base_right_marker_pose:
+      angle_rotation: 4.8358766791376455
+      euclidean_error: -0.005953659271341838
+    shoulder_marker_pose:
+      angle_rotation: 21.741067367660225
+      euclidean_error: -0.00039471128652002196
+    wrist_inside_marker_pose:
+      angle_rotation: 21.725267824959637
+      euclidean_error: -0.0022771566537989063
+    wrist_top_marker_pose:
+      angle_rotation: 20.208816172439633
+      euclidean_error: -0.003991071820723335
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.85740763599856
+      euclidean_error: -0.00803064098243833
+    base_right_marker_pose:
+      angle_rotation: 4.502809054877013
+      euclidean_error: -0.0054427256539185676
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.864502736054607
+      euclidean_error: -0.0018023138631824143
+    wrist_top_marker_pose:
+      angle_rotation: 22.327287191357904
+      euclidean_error: -0.0027596817016816155
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.503162534090802
+      euclidean_error: -0.008103105044933612
+    base_right_marker_pose:
+      angle_rotation: 6.931383723312507
+      euclidean_error: -0.00449269631163951
+    shoulder_marker_pose:
+      angle_rotation: 21.960939986377095
+      euclidean_error: 0.0013342860981623295
+    wrist_inside_marker_pose:
+      angle_rotation: 21.174524491131496
+      euclidean_error: -0.0016668182553730704
+    wrist_top_marker_pose:
+      angle_rotation: 19.92526683281662
+      euclidean_error: -0.0033181538745425954
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9045862791950143
+      euclidean_error: -0.008485953212472697
+    base_right_marker_pose:
+      angle_rotation: 6.683076862079123
+      euclidean_error: -0.005755563283964871
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.8259545522409
+      euclidean_error: -0.001158956465528771
+    wrist_top_marker_pose:
+      angle_rotation: 17.149219568417177
+      euclidean_error: -0.003230063746879286
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.531930027795775
+      euclidean_error: -0.00807795613498341
+    base_right_marker_pose:
+      angle_rotation: 3.852669642061881
+      euclidean_error: -0.0057204008136321205
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.490888944669116
+      euclidean_error: -0.0006110863059464178
+    wrist_top_marker_pose:
+      angle_rotation: 22.319494779049055
+      euclidean_error: -0.002794367984650381
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.1836068603191485
+      euclidean_error: -0.008229611338394616
+    base_right_marker_pose:
+      angle_rotation: 4.574713758943215
+      euclidean_error: -0.005943766902377745
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.424260437760083
+      euclidean_error: -0.0027263370600759673
+    wrist_top_marker_pose:
+      angle_rotation: 15.467388633551414
+      euclidean_error: -0.003540401449244057
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.329120559964845
+      euclidean_error: -0.008257838165281361
+    base_right_marker_pose:
+      angle_rotation: 4.150238508634416
+      euclidean_error: -0.005221997363125119
+    shoulder_marker_pose:
+      angle_rotation: 22.811493565552183
+      euclidean_error: -0.0003095290116694738
+    wrist_inside_marker_pose:
+      angle_rotation: 21.376381652885122
+      euclidean_error: -0.0025303113494191676
+    wrist_top_marker_pose:
+      angle_rotation: 21.307724137182106
+      euclidean_error: -0.0038715185858126944
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.0740409850829287
+      euclidean_error: -0.008752820772475411
+    base_right_marker_pose:
+      angle_rotation: 6.998285630002647
+      euclidean_error: -0.00563220085520455
+    shoulder_marker_pose:
+      angle_rotation: 20.678695656700775
+      euclidean_error: 0.0006818166139423987
+    wrist_inside_marker_pose:
+      angle_rotation: 21.916943507861653
+      euclidean_error: -0.001582608502440741
+    wrist_top_marker_pose:
+      angle_rotation: 19.69077348200028
+      euclidean_error: -0.004185526014736651
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.9866647190601565
+      euclidean_error: -0.008644227088961398
+    base_right_marker_pose:
+      angle_rotation: 4.38950634724739
+      euclidean_error: -0.006488587700841708
+    shoulder_marker_pose:
+      angle_rotation: 19.824834902197086
+      euclidean_error: -0.00019245122396271963
+    wrist_inside_marker_pose:
+      angle_rotation: 24.27302676509649
+      euclidean_error: -0.0010641381750085
+    wrist_top_marker_pose:
+      angle_rotation: 17.804365208476717
+      euclidean_error: -0.0033776218380096035
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.759483077810348
+      euclidean_error: -0.00809957683042628
+    base_right_marker_pose:
+      angle_rotation: 5.557918612064238
+      euclidean_error: -0.0048581925087726185
+    shoulder_marker_pose:
+      angle_rotation: 20.182237216890684
+      euclidean_error: -0.0003595909948489462
+    wrist_inside_marker_pose:
+      angle_rotation: 23.661727864224403
+      euclidean_error: -0.0008349868127889293
+    wrist_top_marker_pose:
+      angle_rotation: 19.082122913935432
+      euclidean_error: -0.0037674892966453877
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.9497182911119255
+      euclidean_error: -0.008296896403550247
+    base_right_marker_pose:
+      angle_rotation: 4.848888914560765
+      euclidean_error: -0.005788694714920162
+    shoulder_marker_pose:
+      angle_rotation: 17.476402018229347
+      euclidean_error: -0.0009019711830213772
+    wrist_inside_marker_pose:
+      angle_rotation: 23.479421463665098
+      euclidean_error: -0.00245620537792568
+    wrist_top_marker_pose:
+      angle_rotation: 17.868584185790645
+      euclidean_error: -0.004540143278901954
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.906622959946427
+      euclidean_error: -0.008257376787786042
+    base_right_marker_pose:
+      angle_rotation: 5.522236883254803
+      euclidean_error: -0.005389721162247563
+    shoulder_marker_pose:
+      angle_rotation: 16.160183098098663
+      euclidean_error: 0.000802753518589161
+    wrist_inside_marker_pose:
+      angle_rotation: 18.275879759777105
+      euclidean_error: -0.0010246001824902873
+    wrist_top_marker_pose:
+      angle_rotation: 20.93287822215329
+      euclidean_error: -0.002301718708875744
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.341104593764621
+      euclidean_error: -0.00848304312892234
+    base_right_marker_pose:
+      angle_rotation: 5.971381553459037
+      euclidean_error: -0.005389881160001719
+    shoulder_marker_pose:
+      angle_rotation: 18.715133800086914
+      euclidean_error: -0.0010673837398652575
+    wrist_inside_marker_pose:
+      angle_rotation: 22.656850992682347
+      euclidean_error: -0.002092297609077698
+    wrist_top_marker_pose:
+      angle_rotation: 19.53665235302351
+      euclidean_error: -0.004775240172129935
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.398028772312706
+      euclidean_error: -0.008332922550334465
+    base_right_marker_pose:
+      angle_rotation: 8.210694752595716
+      euclidean_error: -0.00525454490303412
+    shoulder_marker_pose:
+      angle_rotation: 21.950950735643865
+      euclidean_error: -0.00017758715064364328
+    wrist_inside_marker_pose:
+      angle_rotation: 22.338355374194677
+      euclidean_error: -0.0011890828841646384
+    wrist_top_marker_pose:
+      angle_rotation: 18.016076659364654
+      euclidean_error: -0.004184703360749165
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.045013818761031
+      euclidean_error: -0.00795947898777738
+    base_right_marker_pose:
+      angle_rotation: 4.028252170595312
+      euclidean_error: -0.005201078213765031
+    shoulder_marker_pose:
+      angle_rotation: 21.249238800714558
+      euclidean_error: 0.00027073862974380525
+    wrist_inside_marker_pose:
+      angle_rotation: 21.392620437738866
+      euclidean_error: -0.0014720287681273536
+    wrist_top_marker_pose:
+      angle_rotation: 18.25850176870307
+      euclidean_error: -0.003621535733595471
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.644201465111448
+      euclidean_error: -0.00790700083358098
+    base_right_marker_pose:
+      angle_rotation: 4.196663840329253
+      euclidean_error: -0.005313708467568401
+    shoulder_marker_pose:
+      angle_rotation: 24.736962166936795
+      euclidean_error: -0.00042253010088944
+    wrist_inside_marker_pose:
+      angle_rotation: 20.320157482200795
+      euclidean_error: -0.001233560498669517
+    wrist_top_marker_pose:
+      angle_rotation: 15.455087241302886
+      euclidean_error: -0.004172366149771456
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.453574359441186
+      euclidean_error: -0.008269306128512288
+    base_right_marker_pose:
+      angle_rotation: 2.7099670071761026
+      euclidean_error: -0.005918976473316961
+    shoulder_marker_pose:
+      angle_rotation: 23.898609746127402
+      euclidean_error: 0.00021895311539354978
+    wrist_inside_marker_pose:
+      angle_rotation: 22.760465960328514
+      euclidean_error: -0.0017661790656990917
+    wrist_top_marker_pose:
+      angle_rotation: 17.19624530282414
+      euclidean_error: -0.0033386921778274514
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.026066503940204
+      euclidean_error: -0.008407513825319679
+    base_right_marker_pose:
+      angle_rotation: 6.2015783924219265
+      euclidean_error: -0.00603169070002485
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.908414613757238
+      euclidean_error: -0.002583285301603455
+    wrist_top_marker_pose:
+      angle_rotation: 23.484982993736203
+      euclidean_error: -0.003575287990962517
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 7.427453461222183
+      euclidean_error: -0.007737422444664244
+    base_right_marker_pose:
+      angle_rotation: 2.743517225176263
+      euclidean_error: -0.0051304544273736985
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.731495671446822
+      euclidean_error: -0.0014161560034152698
+    wrist_top_marker_pose:
+      angle_rotation: 17.85749734268019
+      euclidean_error: -0.0030813836662799687
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 5.623286305114032
+      euclidean_error: -0.008220895287453178
+    base_right_marker_pose:
+      angle_rotation: 6.1949252298219735
+      euclidean_error: -0.006035114900177607
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 20.8795255645929
+      euclidean_error: -0.0019699401052226673
+    wrist_top_marker_pose:
+      angle_rotation: 19.702561800526563
+      euclidean_error: -0.0035186984520813036
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.090786223600417
+      euclidean_error: -0.008397991559149776
+    base_right_marker_pose:
+      angle_rotation: 3.7421409333580873
+      euclidean_error: -0.005593360587632379
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.076518746459172
+      euclidean_error: -0.0015172036188443316
+    wrist_top_marker_pose:
+      angle_rotation: 19.33956079094308
+      euclidean_error: -0.003059344623703497
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.281416112937509
+      euclidean_error: -0.00827237134900316
+    base_right_marker_pose:
+      angle_rotation: 3.1248945172239324
+      euclidean_error: -0.006319075381916894
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 23.266589454965054
+      euclidean_error: -0.0026313583717614275
+    wrist_top_marker_pose:
+      angle_rotation: 17.20057584150255
+      euclidean_error: -0.0032426626107617817
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.5011479316431764
+      euclidean_error: -0.008611875901680333
+    base_right_marker_pose:
+      angle_rotation: 3.916098711398145
+      euclidean_error: -0.005084996443983747
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 19.696168281660633
+      euclidean_error: -0.0012633866900029211
+    wrist_top_marker_pose:
+      angle_rotation: 23.320536915549248
+      euclidean_error: -0.0032432518108549413
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.7256654251824544
+      euclidean_error: -0.008362056890491076
+    base_right_marker_pose:
+      angle_rotation: 5.830720585703514
+      euclidean_error: -0.005473522790750862
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 16.4322089927312
+      euclidean_error: -0.0016243351182921861
+    wrist_top_marker_pose:
+      angle_rotation: 20.06227679437991
+      euclidean_error: -0.003832314103587642
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.6428394753060163
+      euclidean_error: -0.008237126003090234
+    base_right_marker_pose:
+      angle_rotation: 5.109998287123012
+      euclidean_error: -0.005655202610092891
+    shoulder_marker_pose:
+      angle_rotation: 20.225753131549585
+      euclidean_error: -0.0008717455784787997
+    wrist_inside_marker_pose:
+      angle_rotation: 22.027666795069127
+      euclidean_error: -0.002008221425707557
+    wrist_top_marker_pose:
+      angle_rotation: 19.728331816452776
+      euclidean_error: -0.0029327982495093163
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.1862534085830556
+      euclidean_error: -0.008715326250931632
+    base_right_marker_pose:
+      angle_rotation: 6.874125541770335
+      euclidean_error: -0.005115690431758524
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 25.3539274343705
+      euclidean_error: -0.00287944632226389
+    wrist_top_marker_pose:
+      angle_rotation: 24.460810194416645
+      euclidean_error: -0.002797381837040369
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.4506227908177713
+      euclidean_error: -0.008579622135909681
+    base_right_marker_pose:
+      angle_rotation: 4.688993372800197
+      euclidean_error: -0.006531432072054089
+    shoulder_marker_pose:
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+      euclidean_error: -0.00016708058779435486
+    wrist_inside_marker_pose:
+      angle_rotation: 23.748274301975766
+      euclidean_error: -0.0013889775674874594
+    wrist_top_marker_pose:
+      angle_rotation: 21.49183552464768
+      euclidean_error: -0.0024824730350955226
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.193445293496614
+      euclidean_error: -0.00829634558600767
+    base_right_marker_pose:
+      angle_rotation: 4.488068289098263
+      euclidean_error: -0.004520623211886954
+    shoulder_marker_pose:
+      angle_rotation: 14.333390168788505
+      euclidean_error: -0.0007251031269213115
+    wrist_inside_marker_pose:
+      angle_rotation: 17.291045067349526
+      euclidean_error: -0.003243679175383374
+    wrist_top_marker_pose:
+      angle_rotation: 18.917702145971127
+      euclidean_error: -0.004605466151149429
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.405521523565816
+      euclidean_error: -0.008483597792932174
+    base_right_marker_pose:
+      angle_rotation: 5.333678112490939
+      euclidean_error: -0.005052827306490704
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 26.353198124621617
+      euclidean_error: -0.0006358304681629567
+    wrist_top_marker_pose:
+      angle_rotation: 19.088962330515667
+      euclidean_error: -0.0022328715187760473
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.7325387440644517
+      euclidean_error: -0.008165713605070679
+    base_right_marker_pose:
+      angle_rotation: 4.496323188777025
+      euclidean_error: -0.005327273508428654
+    shoulder_marker_pose:
+      angle_rotation: 20.114126871690072
+      euclidean_error: -0.0001284883618097865
+    wrist_inside_marker_pose:
+      angle_rotation: 20.10958699414425
+      euclidean_error: -0.0017142562720294796
+    wrist_top_marker_pose:
+      angle_rotation: 16.604787345096767
+      euclidean_error: -0.0032371311215795284
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.0412520562112157
+      euclidean_error: -0.008429028975433739
+    base_right_marker_pose:
+      angle_rotation: 5.885048208746249
+      euclidean_error: -0.005872733667343977
+    shoulder_marker_pose:
+      angle_rotation: 20.016615589242356
+      euclidean_error: 0.00011013449076402448
+    wrist_inside_marker_pose:
+      angle_rotation: 23.995783346365464
+      euclidean_error: -0.0023627999732853677
+    wrist_top_marker_pose:
+      angle_rotation: 22.740652747238165
+      euclidean_error: -0.0035778626008290404
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 1.4742126151861787
+      euclidean_error: -0.008668502452651494
+    base_right_marker_pose:
+      angle_rotation: 8.32513658105822
+      euclidean_error: -0.005066396358307967
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.867432649444687
+      euclidean_error: -0.0015078304010017751
+    wrist_top_marker_pose:
+      angle_rotation: 16.337716923369243
+      euclidean_error: -0.002841787294007636
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.5766894431595775
+      euclidean_error: -0.00818471204411697
+    base_right_marker_pose:
+      angle_rotation: 3.0915395704405144
+      euclidean_error: -0.004256056309106304
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 24.34325215376614
+      euclidean_error: -0.0016133300779499482
+    wrist_top_marker_pose:
+      angle_rotation: 19.98481214557135
+      euclidean_error: -0.0029494040662414456
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6083647743330665
+      euclidean_error: -0.00806959468693702
+    base_right_marker_pose:
+      angle_rotation: 4.931717324210517
+      euclidean_error: -0.005913600107465555
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 22.977932858364554
+      euclidean_error: -0.0021505731945482554
+    wrist_top_marker_pose:
+      angle_rotation: 22.061017145195894
+      euclidean_error: -0.002881332242087642
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 2.8277112883327904
+      euclidean_error: -0.008457926004292293
+    base_right_marker_pose:
+      angle_rotation: 3.3563399656851436
+      euclidean_error: -0.005820918679364739
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 17.507639219766943
+      euclidean_error: -0.001556636931936639
+    wrist_top_marker_pose:
+      angle_rotation: 13.213879569590402
+      euclidean_error: -0.0050685575529044735
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.301568433871902
+      euclidean_error: -0.008191059318805927
+    base_right_marker_pose:
+      angle_rotation: 5.988117711379251
+      euclidean_error: -0.005700917397074012
+    shoulder_marker_pose:
+      angle_rotation: 20.296811108286427
+      euclidean_error: 0.00033251116420263127
+    wrist_inside_marker_pose:
+      angle_rotation: 25.180852318028535
+      euclidean_error: -0.0010938964192874767
+    wrist_top_marker_pose:
+      angle_rotation: 20.577731541471568
+      euclidean_error: -0.00235362007130957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.6323504539072244
+      euclidean_error: -0.008096326417132982
+    base_right_marker_pose:
+      angle_rotation: 4.576738214603752
+      euclidean_error: -0.0055958483753437704
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.95315760717702
+      euclidean_error: -0.0031750037571194323
+    wrist_top_marker_pose:
+      angle_rotation: 15.722446578864261
+      euclidean_error: -0.004686712435910567
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 6.218269482002717
+      euclidean_error: -0.007948448597359992
+    base_right_marker_pose:
+      angle_rotation: 6.933990973713848
+      euclidean_error: -0.005822024596868536
+    shoulder_marker_pose:
+      angle_rotation: 15.858737056557528
+      euclidean_error: -0.0008362329191046181
+    wrist_inside_marker_pose:
+      angle_rotation: 19.379913281289465
+      euclidean_error: -0.0025222871419469106
+    wrist_top_marker_pose:
+      angle_rotation: 14.315925460921383
+      euclidean_error: -0.004609576339331012
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 4.562553232666396
+      euclidean_error: -0.008072640903020734
+    base_right_marker_pose:
+      angle_rotation: 7.892555453017716
+      euclidean_error: -0.005877569753926726
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 21.122622245708985
+      euclidean_error: -0.002303750798775095
+    wrist_top_marker_pose:
+      angle_rotation: 20.26526644267096
+      euclidean_error: -0.0025170512185322957
+- error_data:
+    base_left_marker_pose:
+      angle_rotation: 3.9673288669168363
+      euclidean_error: -0.00811620475139152
+    base_right_marker_pose:
+      angle_rotation: 5.288987906876744
+      euclidean_error: -0.006059787594319688
+    shoulder_marker_pose:
+      angle_rotation: null
+      euclidean_error: null
+    wrist_inside_marker_pose:
+      angle_rotation: 18.060754023634793
+      euclidean_error: -0.0006233054595826681
+    wrist_top_marker_pose:
+      angle_rotation: 14.114609302973868
+      euclidean_error: -0.0031277513468248586
diff --git a/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281433.yaml b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281433.yaml
new file mode 100644
index 0000000..26a60ad
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281433.yaml
@@ -0,0 +1,67 @@
+Realsense Details:
+  firmware: 05.13.00.50
+  serial: '134322070297'
+  usb: '3.2'
+capture_id: '202204281433'
+lighting_condition:
+  illuminance: null
+null_frames:
+  base_left_marker_pose: 0
+  base_right_marker_pose: 26
+  shoulder_marker_pose: 50
+  wrist_inside_marker_pose: 7
+  wrist_top_marker_pose: 10
+number_samples: 600
+performance_metrics:
+  angle_rotation:
+    base_left_marker_pose:
+      maximum: 5.825776514914376
+      mean: 2.9954012224652917
+      median: 2.946734907433167
+      rmse: 3.078626594110408
+    base_right_marker_pose:
+      maximum: 7.567008009518704
+      mean: 4.50741189429689
+      median: 4.469461271789145
+      rmse: 4.6102176286044765
+    shoulder_marker_pose:
+      maximum: 18.091681718730758
+      mean: 10.459194783228007
+      median: 10.595758488338625
+      rmse: 10.83379138062113
+    wrist_inside_marker_pose:
+      maximum: 31.983934642146934
+      mean: 26.31073325365646
+      median: 26.461641297217252
+      rmse: 26.399583220659725
+    wrist_top_marker_pose:
+      maximum: 22.324392504976935
+      mean: 14.566053360223123
+      median: 14.661843549829827
+      rmse: 14.884930665992593
+  euclidean_error:
+    base_left_marker_pose:
+      maximum: -0.008985985486859138
+      mean: -0.009577033088789532
+      median: -0.00957521465757799
+      rmse: 0.009578776189420272
+    base_right_marker_pose:
+      maximum: -0.006553125706156626
+      mean: -0.007660758286062072
+      median: -0.007668665583789813
+      rmse: 0.007668300536341694
+    shoulder_marker_pose:
+      maximum: 0.00043430227684115863
+      mean: -0.0018141936483635234
+      median: -0.0018266486931424186
+      rmse: 0.0019980920692085295
+    wrist_inside_marker_pose:
+      maximum: -0.0017848569388676516
+      mean: -0.0037750775114444263
+      median: -0.0037610304025108565
+      rmse: 0.003849088485712081
+    wrist_top_marker_pose:
+      maximum: -0.00028974841665929674
+      mean: -0.002435837573032023
+      median: -0.0024146604383572523
+      rmse: 0.0025604756984339387
diff --git a/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281634.yaml b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281634.yaml
new file mode 100644
index 0000000..4e328ab
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281634.yaml
@@ -0,0 +1,67 @@
+Realsense Details:
+  firmware: 05.13.00.50
+  serial: '134322070297'
+  usb: '3.2'
+capture_id: '202204281634'
+lighting_condition:
+  illuminance: null
+null_frames:
+  base_left_marker_pose: 0
+  base_right_marker_pose: 95
+  shoulder_marker_pose: 289
+  wrist_inside_marker_pose: 15
+  wrist_top_marker_pose: 3
+number_samples: 600
+performance_metrics:
+  angle_rotation:
+    base_left_marker_pose:
+      maximum: 7.883329791794328
+      mean: 3.333362385585352
+      median: 3.1888204675914764
+      rmse: 3.528896862288492
+    base_right_marker_pose:
+      maximum: 12.735867335526736
+      mean: 7.616777191598444
+      median: 7.699020844123073
+      rmse: 7.861219384542112
+    shoulder_marker_pose:
+      maximum: 27.306679457568823
+      mean: 20.449430883324162
+      median: 20.628420193173156
+      rmse: 20.628435996037233
+    wrist_inside_marker_pose:
+      maximum: 29.23617249110053
+      mean: 23.128910857772752
+      median: 23.255818372351502
+      rmse: 23.230346917342548
+    wrist_top_marker_pose:
+      maximum: 25.371802060809532
+      mean: 18.688207615257518
+      median: 18.728240832467602
+      rmse: 18.853912306903087
+  euclidean_error:
+    base_left_marker_pose:
+      maximum: -0.002290839411512313
+      mean: -0.0037081369247007646
+      median: -0.003719444131558114
+      rmse: 0.0037363307582611556
+    base_right_marker_pose:
+      maximum: -0.00042089050574423137
+      mean: -0.0023382929359848687
+      median: -0.00221527329632476
+      rmse: 0.0025078253699411953
+    shoulder_marker_pose:
+      maximum: 0.007758186739723727
+      mean: 0.005496741248451533
+      median: 0.0057369441134687005
+      rmse: 0.005645993132779887
+    wrist_inside_marker_pose:
+      maximum: 0.004220067988259468
+      mean: 0.002450121622343215
+      median: 0.002474100441822502
+      rmse: 0.0025470915277097613
+    wrist_top_marker_pose:
+      maximum: 0.0027556869442825205
+      mean: 0.00039448586391564207
+      median: 0.00043695966301537936
+      rmse: 0.0009758048021871322
diff --git a/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281730.yaml b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281730.yaml
new file mode 100644
index 0000000..27bb3cc
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281730.yaml
@@ -0,0 +1,67 @@
+Realsense Details:
+  firmware: 05.13.00.50
+  serial: '134322070297'
+  usb: '3.2'
+capture_id: '202204281730'
+lighting_condition:
+  illuminance: null
+null_frames:
+  base_left_marker_pose: 1
+  base_right_marker_pose: 17
+  shoulder_marker_pose: 384
+  wrist_inside_marker_pose: 1
+  wrist_top_marker_pose: 0
+number_samples: 600
+performance_metrics:
+  angle_rotation:
+    base_left_marker_pose:
+      maximum: 9.952229122964782
+      mean: 4.392090954368037
+      median: 4.318868910200014
+      rmse: 4.5761145629699564
+    base_right_marker_pose:
+      maximum: 12.96113467859752
+      mean: 8.465560781173895
+      median: 8.44145156397168
+      rmse: 8.618791683889652
+    shoulder_marker_pose:
+      maximum: 28.34555248546537
+      mean: 22.37736375764678
+      median: 22.45304047638072
+      rmse: 22.48626445560198
+    wrist_inside_marker_pose:
+      maximum: 26.882938633504565
+      mean: 21.40152660944474
+      median: 21.461767960613614
+      rmse: 21.490331628283197
+    wrist_top_marker_pose:
+      maximum: 29.20380524192317
+      mean: 21.75256364974819
+      median: 21.88029029125677
+      rmse: 21.914232302114378
+  euclidean_error:
+    base_left_marker_pose:
+      maximum: -0.002174108727677204
+      mean: -0.0034172115729892505
+      median: -0.0034401631854353854
+      rmse: 0.0034326908594153956
+    base_right_marker_pose:
+      maximum: 0.000802316639218037
+      mean: -0.0013320679583119423
+      median: -0.001326506962837537
+      rmse: 0.001489348429484937
+    shoulder_marker_pose:
+      maximum: 0.0074767636327430775
+      mean: 0.0061658390587243095
+      median: 0.0061892502909408065
+      rmse: 0.0061868039560887805
+    wrist_inside_marker_pose:
+      maximum: 0.004113446341910576
+      mean: 0.0025642961442791175
+      median: 0.0025637519581322987
+      rmse: 0.0026241001550440573
+    wrist_top_marker_pose:
+      maximum: 0.002018960086641153
+      mean: -0.0004237816408453247
+      median: -0.00040472782750233804
+      rmse: 0.0008307344576854903
diff --git a/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281734.yaml b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281734.yaml
new file mode 100644
index 0000000..7f4b8a5
--- /dev/null
+++ b/stretch_camera_testrig/data/results/testrig_results_134322070297_202204281734.yaml
@@ -0,0 +1,67 @@
+Realsense Details:
+  firmware: 05.13.00.50
+  serial: '134322070297'
+  usb: '3.2'
+capture_id: '202204281734'
+lighting_condition:
+  illuminance: null
+null_frames:
+  base_left_marker_pose: 0
+  base_right_marker_pose: 7
+  shoulder_marker_pose: 309
+  wrist_inside_marker_pose: 0
+  wrist_top_marker_pose: 0
+number_samples: 600
+performance_metrics:
+  angle_rotation:
+    base_left_marker_pose:
+      maximum: 7.427453461222183
+      mean: 3.1513410620287035
+      median: 2.9981604897763448
+      rmse: 3.321170862012057
+    base_right_marker_pose:
+      maximum: 9.09563824850721
+      mean: 5.4257448299606645
+      median: 5.499135045560987
+      rmse: 5.559805299677735
+    shoulder_marker_pose:
+      maximum: 28.80127671768137
+      mean: 21.270674755230054
+      median: 21.249238800714558
+      rmse: 21.452505717904476
+    wrist_inside_marker_pose:
+      maximum: 29.154786204846257
+      mean: 21.377886532267407
+      median: 21.415372407411247
+      rmse: 21.542694487800304
+    wrist_top_marker_pose:
+      maximum: 26.232564121266705
+      mean: 18.761796974956898
+      median: 18.847158226824632
+      rmse: 19.035738641516282
+  euclidean_error:
+    base_left_marker_pose:
+      maximum: -0.007737422444664244
+      mean: -0.008585105153257156
+      median: -0.008595787873107663
+      rmse: 0.008590298916510185
+    base_right_marker_pose:
+      maximum: -0.0040035336708685865
+      mean: -0.0059731576898334904
+      median: -0.005962729815138901
+      rmse: 0.006009988966125487
+    shoulder_marker_pose:
+      maximum: 0.0013342860981623295
+      mean: -0.00047329907243346314
+      median: -0.00041251555369214987
+      rmse: 0.0008211188308446646
+    wrist_inside_marker_pose:
+      maximum: -0.00022003016295701894
+      mean: -0.0018687907170104382
+      median: -0.0018339301246591555
+      rmse: 0.001989832714490403
+    wrist_top_marker_pose:
+      maximum: -0.0013734917491508014
+      mean: -0.0038327071228253275
+      median: -0.003793405493255908
+      rmse: 0.003958746299079997
diff --git a/stretch_camera_testrig/data/testrig_collected_data_202204281433.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204281433.yaml
new file mode 100644
index 0000000..1d4d14c
--- /dev/null
+++ b/stretch_camera_testrig/data/testrig_collected_data_202204281433.yaml
@@ -0,0 +1,57912 @@
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
+    base_left_marker_pose:
+    - - 0.999585236972428
+      - -0.006814389318910754
+      - -0.027980674133861013
+      - 3.561587949079976e-05
+    - - -0.007990166231495137
+      - -0.9990803317209387
+      - -0.04212657132941387
+      - -0.041516249248482205
+    - - -0.02766787433772386
+      - 0.042332669022746905
+      - -0.9987203982411906
+      - 0.9676013504840784
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    base_right_marker_pose:
+    - - 0.9969315544711842
+      - -0.013355961969500726
+      - 0.07713037002074905
+      - 0.06807949059818781
+    - - -0.0105279009216399
+      - -0.9992614020453352
+      - -0.036956916599927864
+      - -0.04097215611048677
+    - - 0.07756699685982787
+      - 0.03603149542080013
+      - -0.996335833108439
+      - 0.9702729085667781
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    d435i_acceleration:
+    - 0.06864655017852783
+    - -9.81645679473877
+    - 0.16671304404735565
+    shoulder_marker_pose:
+    - - 0.9971988514541492
+      - 0.014927619419591486
+      - -0.07329131488102389
+      - 0.07626966381514476
+    - - 0.005628940270734906
+      - -0.9920808057048417
+      - -0.12547505721641414
+      - -0.0968931608040221
+    - - -0.07458395061911147
+      - 0.12471103050852293
+      - -0.9893858666766723
+      - 0.9757378660736977
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    wrist_inside_marker_pose:
+    - - 0.997653959086684
+      - 0.055222075872369936
+      - -0.04046109557354195
+      - -0.011411687200034912
+    - - 0.03308172932423499
+      - -0.9063292243298962
+      - -0.4212753687441115
+      - -0.10055432664553579
+    - - -0.059934773742654004
+      - 0.41894851648133963
+      - -0.9060297806554163
+      - 0.9745760552511099
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    wrist_top_marker_pose:
+    - - 0.9982755011564707
+      - -0.003863164862284195
+      - 0.058575590035816597
+      - 0.030478945459469386
+    - - 0.008505569998738818
+      - -0.9777838817798483
+      - -0.20944291778555973
+      - -0.10093683879992334
+    - - 0.05808338032340919
+      - 0.2095799524973202
+      - -0.9760648361873446
+      - 0.9764803264574125
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+  joints:
+    joint_head_pan: null
+    joint_head_tilt: null
+    joint_lift: null
+    wrist_extension: null
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
+    base_left_marker_pose:
+    - - 0.9998798654874883
+      - -0.008536636317795263
+      - -0.01293755900855489
+      - 4.855633320273445e-05
+    - - -0.009127666376324301
+      - -0.9988842675028045
+      - -0.04633471529974598
+      - -0.04158109031197369
+    - - -0.012527581540132143
+      - 0.04644723862366518
+      - -0.9988421865965573
+      - 0.9676115611252657
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    base_right_marker_pose:
+    - - 0.9991941370495451
+      - -0.014466623343497903
+      - 0.03744053010912308
+      - 0.06802638784674028
+    - - -0.014024335988228295
+      - -0.9998290567562332
+      - -0.012048869906802782
+      - -0.04087840977655238
+    - - 0.03760843636611439
+      - 0.011514081595122318
+      - -0.9992262163489896
+      - 0.9696402209869315
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    d435i_acceleration:
+    - 0.08825984597206116
+    - -9.83607006072998
+    - 0.16671304404735565
+    shoulder_marker_pose:
+    - - 0.9979595323619719
+      - 0.014908124929709873
+      - -0.062084777352861754
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diff --git a/stretch_camera_testrig/data/testrig_collected_data_202204281634.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204281634.yaml
new file mode 100644
index 0000000..16d949c
--- /dev/null
+++ b/stretch_camera_testrig/data/testrig_collected_data_202204281634.yaml
@@ -0,0 +1,52968 @@
+- backlash_state:
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+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
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+- backlash_state:
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+- backlash_state:
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diff --git a/stretch_camera_testrig/data/testrig_collected_data_202204281726.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204281726.yaml
new file mode 100644
index 0000000..e10876d
--- /dev/null
+++ b/stretch_camera_testrig/data/testrig_collected_data_202204281726.yaml
@@ -0,0 +1,51349 @@
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+- backlash_state:
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+- backlash_state:
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+- backlash_state:
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+- backlash_state:
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+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+    wrist_extension: null
+- backlash_state:
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+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+  joints:
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+    joint_head_tilt: null
+    joint_lift: null
+    wrist_extension: null
diff --git a/stretch_camera_testrig/data/testrig_collected_data_202204281730.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204281730.yaml
new file mode 100644
index 0000000..d7a7c02
--- /dev/null
+++ b/stretch_camera_testrig/data/testrig_collected_data_202204281730.yaml
@@ -0,0 +1,52952 @@
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+  joints:
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+    joint_head_tilt: null
+    joint_lift: null
+    wrist_extension: null
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+  joints:
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+    joint_head_tilt: null
+    joint_lift: null
+    wrist_extension: null
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+- backlash_state:
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+    wrist_extension: null
diff --git a/stretch_camera_testrig/data/testrig_collected_data_202204281734.yaml b/stretch_camera_testrig/data/testrig_collected_data_202204281734.yaml
new file mode 100644
index 0000000..b7becec
--- /dev/null
+++ b/stretch_camera_testrig/data/testrig_collected_data_202204281734.yaml
@@ -0,0 +1,54344 @@
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+  joints:
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+    joint_lift: null
+    wrist_extension: null
+- backlash_state:
+    joint_head_pan_looked_left: null
+    joint_head_tilt_looking_up: null
+    wrist_extension_retracted: null
+  camera_measurements:
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+    base_right_marker_pose:
+    - - 0.9962725344113464
+      - -0.010161035079462467
+      - 0.085660904406306
+      - 0.06791366867179098
+    - - -0.00736422320737223
+      - -0.9994314250210808
+      - -0.03290280986304054
+      - -0.041267340097486296
+    - - 0.08594652636462025
+      - 0.03214933975131263
+      - -0.995780906906439
+      - 0.9720594953078674
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    d435i_acceleration:
+    - 0.0784531980752945
+    - -9.845876693725586
+    - 0.156906396150589
+    shoulder_marker_pose: null
+    wrist_inside_marker_pose:
+    - - 0.9976991274648391
+      - 0.0506608465935953
+      - -0.04505474090835307
+      - -0.011542780576000299
+    - - 0.03462474623779873
+      - -0.9520970168559106
+      - -0.30382955327295685
+      - -0.10124005486422644
+    - - -0.05828874680302076
+      - 0.3015704712276995
+      - -0.9516604819365136
+      - 0.9781360249971935
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    wrist_top_marker_pose:
+    - - 0.9991748173292463
+      - 0.013442558634878435
+      - 0.03832730139750362
+      - 0.03038476648077197
+    - - 0.02226942500475635
+      - -0.9704731878330051
+      - -0.24017881756558493
+      - -0.10128530877716987
+    - - 0.033967000530290586
+      - 0.24083415313155412
+      - -0.9699717282273657
+      - 0.9759955259275943
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+  joints:
+    joint_head_pan: null
+    joint_head_tilt: null
+    joint_lift: null
+    wrist_extension: null
diff --git a/stretch_camera_testrig/launch/testrig_collect_data.launch b/stretch_camera_testrig/launch/testrig_collect_data.launch
index e2883db..f1adc11 100644
--- a/stretch_camera_testrig/launch/testrig_collect_data.launch
+++ b/stretch_camera_testrig/launch/testrig_collect_data.launch
@@ -14,7 +14,7 @@
   </node>
 
   <!-- REALSENSE D435i Model Load -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435i_camera.urdf.xacro' use_nominal_extrinsics:=true" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435i_camera.urdf.xacro' use_nominal_extrinsics:=false" />
 
   <node
       name="robot_state_publisher"
diff --git a/stretch_camera_testrig/nodes/testrig_analyze_data.py b/stretch_camera_testrig/nodes/testrig_analyze_data.py
index fb8c37b..eb0ee52 100644
--- a/stretch_camera_testrig/nodes/testrig_analyze_data.py
+++ b/stretch_camera_testrig/nodes/testrig_analyze_data.py
@@ -175,7 +175,7 @@ class TestRig_Analyze:
         for key in error_dict.keys():
             for i in range(Num_samples):
                 if type(data_dict[key][i]) != type(None):
-                    error_dict[key].append(self.euclidean_error(nominal_poses_dict[key], data_dict[key][i]))
+                    error_dict[key].append(self.euclidean_error(data_dict[key][i], nominal_poses_dict[key]))
                 else:
                     error_dict[key].append(None)
         return error_dict
@@ -211,7 +211,8 @@ class TestRig_Analyze:
         p2 = r2[:3, 3]
         dist1 = np.linalg.norm(p1)
         dist2 = np.linalg.norm(p2)
-        dist = abs(dist1 - dist2)
+        dist = dist1 - dist2
+        # dist = abs(dist)
         #     dist = np.linalg.norm(p1-p2)
         return float(dist)